U.S. patent application number 15/367963 was filed with the patent office on 2018-03-15 for apparatus for inspecting driver assistance system of vehicle and method for controlling the same.
The applicant listed for this patent is HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION. Invention is credited to Dong Myong KIM.
Application Number | 20180075675 15/367963 |
Document ID | / |
Family ID | 61247331 |
Filed Date | 2018-03-15 |
United States Patent
Application |
20180075675 |
Kind Code |
A1 |
KIM; Dong Myong |
March 15, 2018 |
APPARATUS FOR INSPECTING DRIVER ASSISTANCE SYSTEM OF VEHICLE AND
METHOD FOR CONTROLLING THE SAME
Abstract
Disclosed herein is an apparatus for inspecting driver
assistance systems provided in a vehicle, including: a multi-joint
robot; a first inspection unit mounted on the multi-joint robot and
inspecting some of the driver assistance systems inside the
vehicle; and a second inspection unit separably mounted from the
multi-joint robot or the first inspection unit and inspecting other
some of the driver assistance systems from an outside of the
vehicle.
Inventors: |
KIM; Dong Myong; (Suwon-si,
KR) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
HYUNDAI MOTOR COMPANY
KIA MOTORS CORPORATION |
Seoul
Seoul |
|
KR
KR |
|
|
Family ID: |
61247331 |
Appl. No.: |
15/367963 |
Filed: |
December 2, 2016 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01S 2007/4086 20130101;
H04N 7/181 20130101; G01S 13/931 20130101; G01S 13/867 20130101;
G06K 2009/3225 20130101; G01S 7/40 20130101; H04N 17/002 20130101;
H01Q 15/18 20130101; G06K 9/00798 20130101; H01Q 17/00 20130101;
G01S 2013/9327 20200101; Y10S 901/44 20130101; G06K 9/00832
20130101; H04N 5/23216 20130101; G07C 5/0808 20130101; G01S 7/4052
20130101; G07C 5/12 20130101 |
International
Class: |
G07C 5/12 20060101
G07C005/12; H01Q 15/18 20060101 H01Q015/18; H01Q 17/00 20060101
H01Q017/00; G01S 13/86 20060101 G01S013/86; G07C 5/08 20060101
G07C005/08; H04N 7/18 20060101 H04N007/18; G06K 9/00 20060101
G06K009/00; H04N 5/232 20060101 H04N005/232 |
Foreign Application Data
Date |
Code |
Application Number |
Sep 13, 2016 |
KR |
10-2016-0117972 |
Claims
1. An apparatus for inspecting driver assistance systems provided
in a vehicle, comprising: a multi-joint robot; a first inspection
unit mounted on the multi-joint robot and inspecting some of the
driver assistance systems inside the vehicle; and a second
inspection unit separably mounted from the multi-joint robot or the
first inspection unit and inspecting other some of the driver
assistance systems from an outside of the vehicle.
2. The apparatus according to claim 1, wherein the first inspection
unit includes an around view monitoring (AVM) system inspector
provided to inspect an AVM system inside the vehicle and a head up
display (HUD) system inspector provided to inspect an HUD system
inside the vehicle, and the second inspection unit includes a smart
cruise control (SCC) system inspector provided to inspect an SCC
system from the outside of the vehicle and a lane departure warning
system (LDWS) inspector provided to inspect an LDWS from the
outside of the vehicle.
3. The apparatus according to claim 2, wherein the second
inspection unit is separated from the multi-joint robot or the
first inspection unit at the time of inspecting at least one of the
AVM system and the HUD system and is mounted on the multi-joint
robot or the first inspection unit at the time of inspecting at
least one of the SCC system and the LDWS.
4. The apparatus according to claim 1, wherein the first inspection
unit includes a first unit frame mounted on the multi-joint robot,
and the second inspection unit includes a second unit frame
separably mounted from the first unit frame.
5. The apparatus according to claim 4, wherein the first inspection
unit further includes a first coupler installed on the first unit
frame, the second inspection unit further includes a second coupler
installed on the second unit frame and separably coupled with the
first coupler, and the first unit frame and the second unit frame
are separably coupled with each other by the first coupler and the
second coupler.
6. The apparatus according to claim 2, wherein the AVM inspector
includes a vision camera photographing a screen of the AVM system
and a touch probe performing a touch operation on the screen of the
AVM system to calibrate the AVM system.
7. The apparatus according to claim 6, wherein the touch probe
includes a contact member contacting the screen of the AVM system
and a conductive member disposed in the contact member.
8. The apparatus according to claim 7, wherein the touch probe
further includes an elastic member elastically contracted by a
pressing force applied when the contact member contacts the screen
of the AVM system to absorb scattering of the screen of the AVM
system.
9. The apparatus according to claim 6, further comprising: an AVM
target providing a location reference point of the vehicle for
inspecting the AVM system; and a transfer stage transferring the
AVM target depending on specifications of the vehicle.
10. The apparatus according to claim 2, wherein the HUD inspector
includes a vision camera photographing an image displayed on a
windshield glass of the vehicle by the HUD system.
11. The apparatus according to claim 10, further comprising: a roll
screen blocking the windshield glass from external light.
12. The apparatus according to claim 2, wherein the SCC inspector
includes an SCC radar reflector reflecting an SCC radar signal
output from an SCC radar sensor of the SCC system and inputting the
reflected SCC radar signal to a receiver of the SCC system.
13. The apparatus according to claim 12, wherein the SCC inspector
further includes an absorbing member absorbing the SCC radar signal
that is not reflected by the SCC radar reflector.
14. The apparatus according to claim 12, wherein the SCC inspector
further includes a tilting member adjusting a disposition angle of
the SCC radar reflector depending on a disposition form of the SCC
radar sensor.
15. The apparatus according to claim 2, wherein the LDWS inspector
includes an LDWS display outputting an image for LDWS
inspection.
16. The apparatus according to claim 2, further comprising: a third
inspection unit mounted on the multi-joint robot and inspecting a
blind spot detection (BSD) system, wherein the third inspection
unit includes a BSD radar reflector reflecting a BSD radar signal
output from a BSD radar sensor of the BSD system and inputting the
reflected BSD radar signal to a receiver of the BSD system.
17. A method for controlling an apparatus for inspecting a driver
assistance system having a multi-joint robot, a first inspection
unit mounted on the multi-joint robot, and a second inspection unit
separably mounted from the first inspection unit, the method
comprising the step of: (a) inspecting systems, which are inspected
from the outside of the vehicle, among the driver assistance
systems using the second inspection unit; (b) separating the second
inspection unit from the first inspection unit; and (c) inspecting
systems, which are inspected inside the vehicle, among the driver
assistance systems using the first inspection unit.
18. The method according to claim 17, wherein the step (a) is
performed by inspecting at least one of a smart cruise control
(SCC) system, a lane departure warning system (LDWS), and a blind
spot detection (BSD) system.
19. The method according to claim 17, wherein the step (b) is
performed by separating the first coupler included in the first
inspection unit and the second coupler included in the second
inspection unit from each other.
20. The method according to claim 17, wherein the step (c) is
performed by inspecting at least one of an around view monitoring
(AVM) system and a head up display (HUD) system.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This application is based on and claims the benefit of
priority to Korean Patent Application No. 10-2016-0117972, filed on
Sep. 13, 2016 in the Korean Intellectual Property Office, the
disclosure of which is incorporated herein in its entirety by
reference.
TECHNICAL FIELD
[0002] The present disclosure relates to an apparatus for
inspecting a driver assistance system of a vehicle and a method for
controlling the same.
BACKGROUND
[0003] In recent years, to provide driving convenience and safety
to a driver while a vehicle drives, various driver assistance
systems (DASs) have been mounted in the vehicle.
[0004] The driver assistance system uses various cameras, radar
sensors, or the like to perform inside lane keeping, lane departure
warning, safety distance assurance from adjacent vehicles,
collision avoidance with near obstacles, a speed control based on a
traffic condition or road environment, or the like in the state in
which there is no operation of a driver operation.
[0005] The driver assistance system has been mostly applied only to
luxury cars. However, as an interest in eco-friendly economic
driving is suddenly increased recently to protect environment and
save energy resources, the application of the driver assistance
system has been rapidly expanded to a medium-sized car and a
compact car.
[0006] For example, the driver assistance system may include
systems such as a smart cruise control (SCC), a lane departure
warning system (LDWS), an around view monitoring system (AVM), a
head up display (HUD), and a blind spot detection (BSD).
[0007] Meanwhile, it is inspected whether various driver assistance
systems mounted in a vehicle are normally operated in a car
inspection line during the automobile assembly process.
