Windshield glass mounting method and device, robot and medium

Abstract

The invention relates to a windshield glass mounting method and device, a robot and a medium. The method comprises the steps that an actuator is controlled to move grabbed windshield glass to the position above a window frame; a first gap and a second gap are obtained, and the first gap and the second gap are respectively used for simulating a gap between the left side of the windshield glass and the left side of the window frame and a gap between the right side of the windshield glass and the right side of the window frame when the windshield glass and the window frame are projected on the same plane; when it is determined that the installation condition is not met, the pose of the actuator is adjusted according to the first gap and the second gap, and the step of obtaining the first gap and the second gap is executed again; and under the condition that the installation condition is met, controlling the actuator according to the current pose of the actuator so as to enable the actuator to install the windshield glass to the window frame, thereby realizing the centered installation of the windshield glass.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicles, and in particular to a windshield installation method, device, robot and medium. Background Art

[0002] In the assembly of windshield and window frame, the gap between windshield and window frame is an important indicator to measure the assembly quality. If the windshield and window frame are not installed in the center, resulting in a large gap between the windshield and one side of the window frame, it will cause water leakage, air leakage and other problems that affect vehicle driving.

[0003] Therefore, it is crucial to achieve the centered installation of the windshield and the window frame. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a windshield installation method, device, robot and medium.

[0005] According to a first aspect of an embodiment of the present disclosure, there is provided a windshield installation method, comprising:

[0006] Step S11, controlling the actuator to move the grabbed windshield glass to above the window frame;

[0007] Step S12, obtaining a first gap and a second gap, wherein the first gap and the second gap are respectively used to simulate a gap between the left side of the windshield and the left side of the window frame and a gap between the right side of the windshield and the right side of the window frame when the windshield and the window frame are projected on the same plane;

[0008] Step S13, if it is determined that the installation condition is not met, adjusting the position of the actuator according to the first gap and the second gap, and returning to step S12, wherein the installation condition is used to indicate that the same side of the windshield and the window frame are projected onto the same plane in parallel and the windshield is centered relative to the window frame;

[0009] Step S14: When it is determined that the installation condition is met, the actuator is controlled according to the current position of the actuator so that the actuator installs the windshield to the window frame.

[0010] In some embodiments, the first gap and the second gap are obtained by:

[0011] Acquire a line scan point cloud from the left side of the windshield to the left side of the window frame and a line scan point cloud from the right side of the windshield to the right side of the window frame;

[0012] Determine a first gap according to a line scan point cloud from the left side of the windshield to the left side of the window frame;

[0013] A second gap is determined based on a line scan point cloud from the right side of the windshield to the right side of the window frame.

[0014] In some embodiments, determining the first gap according to the line scan point cloud from the left side of the windshield to the left side of the window frame comprises:

[0015] Segmenting the line scan point cloud from the left side of the windshield to the left side of the window frame to obtain a point cloud corresponding to the left side of the windshield and a point cloud corresponding to the left side of the window frame;

[0016] The first gap is determined according to the point cloud corresponding to the left side of the windshield and the point cloud corresponding to the left side of the window frame.

[0017] In some embodiments, determining the second gap according to the line scan point cloud from the right side of the windshield to the right side of the window frame comprises:

[0018] Segmenting the line scan point cloud from the right side of the windshield to the right side of the window frame to obtain a point cloud corresponding to the right side of the windshield and a point cloud corresponding to the right side of the window frame;

[0019] The second gap is determined according to the point cloud corresponding to the right side of the windshield and the point cloud corresponding to the right side of the window frame.

[0020] In some embodiments, the first gap and the second gap include a plurality of groups, each group of the first gap and the second gap are located in the same horizontal direction, and when it is determined that the installation condition is not met, adjusting the posture of the actuator according to the first gap and the second gap includes:

[0021] Determining whether the same side of the windshield and the window frame are projected onto the same plane in parallel according to a plurality of target gaps, wherein the target gap is the gap between the same side of the windshield and the window frame;

[0022] When it is determined that the windshield and the window frame are not parallel when projected onto the same plane, adjusting the posture of the actuator;

[0023] When it is determined that the difference between the first gap and the second gap of any group is greater than a first preset threshold, the posture of the actuator is adjusted.

[0024] In some embodiments, before controlling the actuator according to the current posture of the actuator, the method further includes:

[0025] Step S21, obtaining at least three face differences between the windshield and the window frame, each face difference being used to characterize the distance between the windshield and the window frame;

[0026] Step S22, when it is determined that the maximum face difference value among the at least three face differences is not less than the second preset threshold, adjust the posture of the actuator according to the at least three face differences, and return to step S21.

