On-line measurement method, device, system, electronic equipment, storage medium
A measurement method and coordinate system technology, applied in storage media, devices, systems, on-line measurement methods for vehicle body features, and electronic equipment fields, can solve problems such as low absolute positioning accuracy, inability to take into account measurement points, and failure to consider the impact of vehicle transportation, etc. Improve the measurement accuracy, overcome the large error of measurement results, and the effect of simple principle
Active Publication Date: 2021-12-28
AIWAYS AUTOMOBILE CO LTD
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Problems solved by technology
However, due to the low absolute positioning accuracy of industrial robots (±2mm~±5mm), the measurement results of the features in the body coordinate system obtained through this coordinate transformation chain will bring the absolute positioning error of the robot
[0003] The traditional online measurement error compensation method is to compensate the results by comparing the measurement results with the three-coordinate measurement results. This compensation method has three shortcomings; first, the comparison with the three-coordinate measurement results does not consider the impact of vehicle transportation; Secondly, the comparison with the measurement results of the three coordinates does not introduce the positioning error of the vehicle on different measurement supports; finally, the data correction is only meaningful for some measurement points and cannot take into account all the measurement points.
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[0048] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
[0049] Furthermore, the drawings are merely schematic illustrations of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus repeated descriptions thereof will be omitted. Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be impleme...
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The invention provides a method, device, system, electronic equipment, and storage medium for on-line measurement of vehicle body features. The method includes: making a robot with a visual sensor run on a measurement track; the visual sensor measures multiple features on the body-in-white to Obtain the coordinates of the feature in the coordinate system of the visual sensor; track the ball seat arranged outside the visual sensor by a laser tracker arranged on the body-in-white to obtain the coordinate system between the coordinate system of the visual sensor and the coordinate system of the laser tracker transformation relationship between; establish the transformation relationship between the laser tracker coordinate system and the vehicle body coordinate system; obtain the transformation relationship between the visual sensor coordinate system and the vehicle body coordinate system; and convert the measured features in the The coordinates in the visual sensor coordinate system are converted into the coordinates of the measured feature in the vehicle body coordinate system, as the measurement result of the measured feature. The method and device provided by the invention improve the measurement accuracy.
Description
technical field [0001] The invention relates to the field of on-line measurement of vehicle bodies, in particular to a method, device, system, electronic equipment and storage medium for on-line measurement of vehicle body characteristics. Background technique [0002] At present, the measurement model of the online measurement system can be expressed by the formula Pc=B*T*H*Ps. The visual sensor obtains the coordinates Ps of the features in the sensor coordinate system by taking pictures of the features on the body-in-white, and converts them to the robot through the robot’s hand-eye relationship B. In the end coordinate system, it is transformed into the robot base coordinate system through the forward kinematics T of the robot, and finally transformed into the body coordinate system through the relationship H between the robot base coordinate system and the body coordinate system. Since the distance between the vision sensor and the end of the robot flange and between the...
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IPC IPC(8): G01B11/00G01N21/84
CPCG01B11/002G01N21/84
Inventor 杜明高庭季学来陈爽
Owner AIWAYS AUTOMOBILE CO LTD