[0008] For example, a vehicle moves to a wheel alignment inspection
process, a roll & brake inspection process, an automated
diagnosis process, or the like of the car inspection line. In these
processes, it is inspected whether various driver assistance
systems as described above are normally operated.
[0009] By the way, the related art has a problem in that the
inspection processes of various driver assistance systems are
separated by function in the car inspection line and therefore an
inspection cycle time may be increased and it has trouble in
operating an inspection personnel and managing quality.
[0010] To solve the problem, an apparatus for inspecting a driver
assistance system having an improved structure to be able to
install a plurality of inspection units that may each inspect any
one of the driver assistance systems in a single inspection booth
(Korean Patent No. 10-1510336 (registered on Apr. 1, 2015)).
[0011] In the existing apparatus for inspecting a driver assistance
system, the inspection units are only installed in the single
inspection booth and have a structure in which they are physically
separated from each other. Therefore, to prevent mutual
interference from occurring between the inspection units, the
inspection units are installed to be spaced apart from each other
by a predetermined safety distance and an inspection sequence of
the driver assistance systems is determined in consideration of a
movement of the inspection units. Therefore, the existing driver
assistance system has a problem in that an area of the inspection
booth is wide and the time required for an inspection of driver
assistance systems is long.
[0012] Further, according to the existing apparatus for inspecting
a driver assistance system, an operator may not enter the
inspection booth during the inspection of the driver assistance
system depending on various regulations (Article 27 (1) of Korean
Industrial Safety and Health Act) defined not to permit the entry
of the operator into the inspection booth when a plurality of
robots that can be independently operated are being operated
together within the single booth. Therefore, the existing apparatus
for inspecting a driver assistance system has a problem in that an
operator may not manage and operate the inspection units in real
time by entering the inspection booth during the inspection of the
driver assistance system.
SUMMARY
[0013] The present disclosure has been made to solve the
above-mentioned problems occurring in the prior art while
advantages achieved by the prior art are maintained intact.
[0014] An aspect of the present disclosure provides an apparatus
for inspecting a driver assistance system having an improved
structure to reduce a required area of an inspection booth in which
inspection units are installed.
[0015] Another aspect of the present disclosure provides an
apparatus for inspecting a driver assistance system having an
improved structure to reduce the time required for inspection of
driver assistance systems.
[0016] Still another aspect of the present disclosure provides an
apparatus for inspecting a driver assistance system having an
improved structure to permit an operator to enter an inspection
booth even during an inspection of driver assistance systems.
[0017] Yet another aspect of the present disclosure provides an
apparatus for inspecting a driver assistance system having an
improved structure to control internal environment of an inspective
booth to be the same as a manufacturing line of a vehicle.
[0018] Still yet another aspect of the present disclosure provides
an apparatus for inspecting a driver assistance system having an
improved structure to permit an operator to enter an inspection
booth even during an inspection of a driver assistance system to
thereby manage and operate inspectors.
[0019] According to an exemplary embodiment of the present
disclosure, an apparatus for inspecting driver assistance systems
provided in a vehicle includes: a multi-joint robot; a first
inspection unit mounted on the multi-joint robot and inspecting
some of the driver assistance systems inside the vehicle; and a
second inspection unit separably mounted from the multi-joint robot
or the first inspection unit and inspecting other some of the
driver assistance systems from an outside of the vehicle.
[0020] The first inspection unit may include an AVM inspector
provided to inspect an AVM system inside the vehicle and an HUD
inspector provided to inspect an HUD system inside the vehicle and
the second inspection unit may include an SCC inspector provided to
inspect an SCC system from the outside of the vehicle and an LDWS
inspector provided to inspect an LDWS from the outside of the
vehicle.
[0021] The second inspection unit may be separated from the
multi-joint robot or the first inspection unit at the time of
inspecting at least one of the AVM system and the HUD system and
may be mounted on the multi-joint robot or the first inspection
unit at the time of inspecting at least one of the SCC system and
the LDWS.
[0022] The first inspection unit may include a first unit frame
mounted on the multi-joint robot and the second inspection unit may
include a second unit frame separably mounted from the first unit
frame.
[0023] The first inspection unit may further include a first
coupler installed on the first unit frame, the second inspection
unit may further include a second coupler installed on the second
unit frame and separably coupled with the first coupler, and the
first unit frame and the second unit frame may be separably coupled
with each other by the first coupler and the second coupler.
[0024] The AVM inspector may include a vision camera photographing
a screen of the AVM system and a touch probe performing a touch
operation on the screen of the AVM system to calibrate the AVM
system.
[0025] The touch probe may include a contact member contacting the
screen of the AVM system and a conductive member disposed in the
contact member.
[0026] The AVM inspector may perform the touch operation on the
screen of the AVM system by a direct contact between the contact
member and the screen of the AVM system when the screen of the AVM
system is configured of a resistive touch screen and the AVM
inspector may perform the touch operation on the screen of the AVM
system by a conduction between the screen of the AVM system and the
conductive member when the screen of the AVM system is configured
of a capacitive touch screen.
[0027] The conductive member may be configured of a conductive
metal string.
[0028] The touch probe may further include an elastic member
elastically contracted by a pressing force applied when the contact
member contacts the screen of the AVM system to absorb scattering
of the screen of the AVM system.
[0029] The apparatus may further include: an AVM target providing a
location reference point of the vehicle for inspecting the AVM
system; and a transfer stage transferring the AVM target depending
on specifications of the vehicle.
[0030] The HUD inspector may include a vision camera photographing
an image displayed on a windshield glass of the vehicle by the HUD
system.
[0031] The apparatus may further include: a roll screen blocking
the windshield glass from external light.
[0032] The roll screen may include a reference pattern for
performing a calibration of the vision camera.
[0033] The SCC inspector may include an SCC radar reflector
reflecting an SCC radar signal output from an SCC radar sensor of
the SCC system and inputting the reflected SCC radar signal to a
receiver of the SCC system.
[0034] The SCC inspector may further include an absorbing member
absorbing the SCC radar signal that is not reflected by the SCC
radar reflector.
[0035] The SCC inspector may further include a tilting member
adjusting a disposition angle of the SCC radar reflector depending
on a disposition form of the SCC radar sensor.
[0036] The multi-joint robot and the second inspection unit may be
each provided in plural and at least some of the multi-joint robots
and the second inspection units may be selectively operated
depending on the installation number of SCC radar sensors.
[0037] The LDWS inspector may include an LDWS display outputting an
image for LDWS inspection.
[0038] The apparatus may further include: a third inspection unit
mounted on the multi-joint robot and inspecting a BSD system, in
which the third inspection unit may include a BSD radar reflector
reflecting a BSD radar signal output from a BSD radar sensor of the
BSD system and inputting the reflected BSD radar signal to a
receiver of the BSD system.
[0039] According to another exemplary embodiment of the present
disclosure, a method for controlling an apparatus for inspecting a
driver assistance system having a multi-joint robot, a first
inspection unit mounted on the multi-joint robot, and a second
inspection unit separably mounted from the first inspection unit,
the method comprising the step of: (a) inspecting systems, which
are inspected from the outside of the vehicle, among the driver
assistance systems using the second inspection unit; (b) separating
the second inspection unit from the first inspection unit; and (c)
inspecting systems, which are inspected inside the vehicle, among
the driver assistance systems using the first inspection unit.
[0040] The step (a) is performed by inspecting at least one of the
SCC system, the LDWS, and the BSD system.
[0041] The step (b) is performed by separating the first coupler
included in the first inspection unit and the second coupler
included in the second inspection unit from each other.
[0042] The step (c) is performed by inspecting at least one of the
AVM system and the HUD system.
BRIEF DESCRIPTION OF THE DRAWINGS
[0043] The above and other objects, features and advantages of the
present disclosure will be more apparent from the following
detailed description taken in conjunction with the accompanying
drawings:
[0044] FIG. 1 is a perspective view of an apparatus for inspecting
a driver assistance system according to an exemplary embodiment of
the present disclosure;
[0045] FIG. 2 is a diagram illustrating an inside of the apparatus
for inspecting a driver assistance system illustrated in FIG. 1
that is viewed from the rear;
[0046] FIG. 3 is a diagram illustrating an inside of the apparatus
for inspecting a driver assistance system illustrated in FIG. 1
that is viewed from the front;
[0047] FIG. 4 is a plan view of the apparatus for inspecting a
driver assistance system illustrated in FIG. 3;
[0048] FIG. 5 is a block diagram for describing a control system of
an apparatus for inspecting a driver assistance system illustrated
in FIG. 1;
[0049] FIG. 6 is a diagram for describing a multi-joint robot and a
transfer unit illustrated in FIG. 2;
[0050] FIG. 7 is a diagram for describing a cable chain installed
in the transfer unit illustrated in FIG. 6;
[0051] FIG. 8 is a diagram illustrating a state in which a first
inspection unit and a second inspection unit illustrated in FIG. 2
are mounted in the multi-joint robot;
[0052] FIG. 9 is a diagram for describing a method for inspecting
an AVM system and an HUD system using the first inspection unit
illustrated in FIG. 8;
[0053] FIG. 10 is a cross-sectional view schematically illustrating
an internal structure of a touch probe illustrated in FIG. 8;
[0054] FIGS. 11 to 13 are diagrams for describing a method for
separating and coupling a first inspection unit and a second
inspection unit illustrated in FIG. 8;
[0055] FIG. 14 is a diagram for describing a method for inspecting
an SCC system using the second inspection unit illustrated in FIG.