[0027] In some embodiments, the face difference includes four face differences, and the face difference between the windshield and the window frame is obtained by the following method:

[0028] Obtaining line scan point clouds between the four corners of the windshield glass corresponding to the four corners of the window frame;

[0029] Segmenting the line scan point cloud between the same corners of the windshield and the window frame to obtain a point cloud corresponding to each corner of the windshield and a point cloud corresponding to each corner of the window frame;

[0030] According to the point clouds corresponding to the same angles of the windshield and the window frame, the face differences corresponding to the same angles are determined to obtain four face differences between the windshield and the window frame.

[0031] In some embodiments, controlling the actuator to move the grabbed windshield glass to above the window frame includes:

[0032] Collecting point cloud data of a body locating pin hole on a frame that carries the window frame;

[0033] Determine the position of the window frame according to the point cloud data of the positioning pin hole of the vehicle body;

[0034] According to the position of the window frame, the actuator is controlled to move the grabbed windshield glass to above the window frame.

[0035] According to a second aspect of an embodiment of the present disclosure, there is provided a windshield glass installation device, comprising:

[0036] The first control module is configured to execute step S11, controlling the actuator to move the grabbed windshield glass to above the window frame;

[0037] a first acquisition module, configured to execute step S12 to acquire a first gap and a second gap, wherein the first gap and the second gap are respectively used to simulate a gap between a left side of the windshield and a left side of the window frame and a gap between a right side of the windshield and a right side of the window frame when the windshield and the window frame are projected on the same plane;

[0038] A first adjustment module is configured to execute step S13, and if it is determined that the installation condition is not met, adjust the posture of the actuator according to the first gap and the second gap, wherein the installation condition is used to indicate that the same side of the windshield and the window frame are projected onto the same plane in parallel and the windshield is centered relative to the window frame;

[0039] The second control module is configured to execute step S14, and when it is determined that the installation condition is met, control the actuator according to the current posture of the actuator so that the actuator installs the windshield to the window frame.

[0040] In some embodiments, the first acquisition module includes:

[0041] A first acquisition submodule is configured to acquire a line scan point cloud from the left side of the windshield to the left side of the window frame and a line scan point cloud from the right side of the windshield to the right side of the window frame;

[0042] A first determination submodule is configured to determine a first gap according to a line scan point cloud from the left side of the windshield to the left side of the window frame;

[0043] The second determination submodule is configured to determine a second gap based on a line scan point cloud from the right side of the windshield to the right side of the window frame.

[0044] In some embodiments, the first determination submodule is configured to segment the line scan point cloud from the left side of the windshield to the left side of the window frame to obtain the point cloud corresponding to the left side of the windshield and the point cloud corresponding to the left side of the window frame; determine the first gap based on the point cloud corresponding to the left side of the windshield and the point cloud corresponding to the left side of the window frame.

[0045] In some embodiments, the first determination submodule is configured to segment the line scan point cloud from the right side of the windshield to the right side of the window frame to obtain the point cloud corresponding to the right side of the windshield and the point cloud corresponding to the right side of the window frame; determine the second gap based on the point cloud corresponding to the right side of the windshield and the point cloud corresponding to the right side of the window frame.

[0046] In some embodiments, the first gap and the second gap include multiple groups, and each group of the first gap and the second gap are located in the same horizontal direction. The first adjustment module is specifically configured to: determine whether the same side of the windshield and the window frame are projected to the same plane in parallel according to multiple target gaps, wherein the target gap is the gap between the same side of the windshield and the window frame; when it is determined that the same side of the windshield and the window frame are projected to the same plane are not parallel, adjust the posture of the actuator; when it is determined that the difference between the first gap and the second gap of any group is greater than a first preset threshold, adjust the posture of the actuator.

[0047] In some embodiments, the apparatus further comprises:

[0048] A second acquisition module is configured to, before controlling the actuator according to the current posture of the actuator, execute step S21 to acquire at least three face differences between the windshield and the window frame, each face difference being used to characterize the distance between the windshield and the window frame;

[0049] The second adjustment module is configured to execute step S22, and when it is determined that the maximum face difference value among the at least three face differences is not less than a second preset threshold, adjust the posture of the actuator according to the at least three face differences.

[0050] In some embodiments, the flushness includes four, and the second acquisition module includes:

[0051] A second acquisition submodule is configured to acquire a line scan point cloud between four corners of the windshield glass corresponding to four corners of the window frame;

[0052] A segmentation submodule is configured to segment the line scan point cloud between the same corners of the windshield and the window frame to obtain a point cloud corresponding to each corner of the windshield and a point cloud corresponding to each corner of the window frame;

[0053] The third determination submodule is configured to determine the face differences corresponding to the same angles of the windshield and the window frame according to the point clouds corresponding to the same angles of the windshield and the window frame, so as to obtain four face differences between the windshield and the window frame.

