Visual positioning method and device for vehicle body and frame
A visual positioning and visual device technology, applied in the direction of spraying devices, devices for coating liquid on surfaces, coatings, etc.
Active Publication Date: 2021-01-05
GUANGQI HONDA
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Problems solved by technology
However, how to quickly and accurately obtain the spatial position data of the car body so that the coating operation can meet both the coating quality requirements and the production cycle requirements has not yet been effectively solved.
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[0029] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0030] See figure 1 , the embodiment of the present invention provides a vehicle body frame visual positioning method, comprising steps:
[0031] S1. Obtain the vehicle body image taken by the vision device from a preset photographing position, and calculate the vehicle body plane offset and the vehicle body stereo offset according to the vehicle body image; wherein, the vehicle body image includes a 2D vehicle body image and a 3D laser scanning image , the vehicle ...
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The invention provides a visual positioning method and device for a vehicle body and frame. The method comprises the steps of: obtaining a vehicle body image photographed by a visual device from a preset photographing position, and calculating a vehicle body plane offset and a vehicle body three-dimensional offset according to the vehicle body image; acquiring a vehicle body image photographed bythe visual device from a correction position, and calculating a vehicle body plane offset and a vehicle body three-dimensional offset according to the vehicle body image; repeatedly executing the previous step until a preset number of execution times is reached, and carrying out synthetical calculation according to the plurality of vehicle body plane offsets and the plurality of vehicle body three-dimensional offsets obtained by calculation so as to obtain vehicle body and frame space coordinate offsets; and positioning a vehicle body frame coating track according to the vehicle body and framespace coordinate offsets. According to the method and the device, 3D laser scanning data and 2D shooting data are compared with each other and corrected, so that the spatial position data of the vehicle body can be quickly and accurately acquired to guide a coating robot to perform automatic coating, and the efficiency and quality of automatic coating operation are improved.
Description
technical field [0001] The invention relates to the technical field of automobiles, in particular to a method and device for visual positioning of a vehicle body frame. Background technique [0002] Body degreaser is a kind of fast volatile solvent, which is mainly used to clean the car frame, and car body strengthener is a solvent for bonding the windshield and the car body frame. Existing car body degreasing agents and reinforcing agents in domestic and foreign automobile factories all adopt manual use of brushes for coating, and this manual coating method is inefficient. [0003] The automatic coating method can improve the coating efficiency, and the control of automatic coating needs to obtain the accurate spatial position of the vehicle body to guide the coating robot to perform the coating operation. However, how to quickly and accurately obtain the spatial position data of the car body so that the coating operation can meet both the coating quality requirements and ...
Claims
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Login to View More IPC IPC(8): B05C11/10B05B12/12
CPCB05C11/1021B05B12/122
Inventor 刘德志吕成坤秦子铭费劲刘健华何剑波罗伟强吴明勉黄志辉
Owner GUANGQI HONDA