8;
[0056] FIGS. 15A-15C are diagrams for describing a tilting member
of the second inspection unit illustrated in FIG. 8;
[0057] FIG. 16 is a diagram for describing a method for inspecting
an LDWS using the second inspection unit illustrated in FIG. 8;
[0058] FIG. 17 is a diagram illustrating a state in which a third
inspection unit illustrated in FIG. 1 is mounted in the multi-joint
robot;
[0059] FIG. 18 is a diagram for describing a method for inspecting
a BSD system using the third inspection unit illustrated in FIG.
17; and
[0060] FIG. 19 is a flow chart for describing a method for
controlling an apparatus for inspecting a driver assistance system
illustrated in FIG. 1.
DETAILED DESCRIPTION
[0061] Terms and words used in the present specification and claims
are not to be construed as a general or dictionary meaning but are
to be construed as meaning and concepts meeting the technical ideas
of the present disclosure based on a principle that the inventors
can appropriately define the concepts of terms in order to describe
their own disclosures in best mode. Therefore, configurations
described in exemplary embodiments and the accompanying drawings of
the present disclosure do not represent all of the technical
spirits of the present disclosure, but are merely most preferable
embodiments. Therefore, the present disclosure should be construed
as including all the changes, equivalents, and substitutions
included in the spirit and scope of the present disclosure at the
time of filing this application.
[0062] Sizes of each component illustrated in the drawings or
specific parts forming the components may be exaggerated or
simplified for clarity and convenience. Therefore, the size of each
component does not exactly reflect its real size. Further, when it
is determined that the detailed description of the known function
or configuration related to the present disclosure may obscure the
gist of the present disclosure, the detailed description thereof
will be omitted.
[0063] FIG. 1 is a perspective view of an apparatus for inspecting
a driver assistance system according to an exemplary embodiment of
the present disclosure and FIG. 2 is a diagram illustrating an
inside of the apparatus for inspecting a driver assistance system
illustrated in FIG. 1 that is viewed from the rear.
[0064] Further, FIG. 3 is a diagram illustrating an inside of the
apparatus for inspecting a driver assistance system illustrated in
FIG. 1 that is viewed from the front, FIG. 4 is a plan view of the
apparatus for inspecting a driver assistance system illustrated in
FIG. 3, and FIG. 5 is a block diagram for describing a control
system of an apparatus for inspecting a driver assistance system
illustrated in FIG. 1.
[0065] Referring to FIGS. 1 to 5, an apparatus 1 for inspecting a
driver assistance system according to an exemplary embodiment of
the present disclosure includes: an inspection booth 10; a
multi-joint robot 20 moving in a multi-axis direction; a first
inspection unit 30 mounted on the multi-joint robot 20 and provided
to inspect some of driver assistance systems inside a vehicle V; a
second inspection unit 40 separably mounted from the first
inspection unit 30 and provided to inspect the other some of the
driver assistance systems from an outside of the vehicle V; a third
inspection unit 50 mounted on the multi-joint robot 20 and provided
to inspect a BSD system; a transfer unit 60 transferring the
multi-joint robot 20; and a controller 70 controlling an overall
driving of the apparatus 1 for inspecting a driver assistance
system.
[0066] In the present specification, a front and rear direction, a
left and right direction, and an up and down direction each mean a
front and rear direction, a left and right direction, and an up and
down direction of the vehicle V that is disposed at a preset
inspection location l of the inspection booth 10.
[0067] First, the inspection booth 10 is an apparatus that provides
an installation space of the apparatus 1 for inspecting a driver
assistance system.
[0068] As illustrated in FIG. 1, the inspection booth 10 is
provided to be isolated from external noise and light and includes
at least one entrance 11 through which the vehicle V may go in and
out. The formation number of entrances 11 is not particularly
limited. For example, as illustrated in FIG. 1, a pair of entrances
11 such as a first entrance 11a mounted on a front surface of the
inspection booth 10 and a second entrance 11b mounted on a rear
surface of the inspection booth 10 may be formed. For convenience
of explanation, hereinafter, the exemplary embodiment of the
present disclosure will be described based on the case in which the
vehicle V enters the inspection booth 10 through the first entrance
11a and goes out the inspection booth 10 through the second
entrance 11b.
[0069] The inspection booth 10 may further include various
auxiliary facilities required for the inspection of the driver
assistance system. For example, as illustrated in FIGS. 1 to 3, the
inspection booth 10 may further include an aligner 12 aligning the
vehicle V entering the inspection booth 10 at the preset inspection
location I, a seating frame 13 having the second inspection unit 40
separated from the first inspection unit 30 seated thereon, a roll
screen 14 covering the entrance 11, an AVM target 15 providing a
reference point with respect to a location of the vehicle V, and a
variable illumination 16 installed to irradiate light to an inner
space of the inspection booth 10.
[0070] As illustrated in FIG. 2, the aligner 12 includes a front
aligner 12a aligning a front wheel of the vehicle V at a preset
location and a rear aligner 12b aligning a rear wheel of the
vehicle V at a preset location. The aligner 12 is preferably
configured of a free-pit aligning apparatus (refer to Korean Patent
No. 10-1558389) without needing to perform a pit operation of
forming a pit on a bottom surface of the inspection booth 10 to
install the aligner 12 but is not limited thereto. As illustrated
in FIGS. 3 and 4, the aligner 12 may align the vehicle V entering
the inspection booth 10 at the preset inspection location I.
[0071] As illustrated in FIG. 3, the seating frame 13 is installed
on a support pillar of the inspection booth 10. The seating frame
13 may have a shape corresponding to a second mounting bracket 41a
of the second inspection unit 40 to have the second mounting
bracket 41a of the second inspection unit 40 to be described below
seated thereon. As illustrated in FIG. 2, the roll screen 14 may be
installed at the second entrance 11b to block a windshield glass G
of the vehicle V disposed at the preset inspection location I at a
front side of the vehicle V. The roll screen 14 is wound to have a
roll shape to open the second entrance 11b when the vehicle V goes
out the inspection booth through the second entrance 11b. The roll
screen 14 is wound out to have a sheet shape to cover the second
entrance 11b at the time of inspecting the driver assistance
systems. The roll screen 14 may prevent external light such as
light of the vehicle V first going out the inspection booth 10
through the second entrance 11b from being introduced into the
inspection booth 10 through the second entrance 11b.
[0072] Further, as illustrated in FIG. 2, the roll screen 14 is
formed on a surface facing the windshield glass G of the vehicle V
and may include a reference pattern 14a for performing a
calibration of a vision camera 36 to be described below.
[0073] Meanwhile, the roll screen 14 is described as being
installed to be located at the second entrance 11b but is not
limited thereto. As illustrated in FIG. 3, the roll screen 14 may
also be installed at the first entrance 11a to prevent external
light from being introduced into the inspection booth 10 through
the first entrance 11a.
[0074] As illustrated in FIG. 4, one AVM target 15 may be aligned,
by the aligner 12, at front left and right sides of the vehicle V,
lateral left and right sides of the vehicle V, and rear left and
right sides of the vehicle V, respectively, with respect to the
vehicle V located at the preset inspection location I and thus the
number of AVM targets 15 may be six in total. The AVM targets 15
may provide a location reference point of the vehicle V to allow an
AVM inspector 33 to inspect the AVM system.
[0075] By the way, the location reference point of the vehicle V
may be changed depending on specifications of the vehicle V to be
inspected. To solve the problem, the inspection booth 10 may
further include transfer stages 17 that are provided to transfer
the AVM targets 15 depending on the specifications of the vehicle
V. As illustrated in FIG. 4, the transfer stages 17 are installed
on the bottom surface of the inspection booth 10 to move in a front
and rear direction and a left and right direction and the AVM
targets 15 may each be installed at any one of the transfer stages
17.
[0076] As illustrated in FIG. 3, the variable illumination 16 is
configured of an illumination of which illuminance may be
controlled and is installed on a ceiling surface of the inspection
booth 10. The variable illumination 16 may control illuminance of
an inner space of the inspection booth 10 to be equal to
illuminance of a manufacturing line and other external facilities
in which the vehicle V is manufactured. Next, in the case of
manufacturing and managing the vehicle in the manufacturing line
and other external facilities, inspection data obtained by using
the apparatus 1 for inspecting a driver assistance system without
the calibration operation for calibrating an illuminance difference
between the inspection booth 10 and external facilities may be used
as they are to manufacture and manage the vehicle V.
[0077] FIG. 6 is a diagram for describing a multi-joint robot and a
transfer unit illustrated in FIG. 2 and FIG. 7 is a diagram for
describing a cable chain installed in the transfer unit illustrated
in FIG. 6.
[0078] The multi-joint robot 20 is an apparatus for transferring
the inspection units 30, 40, and 50 in a multi-axis direction.
[0079] As illustrated in FIG. 6, the multi-joint robot 20 includes
arms 20a and shafts 20b interconnecting the arms 20a. The
multi-joint robot 20 is mounted on a vertical transfer machine 63
of the transfer unit 60 to be described below and at least a
portion thereof is provided to enter the vehicle V through a window
W of the vehicle V.
[0080] The installation number of multi-joint robots 20 is not
particularly limited. For example, as illustrated in FIG. 2, a
total of four multi-joint robots 20 may be installed. The
multi-joint robots 20 may be mounted on any one of the first
transfer unit 61 and the second transfer unit 62 to be described
below while being formed in pair. Hereinafter, for convenience of
explanation, the multi-joint robot 20 located in front of the
inspection booth 10 among the multi-joint robots 20 mounted on the
first transfer unit 61 is called a first multi-joint robot 22 and
the multi-joint robot located in the back of the inspection booth
10 is called a second multi-joint robot 24. In response, the
multi-joint robot 20 located in front of the inspection booth 10
among the multi-joint robots 20 mounted on the second transfer unit
62 is called a third multi-joint robot 26 and the multi-joint robot
located in the back of the inspection booth 10 is called a fourth
multi-joint robot 28.
[0081] The multi-joint robot 20 may transfer the inspection units
30, 40, and 50 in a multi-axis direction from the outside or the
inside of the vehicle V. For example, as illustrated in FIG. 2, the
first and third multi-joint robots 22 and 26 may each be provided
with the first and second inspection units 30 and 40 and the first
and third multi-joint robots 22 and 26 may each transfer the first
and second inspection units 30 and 40 in the multi-axis direction.
For example, as illustrated in FIG. 2, the second and fourth
multi-joint robots 24 and 28 may each be provided with the third
inspection unit 50 and the second and fourth multi-joint robots 24
and 28 may each transfer the third inspection unit 50 in the
multi-axis direction.
[0082] Next, the transfer unit 60 is an apparatus for transfer the
multi-joint robot 20 and the inspection units 30, 40, and 50
coupled therewith in an up and down direction and a front and rear
direction.
[0083] As illustrated in FIG. 3, the transfer unit 60 is provided
in pair and the vehicle V disposed at the inspection location l is
installed to be located in a space between the transfer units 60.
Hereinafter, for convenience of explanation, the transfer unit 60
installed to be located at one side of the vehicle V disposed at
the inspection location is called the first transfer unit 61 and
the transfer unit 60 installed to be located at the other side of
the vehicle V disposed at the inspection location l is called the
second transfer unit 62.
[0084] As illustrated in FIG. 3, the first transfer unit 61
includes a first vertical transfer machine 63a having the first
multi-joint robot 22 mounted on one end thereof to transfer the
first multi-joint robot 22 in an up and down direction, a second
vertical transfer machine 63b having the second multi-joint robot
24 mounted on one end thereof to transfer the second multi-joint
robot 24 in an up and down direction, and a first carriage 64a
transferring the first vertical transfer machine 63a and the second
vertical transfer machine 63b in a front and rear direction.
[0085] As illustrated in FIG. 3, the second transfer unit 62
includes a third vertical transfer machine 63c having the third
multi-joint robot 26 mounted on one end thereof to transfer the
third multi-joint robot 26 in an up and down direction, a fourth
vertical transfer machine 63d having the fourth multi-joint robot
28 mounted on one end thereof to transfer the fourth multi-joint
robot 28 in an up and down direction, and a second carriage 64b
transferring the third vertical transfer machine 63c and the fourth
vertical transfer machine 63d in a front and rear direction.
[0086] The first transfer unit 61 and the second transfer unit 62
have the same structure except that they are symmetrically
installed to each other having the vehicle V disposed therebetween.
Therefore, for convenience of explanation, the first transfer unit
61 of the first transfer unit 61 and the second transfer unit 62
will mainly be described below.
[0087] The first vertical transfer machine 63a and the second
vertical transfer machine 63b have the same structure. For example,
as illustrated in FIG. 6, the first vertical transfer machine 63a
and the second vertical transfer machine 63b may each be configured
of a telescopic elevator of which the length may be controlled in a
multistage.
[0088] The first vertical transfer machine 63a is mounted on the
first carriage 64a to be located in front of the inspection booth
10 and the second vertical transfer machine 63b is mounted on the
first carriage 64a to be located in the back of the inspection
booth 10. Next, the first vertical transfer machine 63a may
transfer the first multi-joint robot 22 and the first and second
inspection units 30 and 40 in an up and down direction and the
second vertical transfer machine 63b may transfer the second
multi-joint robot 24 and the third inspection unit 50 in an up and
down direction.
[0089] The third vertical transfer machine 63c may transfer the
third multi-joint robot 26 and the first and second inspection
units 30 and 40 in an up and down direction and the fourth vertical
transfer machine 63d may transfer the fourth multi-joint robot 28
and the third inspection unit 50 in an up and down direction.
[0090] As illustrated in FIG. 6, the first carriage 64a may include
a linear rail 65 installed on a ceiling of the inspection booth 10
to extend in a front and rear direction, a first linear motor 66a
movably mounted on the linear rail 65 to be located in the front of
the inspection booth 10, and a second linear motor 66b movably
mounted on the linear rail 65 to be located in the back of the
inspection booth 10.
[0091] The first linear motor 66a and the second linear motor 66b
each generate a magnetic force and are provided to be reciprocated
in a front and rear direction along the linear rail 65 by the
magnetic force. The first linear motor 66a is provided with the
other end of the first vertical transfer machine 63a and the second
linear motor 66b is provided with the other end of the second
vertical transfer machine 63b.
[0092] The first carriage 64a may reciprocate the first vertical
transfer machine 63a in a front and rear direction to reciprocate
the first multi-joint robot 22 and the first and second inspection
units 30 and 40 in a front and rear direction. Further, the first
carriage 64a may reciprocate the second vertical transfer machine
63b in a front and rear direction to reciprocate the second
multi-joint robot 24 and the third inspection unit 50 in a front
and rear direction.
[0093] The second carriage 64b may reciprocate the third vertical
transfer machine 63c in a front and rear direction to reciprocate
the third multi-joint robot 26 and the first and second inspection
units 30 and 40 in a front and rear direction. Further, the second
carriage 64b may reciprocate the fourth vertical transfer machine
63d in a front and rear direction to reciprocate the fourth
multi-joint robot 28 and the third inspection unit 50 in a front
and rear direction.
[0094] Meanwhile, the inspection units 30, 40, and 50 are
transferred by the multi-joint robot 20 and the transfer unit 60,
and therefore electric wirings E electrically connecting between
the inspection units 30, 40, and 50 and an electric supply source
or a controller 70 need to have a sufficient length in
consideration of a transfer distance of the inspection units 30,
40, and 50. As such, if the length of the electric wirings E is
sufficient, the electric wirings E are twisted with the multi-joint
robot 20 and the transfer unit 60 and therefore are likely to be
damaged. To solve the problem, as illustrated in FIG. 7, the
transfer unit 60 may further include a cable chain 67 into which
the electric wirings E are buried and a support member 68 provided
to support the cable chain 67.
[0095] One end of the cable chain 67 is installed to be fixed at a
preset location, the other end of the cable chain 67 is installed
to move in a front and rear direction along the vertical transfer
machine 63, and a middle portion of the cable chain 67 is disposed
to be bent in a `U-letter` shape. For example, one end of the cable
chain 67 may be fixed to the linear rail 65 and the other end of
the cable chain 67 may be fixed to the linear motor 66. The cable
chain 67 and the electric wirings E buried into the cable chain 67
may be transferred in a front and rear direction by the carriage
64. By this configuration, the cable chain 67 may be protected from
the outside so that the electric wirings E are not twisted with the
multi-joint robot 20 and the transfer unit 60.
[0096] By the way, one end of the cable chain 67 is fixed to the
linear rail 65 and the other end thereof is fixed to the linear
motor 66, and therefore the middle portion of the cable chain 67 is
up in the air. For this reason, the middle portion of the cable
chain 67 is intensively applied with a load and therefore sags,
such that the cable chain 67 and the electric wirings E buried into
the cable chain 67 are likely to be damaged. The support member 68
is provided to be able to support the middle portion of the cable
chain 67. For example, as illustrated in FIG. 7, the support member
68 may include a support frame 68a installed to move in a front and
rear direction along the vertical transfer machine 63 when the
carriage 64 transfers the vertical transfer machine 63 in a front
and rear direction and a support roller 68b mounted on the support
frame 68a to support the middle portion of the cable chain 67. The
support frame 68a is preferably fixed to the linear motor 66 but is
not limited thereto. According to the support member 68, when the
vertical transfer machine 63 is transferred in a front and rear
direction by the carriage 64, the support roller 68b may
continuously support the middle portion of the cable chain 67 while
being transferred in a front and rear direction by the support
frame 68a to prevent the middle portion of the cable chain 67 from
excessively sagging.
[0097] FIG. 8 is a diagram illustrating a state in which a first
inspection unit and a second inspection unit illustrated in FIG. 2
are mounted in the multi-joint robot, FIG. 9 is a diagram for
describing a method for inspecting an AVM system and an HUD system
using the first inspection unit illustrated in FIG. 8, and FIG. 10
is a cross-sectional view schematically illustrating an internal
structure of a touch probe illustrated in FIG. 8.
[0098] Next, the first inspection unit 30 is an apparatus for
inspecting an AVM system and an HUD system inside the vehicle
V.
[0099] A structure of the first inspection unit 30 is not
particularly limited. For example, as illustrated in FIG. 8, the
first inspection unit 30 may include a first unit frame 31 forming
a support frame of the first inspection unit 30, a first coupler 32
separating and coupling the first inspection unit 30 and the second
inspection unit 40, an AVM inspector 33 provided to inspect the AVM
system inside the vehicle V, an HUD inspector 34 provided to
inspect the HUD system inside the vehicle V, and a sensing sensor
35 to sense a structure of the vehicle V.
[0100] As illustrated in FIG. 9, when the second inspection unit 40
is separated from the first inspection unit 30, the first
inspection unit 30 has a preset shape so that at least a portion of
the first inspection unit 30 may enter the vehicle V through the
window W of the vehicle V. Further, the first inspection unit 30 is
provided in pair by being mounted, one by one, on the first
multi-joint robot 22 and the third multi-joint robot 26,
respectively.
[0101] As illustrated in FIG. 8, the first unit frame 31 is mounted
on an arm 20a provided at a distal end of the first multi-joint
robot 22 or the third multi-joint robot 26 by a first mounting
bracket 31a provided at one end thereof. The first unit frame 31
preferably has a board shape elongated in one direction from the
first mounting bracket 31a, but is not limited thereto.
[0102] The first coupler 32 is installed on the first unit frame 31
not to interfere with the first multi-joint robot 22 or the third
multi-joint robot 26. For example, as illustrated in FIG. 8, the
first coupler 32 may be installed on a lower surface of one end of
the first unit frame 31. A kind of couplers that may be used as the
first coupler 32 is not particularly limited and therefore the
coupler generally used in a tool changer field may be used as the
first coupler 32. The first coupler 31 may be separably coupled
with a second coupler 42 of the second inspection unit 40 to be
described below to separably couple the first inspection unit 30
with the second inspection unit 40. The separation and coupling of
the first inspection unit 30 and the second inspection unit 40 will
be described below in more detail together with the description of
the second coupler 42.
[0103] The AVM inspector 33 is provided to calibrate and inspect
the AVM system that is provided in the vehicle V. Here, the around
view monitoring (AVM) system means a technology that uses images
photographed by a total of 4 AVM cameras A that are installed, one
by one, at the front, rear, left, and right of the vehicle V,
respectively, as illustrated in FIG. 4 to output, on a screen M
(hereinafter, referred to as `screen M of the AVM system) of a
display apparatus provided in the vehicle V, images as if the
vehicle V and the surroundings of the vehicle V are photographed
from above.
[0104] A structure of the AVM inspector 33 is not particularly
limited. For example, as illustrated in FIG. 8, the AVM inspector
33 may include a vision camera 36 photographing the screen M of the
AVM system, a touch probe 37 touching the screen M of the AVM
system to calibrate the AVM system, and an actuator 38 transferring
the touch probe 37 to enable the touch probe 37 to touch the screen
M of the AVM system.
[0105] The vision camera 36 is installed on the first unit frame 31
not to interfere with the first multi-joint robot 22 or the third
multi-joint robot 26. For example, as illustrated in FIG. 8, the
vision camera 36 may be installed on an upper surface of the other
end of the first unit frame 31 that is opposite to one end of the
first unit frame 31 on which the first mounting bracket 31a is
mounted.
[0106] As illustrated in FIG. 9, the vision camera 36 may
photograph the screen M of the AVM system in the state in which it
enters the vehicle V by the first multi-joint robot 22 or the third
multi-joint robot 26 and transfer the photographed image to the
controller 70.
[0107] The touch probe 37 is installed on the actuator 38 to
reciprocate by the actuator 38. For example, as illustrated in FIG.
8, when the actuator 38 is configured of a cylinder, the touch
probe 37 may be coupled with a cylinder rod 38a to reciprocate
along the cylinder rod 38a.
[0108] The touch probe 37 is provided to perform a touch operation
on the screen M of the AVM system to calibrate the screen M of the
AVM system. By the way, the screen M of the AVM system may be
configured of a resistive touch screen or a capacitive touch screen
depending on the specifications of the vehicle V. Therefore, the
touch probe 37 is preferably configured to be applied both to the
resistive touch screen and the capacitive touch screen. For
example, as illustrated in FIG. 10, the touch probe 37 may include
a contact member 37a provided to directly contact the screen M of
the AVM system, a conductive member 37b disposed in the contact
member 37a, and an elastic member 37c provided to be elastically
contracted by a pressing force applied when the contact member 37a
contacts the screen M of the AVM system.
[0109] As illustrated in FIG. 10, the contact member 37a has a
thimble shape and is covered on an end of the cylinder rod 38a. The
contact member 37a is preferably made of a rubber material but is
not limited thereto. When the screen M of the AVM system is
configured of the resistive touch screen, the contact member 37a
may directly contact the screen M of the AVM system to perform the
touch operation on the screen M of the AVM system.
[0110] As illustrated in FIG. 10, the conductive member 37b may be
disposed in the contact member 37a to be interposed between an
inner side surface of the contact member 37a and the end of the
cylinder rod 38a. The conductive member 37b may be configured of a
conductive metal string to be smoothly conducted with the screen M
of the AVM system. When the screen M of the AVM system is
configured of the capacitive touch screen, the conductive member
37b may be conducted with the screen M of the AVM system to perform
the touch operation on the screen M of the AVM system.
[0111] As illustrated in FIG. 10, the elastic member 37c may be
disposed in the contact member 37a to be interposed between the
conductive member 37b and the end of the cylinder rod 38a. The
elastic member 37c is preferably configured of a compression spring
but is not limited thereto. The elastic member 37c is elastically
contracted by the pressing force applied when the contact member
37a contacts the screen M of the AVM system to be able to absorb
scattering of the screen M of the AVM system.
[0112] The actuator 38 may be installed on the first unit frame 31
not to interfere with the first multi-joint robot 22 or the third
multi-joint robot 26. For example, as illustrated in FIG. 8, the
actuator 38 may be installed on a lower surface of the other end of
the first unit frame 31. The actuator 38 may have various
structures to reciprocate the touch probe 37. For example, as
illustrated in FIG. 8, the actuator 38 may be configured of an air
cylinder including the cylinder rod 38a. The actuator 38 may
reciprocate the touch probe 37 so that the contact member 37a or
the conductive member 37b may perform the touch operation on the
screen M of the AVM system.
[0113] The controller 70 may control the actuator 38 to allow the
touch probe 37 to perform the touch operation on the screen M of
the AVM system and control the vision camera 36 to photograph the
screen M of the AVM system and the touch probe 37. By doing so, the
controller 70 may automatically calibrate the AVM system based on
the locations of the AVM targets 15 included in the inspection
booth 10 and inspect whether the AVM system is normally operated,
including whether the screen M of the AVM system normally outputs
the image of the AVM targets 15.
[0114] The HUD inspector 34 is provided to calibrate and inspect
the HUD system that is provided in the vehicle V. Here, the head up
display (HUD) system means a technology of displaying information
required for driving of the vehicle V such as navigation
information within a range in which it does not deviate from a main
view of a driver on the windshield glass G of the vehicle V while
the vehicle V drives.
[0115] A structure of the HUD inspector 34 is not particularly
limited. For example, the HUD inspector 34 may include the vision
camera that photographs the image displayed by the HUD system. By
the way, the vision camera 36 for the AVM inspector is already
installed in the first inspection unit 30. Therefore, the vision
camera 36 for the AVM inspector 33 is preferably used even as the
HUD inspector 34 rather than separately installing the vision
camera only for the HUD inspector 34.
[0116] As illustrated in FIG. 9, the vision camera 36 may
photograph the image of the HUD system displayed on the windshield
glass G in the state in which it enters the vehicle V by the first
multi-joint robot 22 or the third multi-joint robot 26 and transfer
the photographed image to the controller 70.
[0117] As described above, the first inspection unit 30 is provided
in pair by being mounted, one by one, on the first multi-joint
robot 22 and the third multi-joint robot 26, respectively.
Therefore, as illustrated in FIG. 9, the image of the HUD system
may be photographed by the vision camera 36 included in any one of
the first inspection units 30 and the screen M of the AVM system
may be photographed by the vision camera 36 included in the other
of the first inspection units 30. As a result, the HUD system and
the AVM system may be inspected simultaneously, and therefore it is
possible to reduce the time required to inspect the driver
assistance systems. However, the present disclosure is not limited
thereto, when any one of the first inspection units 30 fails, in
the case in which there are special circumstances, the AVM system
and the HUD system may also be inspected sequentially by the vision
camera 36 provided in any one of the first inspection units 30.
[0118] Meanwhile, the inspection booth 10 is provided with the
second entrance 11b through which the inspected vehicle V goes out.
By doing so, if light from the already inspected vehicle V or other
external light is irradiated to the windshield glass G through the
second entrance 11b, the screen of the HUD system is likely to be
distorted due to the external light. To solve the problem, as
illustrated in FIG. 9, the roll screen 14 may be wound out to block
the windshield glass G when the HUD system is being inspected to
prevent the external light introduced through the second entrance
11b from being irradiated to the windshield glass G.
[0119] The controller 70 may control the vision camera 36 to
photograph the screen of the HUD system. By doing so, the
controller 70 analyzes and processes the image of the screen of the
HUD system transferred from the vision camera 36 to inspect whether
the HUD system is normally operated and performs a calibration
operation of the HUD system when the HUD system is abnormally
operated. By the way, as illustrated in FIG. 9, one surface of the
roll screen 14 facing the windshield glass G is provided with the
reference pattern 14a. Therefore, the controller 70 may control the
vision camera 36 to photograph the reference pattern 14a, thereby
performing the calibration on the vision camera 36 based on the
image of the reference pattern 14a photographed by the vision
camera 36.
[0120] The sensing sensor 35 is installed on the first unit frame
31 not to interfere with the first multi-joint robot 22 or the
third multi-joint robot 26. For example, as illustrated in FIG. 8,
the sensing sensor 35 may be installed on a side portion of the
other end of the first unit frame 31. The sensing sensor may be
configured of various kinds of sensors that may sense the structure
of the vehicle V. For example, the sensing sensor 35 may be
configured of an ultrasonic sensor.
[0121] The controller 70 may analyze and process the signal
transferred from the sensing sensor 35 to sense the structure of
the vehicle V. By doing so, the controller 70 may control the
motions of the first multi-joint robot 22 or the third multi-joint
robot 26 so that the first and second inspection units 30 and 40 do
not interfere with the structure of the vehicle V.
[0122] Meanwhile, the case in which the first inspection unit 30
includes the AVM inspector 33 and the HUD inspector 34 to inspect
the AVM system and the HUD system is described, but the present
disclosure is not limited thereto. That is, the first inspection
unit 30 may further include an inspector for inspecting other
driver assistance systems.
[0123] FIGS. 11 to 13 are diagrams for describing a method for
separating and coupling a first inspection unit and a second
inspection unit illustrated in FIG. 8.
[0124] The second inspection unit 40 is an apparatus for inspecting
the SCC system and the LDWS from the outside of the vehicle V.
[0125] The structure of the second inspection unit 40 is not
particularly limited. For example, as illustrated in FIG. 8, the
second inspection unit 40 may include a second unit frame 41
forming the support frame of the second inspection unit 40, the
second coupler 42 separating and coupling the first inspection unit
30 and the second inspection unit 40, an SCC inspector 43 provided
to inspect the SCC system from the outside of the vehicle V, and an
LDWC inspector 44 provided to inspect the LDWC system from the
outside of the vehicle V. The second inspection unit 40 may be
mounted in pair by being mounted, one by one, on the first
inspection unit 30 mounted on the first multi-joint robot 22 and
the first inspection unit 30 mounted on the third multi-joint robot
26.
[0126] As illustrated in FIG. 8, the second unit frame 41 may be
separably mounted from the first unit frame 31 by the second
coupler 42. The second unit frame 41 preferably has a board shape
elongated to be vertical to the first unit frame 31, but is not
limited thereto.
[0127] As illustrated in FIG. 8, an upper end portion of the second
unit frame 41 is provided with the second mounting bracket 41a. The
second mounting bracket 41a may have a shape corresponding to the
seating frame 13 to be seated on the seating frame 13 of the
inspection booth 10. As illustrated in FIG. 8, the second mounting
bracket 41a may be provided with at least one alignment protrusion
41b protruding from a lower surface of the second mounting bracket
41a so that the alignment protrusion 41b may be inserted into the
aligning groove 13a provided on the seating frame 13. However, the
structure of the second mounting bracket 41a is not limited
thereto, but the seating frame 13 may be provided with the
alignment protrusion 41b and the second mounting bracket 41a may
also be provided with the alignment groove 13a.
[0128] The second coupler 42 is installed on the second unit frame
41 not to interfere with the first multi-joint robot 22 or the
third multi-joint robot 26. For example, as illustrated in FIG. 8,
the second coupler 42 may be installed on an upper surface of the
second mounting bracket 41a. A kind of couplers that may be used as
the second coupler 42 is not particularly limited and therefore the
coupler separably coupled with the first coupler 32 generally used
in the tool changer field may be used as the second coupler 42. The
second coupler 42 may be separably coupled with the first coupler
32 of the first inspection unit 40 to separably couple the first
inspection unit 30 with the second inspection unit 40.
[0129] Hereinafter, the method for separably coupling the first
inspection unit 30 with the second inspection unit 40 by the first
and second couplers 32 and 42 will be described with reference to
FIGS. 11 to 13.
[0130] First, as illustrated in FIG. 11, the controller 70 controls
the transfer unit 60 and the multi-joint robot 20 in the state in
which the first inspection unit 30 and the second inspection unit
40 are coupled with each other by the first coupler 32 and the
second coupler 42 to seat the second mounting bracket 41a of the
second inspection unit 40 on the seating frame 13. In this case,
the controller 70 controls the transfer unit 60 and the multi-joint
robot 20 to allow the alignment protrusion 41b of the second
mounting bracket 41a to be inserted into the alignment groove 13a
of the seating frame 13, thereby stably seating the second mounting
bracket 41a at the preset seating location.
[0131] Next, as illustrated in FIG. 11, the controller 70 may
control the first and second couplers 32 and 42 to be separated
from each other in the state in which the second mounting bracket
41a is seated on the seating frame 13, thereby separating the first
inspection unit 30 and the second inspection unit 40 from each
other. As a result, as illustrated in FIGS. 12 and 13, the first
inspection unit 30 keeps on being mounted on the multi-joint robot
20 and the second inspection unit 40 is seated on the seating frame
13.
[0132] Next, the controller 70 may inspect the AVM system and the
HUD system by the first inspection unit 30 separated from the
second inspection unit 40.
[0133] FIG. 14 is a diagram for describing a method for inspecting
an SCC system using the second inspection unit illustrated in FIG.
8 and FIGS. 15A-15C are diagrams for describing a tilting member of
the second inspection unit illustrated in FIG. 8. FIG. 16 is a
diagram for describing a method for inspecting an LDWS using the
second inspection unit illustrated in FIG. 8.
[0134] The SCC inspector 43 is provided to calibrate and inspect
the SCC system that is provided in the vehicle V. Here, as
illustrated in FIG. 4, the smart cruise control (SCC) system means
a technology of measuring an inter-vehicle distance from a forward
vehicle using an SCC radar sensor S mounted at the front portion of
the vehicle V and appropriately maintaining the inter-vehicle
distance. In the art, the SCC system is referred to as a cruise
control system or an automatic speed control apparatus.
[0135] A structure of the SCC inspector 43 is not particularly
limited. For example, as illustrated in FIG. 8, the SCC inspector
43 may include an SCC radar reflector 45 reflecting an SCC radar
signal output from the SCC radar sensor S of the SCC system and
inputting the reflected SCC radar signal to a receiver (not
illustrated) of the SCC system, an absorbing member 46 absorbing
the SCC radar signal that is not reflected by the SCC radar
reflector 45, and a tilting member 47 adjusting a disposition angle
of the SCC radar reflector 45 depending on a disposition form of
the SCC radar sensor S.
[0136] As illustrated in FIG. 8, the SCC radar reflector 45 is
mounted on the absorbing member 46 to more protrude toward the SCC
radar sensor S than the absorbing member 46. The SCC radar
reflector 45 serves to reflect the SCC radar signal output from the
SCC radar sensor S of the SCC system and input the reflected SCC
radar signal to the receiver of the SCC system. In the art, the SCC
radar reflector 45 is called a corner reflector.
[0137] As illustrated in FIG. 8, the absorbing member 46 is made of
a material that may absorb the SCC radar signal and is mounted on
the second unit frame 41. The absorbing member 46 preferably has a
board shape having a wider area than the SCC radar reflector 45,
but is not limited thereto.
[0138] The absorbing member 46 is preferably provided with at least
one opening 46a to reduce the overall volume of the absorbing
member 46, but is not limited thereto. The absorbing member 46 may
absorb some of the SCC radar signals, which are not reflected by
the SCC radar reflector 45, among the SCC radar signals output from
the SCC radar sensor S. Therefore, some of the SCC radar signals
that are not reflected by the SCC radar reflector 45 are reflected
by other structures to be input to the SCC system, such that the
absorbing member 46 may prevent the inspection result of the SCC
system from being distorted.
[0139] The tilting member 47 is provided to adjust the disposition
angle of the SCC radar reflector 45 and the absorbing member 46
depending on the disposition form of the SCC radar sensor S. The
disposition form of the SCC radar sensor S may be changed depending
on the specifications of the vehicle V, and therefore a propagation
direction of the SCC radar signal output from the SCC radar sensor
S may also be changed depending on the specifications of the
vehicle V. Therefore, the SCC inspector 43 includes the tilting
member 47 that may adjust the disposition angle of the SCC radar
reflector 45 and the absorbing member 46 so that the SCC radar
signal may be incident on the SCC radar reflector 45 in a
predetermined direction.
[0140] A structure of the tilting member 47 is not particularly
limited. For example, as illustrated in FIG. 15A, the tilting
member 47 may be configured of a cylinder. As such, when the
tilting member 47 is configured of the cylinder, as illustrated in
FIG. 15A, a cylinder body 47a may be fixed to a LDWS display 48 and
the cylinder rod 47b may be fixed to the absorbing member 46. As
illustrated in FIG. 15A, the absorbing member 46 may be hinged with
the second unit frame 41 to be rotatable with respect to a rotating
shaft 46b. As a result, as illustrated in FIGS. 15B and 15C, the
tilting member 47 may adjust the disposition angle of the absorbing
member 46 and the SCC radar reflector 45 depending on the
disposition form of the SCC radar sensor S.
[0141] As illustrated in FIG. 14, the controller 70 controls the
transfer unit 60 and the multi-joint robot 20 to allow the SCC
radar signal output from the SCC radar sensor S of the SCC system
to be reflected by the SCC radar reflector 45 and to be input to
the receiver of the SCC system. In this case, the controller 70
preferably controls the transfer unit 60 and the multi-joint robot
20 to allow the distance between the SCC radar reflector 45 and the
SCC radar sensor S to be the preset measurement distance. Further,
the controller 70 controls the tilting member 47 to adjust the
disposition angle of the SCC radar reflector 45 and the absorbing
member 46 depending on the disposition form of the SCC radar sensor
S. By doing so, the controller 70 may calculate a difference
between a transmitting value of the SCC radar signal output from
the SCC radar sensor S and a receiving value of the SCC radar
signal input to the receiver of the SCC system by the SCC radar
reflector 45 to calibrate a measurement point of the SCC system and
inspect whether the SCC system is normally operated.
[0142] Meanwhile, the SCC radar sensor S may be installed in one or
two depending on the specifications of the vehicle V. By the way,
as illustrated in FIG. 3, the second inspection unit 40 is provided
in pair by being mounted, one by one, on the first multi-joint
robot 22 and the third multi-joint robot 26, respectively.
Therefore, when one SCC radar sensor S is installed, the SCC system
may be calibrated and inspected by restrictively using only the SCC
inspector 43 included in any one of the second inspection units 40.
On the other hand, when two SCC radar sensors S are installed, the
SCC system may be calibrated and inspected by using both of the SCC
inspectors 43 included in the pair of second inspection units 40.
That is, the operation number of second inspection units 40 may be
selectively adjusted depending on the installation number of SCC
radar sensors S.
[0143] The LDWC inspector 44 is provided to inspect the LDWS that
is provided in the vehicle V. Here, the lane departure warning
system (LDWS) means a technology of warning a driver of when it is
determined that the vehicle V is out of a lane using a warning
sound, or the like as illustrated in FIG. 4. As illustrated in FIG.
4, the LDWS photographs a lane on a road located in front of the
vehicle V using an LDWS camera L that is mounted on an inner side
surface of the windshield glass G under a room mirror of the
vehicle V and then analyzes and processes an image of the lane
photographed by the LDWS camera L to determine whether the vehicle
V is out of the lane.
[0144] A structure of the LDWS inspector 44 is not particularly
limited. For example, as illustrated in FIG. 8, the LDWC inspector
44 may include the LDWS display 48 that may output an image 48b for
LDWS inspection. As illustrated in FIG. 18, the LDWS display 48 is
fixedly installed on the second unit frame 41 so that the screen
48a that may output the image 48b for LDWS inspection is toward an
opposite direction to the protruding direction of the SCC radar
reflector 45. A kind of the image 48b for LDWS inspection that may
be output by the LDWS display 48 is not particularly limited. For
example, as illustrated in FIG. 16, the LDWS display 48 may output
an LDWS calibration target for calibrating the measurement point of
the LDWS camera L as the image 48b for LDWS inspection.
[0145] As illustrated in FIG. 16, the controller 70 controls the
transfer unit 60, the multi-joint robot 20, and the LDWS display 48
to allow the LDWS camera L to photograph the image 48b for LDWS
inspection. By doing so, the controller 70 may analyze and process
the image 48b for LDWS inspection photographed by the LDWS camera L
to calibrate the measurement point of the LDWS camera L and inspect
whether the LDWS is normally operated.
[0146] Meanwhile, as illustrated in FIG. 16, the controller 70
preferably calibrates and inspects the LDWS system using the LDWS
displays 48 included in the pair of second inspection units 40 but
is not limited thereto. That is, the controller 70 may also
calibrate and inspect the LDWS by restrictively using only the LDWS
display 48 included in any one of the second inspection units
40.
[0147] Meanwhile, the case in which the second inspection unit 40
is separably mounted from the first inspection unit 30 is
described, but the present disclosure is not limited thereto. For
example, the first coupler 32 may be installed on the arm 20a
provided at the distal end of the first multi-joint robot 22 or the
third multi-joint robot 26 instead of the first unit frame 31 to
separably mount the second inspection unit 40 from the first
multi-join robot 22 or the third multi-joint robot 26.
[0148] Further, the case in which the sensing sensor 35 for sensing
the structure of the vehicle V is installed in the first inspection
unit 30 is described, but the present disclosure is not limited
thereto. That is, the sensing sensor 35 may also be separately
installed in the second inspection unit 40.
[0149] FIG. 17 is a diagram illustrating a state in which a third
inspection unit illustrated in FIG. 1 is mounted in the multi-joint
robot and FIG. 18 is a diagram for describing a method for
inspecting a BSD system using the third inspection unit illustrated
in FIG. 17.
[0150] The third inspection unit 50 is an apparatus for inspecting
a BSD system provided in the vehicle V.
[0151] The third inspection unit 50 is provided to inspect the BSD
system provided in the vehicle V of the third inspection unit 50.
That is, the third inspection unit 50 is configured of a BSD
inspector for inspecting the BSD system. Here, the blind spot
detection (BSD) system means a technology of sensing a dead zone in
the back of the vehicle V by using a pair of BSD radar sensors B
that are mounted at the back portion of the vehicle V as
illustrated in FIG. 4.
[0152] The structure of the third inspection unit 50 is not
particularly limited. For example, as illustrated in FIG. 17, the
third inspection unit 50 may include a BSD radar reflector 52 that
may reflect a BSD radar signal output from the BSD radar sensor B
of the BSD system and input the reflected BSD radar signal to the
receiver of the BSD system. Further, the third inspection unit 50
is provided in pair by being mounted, one by one, on the second
multi-joint robot 24 and the fourth multi-joint robot 28,
respectively.
[0153] As illustrated in FIG. 17, the BSD radar reflector 52 is
mounted on the arm 20a that is provided at the distal end of the
second multi-joint robot 24 or the fourth multi-joint robot. The
BSD radar reflector 52 serves to reflect the BSD radar signal
output from the BSD radar sensor B and input the reflected BSD
radar signal to a receiver of the BSD system. In the art, the BSD
reflector is called a Doppler generator.
[0154] As illustrated in FIG. 18, the controller 70 controls the
transfer unit 60 and the multi-joint robot 20 to allow the BSD
radar signal output from the BSD radar sensor B of the BSD system
to be reflected by the BSD radar reflector 52 and to be input to
the receiver of the BSD system. By the way, as described above, the
BSD radar sensor B is provided in pair. Therefore, as illustrated
in FIG. 18, the controller 70 may use the BSD radar reflectors 52
included in the pair of third inspection units 50 together so that
the BSD radar signals output from the BSD radar sensors B may be
individually reflected by different BSD radar reflectors 52 and
individually input to the receiver of the BSD system. By doing so,
the controller 70 may calculate a difference between a transmitting
value of the BSD radar signal output from the BSD radar sensor B
and a receiving value of the BSD radar signal input to the receiver
of the BSD system by the BSD radar reflector 52 to calibrate a
measurement point of the BSD system and inspect whether the BSD
system is normally operated. Further, the controller 70 preferably
performs the calibration and inspection of the BSD system using the
third inspection unit 50 simultaneously with the calibration and
inspection of another driver assistance system using the first
inspection unit 30 or the second inspection unit 40, but is not
limited thereto.
[0155] Meanwhile, the case in which the third inspection unit 50
for inspecting the BSD system and the second inspection unit 40 for
inspecting the SCC system and the LDWS are separately provided is
described but the present disclosure is not limited thereto. For
example, the BSD radar reflector 52 is installed on the second unit
frame 41 of the second inspection unit 40 and thus the third
inspection unit 50 may be omitted. As such, when the BSD radar
reflector 52 is installed on the second unit frame 41 of the second
inspection unit 40, the second multi-joint robot 24 and the fourth
multi-joint robot 28 may also be omitted together.
[0156] According to the apparatus 1 for inspecting a driver
assistance system, a plurality of inspectors that may inspect the
driver assistance system provided in the vehicle V are mounted in
the state in which they are integrated in the multi-joint robot 20.
Therefore, the apparatus 1 for inspecting a driver assistance
system may reduce the installation space of the inspectors, reduce
the installation costs of the transfer apparatuses for transferring
the inspectors, and prevent the inspectors and the transfer
apparatuses from being damaged due to the interference with each
other, compared to the existing apparatus for inspecting a driver
assistance system in which the inspectors are individually
installed.
[0157] Further, according to the apparatus 1 for inspecting a
driver assistance system, since it is possible to sequentially
inspect the driver assistance systems depending on the predefined
inspection sequence using the multi-joint robot on which the
plurality of inspectors are integrally installed, the operator does
not violate various regulations defined not to permit the entry of
the operator into the inspection booth when the plurality of robots
that can be independently operated are being operated together
within the single booth. Therefore, according to the exemplary
embodiment of the present disclosure, it is possible to quickly
manage and operate the inspectors by permitting the operator to
enter the inspection booth 10 even during the inspection of the
driver assistance system.
[0158] Further, according to the apparatus 1 for inspecting a
driver assistance system, the second inspection unit 40 for
inspecting a driver assistance system from the outside of the
vehicle V inspects the driver assistance system inside the vehicle
V and is separably mounted from the first inspection unit 30
mounted on the multi-joint robot 20. The apparatus 1 for inspecting
a driver assistance system may separate the second inspection unit
40 from the first inspection unit 30 and then inspect the driver
assistance system inside the vehicle V using the first inspection
unit 30. Therefore, the apparatus 1 for inspecting a driver
assistance system may prevent the second inspection unit 40 from
being damaged due to the mutual interference with the internal
structure of the vehicle V when inspecting the driver assistance
system inside the vehicle V and save the time required to inspect
the driver assistance system inside the vehicle V.
[0159] FIG. 19 is a flow chart for describing a method for
controlling an apparatus for inspecting a driver assistance system
illustrated in FIG. 1.
[0160] Referring to FIG. 19, a method for controlling an apparatus
1 for inspecting a driver assistance system includes inspecting
systems, which may be inspected from the outside of the vehicle V,
among the driver assistance systems using the second inspection
unit 40 (S10); separating the second inspection unit 40 from the
first inspection unit 30 (S20); and inspecting systems, which may
be inspected inside the vehicle V, among the driver assistance
systems using the first inspection unit 30 (S30).
[0161] Further, the step S10 is performed by inspecting at least
one of the SCC system, the LDWS, and the BSD system.
[0162] Further, the step S20 is performed by separating the first
coupler 32 included in the first inspection unit 30 and the second
coupler 42 included in the second inspection unit 40 from each
other.
[0163] Further, the step S30 is performed by inspecting at least
one of the AVM system and the HUD system.
[0164] The method for controlling an apparatus 1 for inspecting a
driver assistance system preferentially inspects the driver
assistance system, which may be inspected from the outside of the
vehicle V, using the second inspection unit 40 and then inspects
the driver assistance system, which may be inspected inside the
vehicle V, using the first inspection unit 30. However, the present
disclosure is not limited thereto, and the method for controlling
an apparatus 1 for inspecting a driver assistance system may also
be provided to preferentially inspect the driver assistance system,
which may be inspected inside the vehicle V, using the first
inspection unit 30 and then inspect the driver assistance system,
which may be inspected from the outside of the vehicle V, using the
second inspection unit 40.
[0165] The controller 70 in various embodiments disclosed herein
can be implemented using one or more processors coupled to a memory
(or other non-transitory machine readable recording medium) storing
computer-executable instructions for causing the processor(s) to
perform the functions of the controller 70 by providing control
signals to various components of the apparatus 1 for inspecting a
driver assistance system, analyzing and/or processing signals or
data received from various components of the apparatus 1 for
inspecting a driver assistance system, and determining whether the
inspected driver assistance system is normal based on the analysis
of the received signals or data.
[0166] The apparatus for inspecting a driver assistance system and
the method for controlling the same according to the exemplary
embodiment of the present disclosure have the following
effects.
[0167] First, according to the exemplary embodiment of the present
disclosure, the plurality of inspection units that may inspect the
driver assistance system installed in the vehicle are mounted in
the state in which they are integrated in the multi-joint robot.
Therefore, according to the exemplary embodiment of the present
disclosure, it is possible to reduce the installation space of the
inspection units, reduce the installation costs of the transfer
apparatuses for transferring the inspection units, and prevent the
inspection units from being damaged due to the mutual interference
with the transfer apparatuses.
[0168] Second, according to the exemplary embodiment of the present
disclosure, it is possible to inspect the driver assistance system
inside the vehicle in the state in which the inspection unit for
inspecting a driver assistance system from an outside of the
vehicle is separated. Therefore, according to the exemplary
embodiment of the present disclosure, it is possible to prevent the
inspection unit from being damaged due to the mutual interference
with the internal structures of the vehicle and reduce the time
required to inspect the driver assistance system inside the
vehicle.
[0169] Third, according to the exemplary embodiment of the present
disclosure, it is possible to control the internal environment of
the inspection booth to be the same as the manufacturing line and
other external facilities. Accordingly, according to the exemplary
embodiment of the present disclosure, the inspection data obtained
by using the present disclosure without the correction operation
due to the environment difference may be used even in the
manufacturing line and other external facilities as they are.
[0170] Fourth, according to the exemplary embodiment of the present
disclosure, since it is possible to sequentially inspect the driver
assistance systems depending on the predefined inspection sequence
using the multi-joint robot in which the plurality of inspectors
are integrally installed, the operator does not violate various
regulations defined not to permit the entry of the operator into
the inspection booth when the plurality of robots that can be
independently operated are being operated together within the
single booth. Therefore, according to the exemplary embodiment of
the present disclosure, it is possible to quickly manage and
operate the inspectors by permitting the operator to enter the
inspection booth even during the inspection of the driver
assistance system.
[0171] Hereinabove, although the present disclosure has been
described with reference to exemplary embodiments and the
accompanying drawings, the present disclosure is not limited
thereto, but may be variously modified and altered by those skilled
in the art to which the present disclosure pertains without
departing from the spirit and scope of the present disclosure
claimed in the following claims.
* * * * *