[0054] In some embodiments, the first control module includes:

[0055] A collection submodule, used for collecting point cloud data of the body locating pin holes on the frame carrying the window frame;

[0056] a fourth determination submodule, configured to determine the position of the window frame according to the point cloud data of the positioning pin hole of the vehicle body;

[0057] The control submodule is used to control the actuator to move the grabbed windshield glass to the top of the window frame according to the position of the window frame.

[0058] According to a third aspect of an embodiment of the present disclosure, there is provided a robot, comprising:

[0059] Actuator;

[0060] A processor is configured to execute the steps of the windshield installation method provided in the first aspect.

[0061] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the windshield installation method provided in the first aspect of the present disclosure are implemented.

[0062] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: acquiring the first gap and the second gap in real time, and adjusting the position and posture of the actuator according to the first gap and the second gap until the installation condition is met without human intervention. Since the installation condition is used to characterize that the same side of the windshield and the window frame are projected onto the same plane in parallel and the windshield is centered relative to the window frame, the robot automatically and iteratively adjusts the position and posture of the actuator until the installation condition is met, thereby ensuring that the windshield and the window frame can be installed in the center with the adjusted position and posture of the actuator, thereby avoiding the situation where the gap between the windshield and a common side of the window frame is large.

[0063] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0065] Figure 1 The present invention is a flow chart showing a windshield method according to an exemplary embodiment.

[0066] Figure 2 The figure is a schematic diagram showing the positions of a windshield glass and a window frame projected on the same plane according to an exemplary embodiment.

[0067] Figure 3 The figure is a schematic diagram showing the positions of a windshield glass and a window frame projected on the same plane according to an exemplary embodiment.

[0068] Figure 4 The present invention is a flow chart showing a windshield method according to an exemplary embodiment.

[0069] Figure 5 It is a schematic structural diagram of an actuator according to an exemplary embodiment.

[0070] Figure 6 The figure is a block diagram of a windshield glass installation device according to an exemplary embodiment.

[0071] Figure 7 is a block diagram of a robot according to an exemplary embodiment. DETAILED DESCRIPTION

[0072] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0073] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0074] In the related art, the characteristic points of the window frame on the standard frame are measured to obtain the three-dimensional spatial coordinates of the window frame, and the three-dimensional spatial coordinates of the window frame are stored in the system. When the windshield is actually installed, the robot measures the characteristic points of the window frame of the actual vehicle, calculates the three-dimensional spatial coordinates of the window frame of the actual vehicle, and calculates the offset vector between the three-dimensional spatial coordinates of the window frame of the standard frame stored in the system. The robot adjusts the posture according to the offset vector, and thus installs the windshield to the window frame of the actual vehicle according to the adjusted posture. This method is greatly affected by the calibration of the three-dimensional spatial coordinates of the window frame on the standard frame, and cannot effectively ensure centered installation; in addition, the surface difference is often unqualified, resulting in tilted installation, which requires manual secondary adjustment.

[0075] In view of this, the embodiments of the present disclosure provide a windshield installation method, device, robot and medium. The embodiments of the present disclosure are further explained and illustrated in conjunction with the accompanying drawings.

[0076] Figure 1 is a flow chart of a windshield installation method according to an exemplary embodiment. The windshield installation method can be performed by a robot. Figure 1 As shown, the windshield installation method may include the following steps.

[0077] In step S11 , the actuator is controlled to move the gripped windshield glass to above the window frame.

[0078] The robot may include an actuator, the actuator may include a fixture bracket, and a suction cup may be provided on the fixture bracket, and the suction cup is used to grasp the windshield.

[0079] In step S12, the first gap and the second gap are acquired.

[0080] The first gap and the second gap may be determined according to the current position of the actuator of the robot. The specific implementation method for obtaining the first gap and the second gap may refer to the following related embodiments, which will not be described in detail in this embodiment.

[0081] Among them, the first gap and the second gap can be used to simulate the gap between the same side of the windshield and the window frame when the windshield and the window frame are projected on the same plane, respectively. The gap can be understood as a distance, and the same side can be the left side and the right side. For example, the first gap can be used to simulate the gap between the left side of the windshield and the left side of the window frame when the windshield and the window frame are projected on the same plane; the second gap can be used to simulate the gap between the right side of the windshield and the right side of the window frame when the windshield and the window frame are projected on the same plane. Conversely, the first gap can be used to simulate the gap between the right side of the windshield and the right side of the window frame when the windshield and the window frame are projected on the same plane; the second gap can be used to simulate the gap between the left side of the windshield and the left side of the window frame when the windshield and the window frame are projected on the same plane.

[0082] The following uses an example in which the first gap is used to simulate the gap between the left side of the windshield and the left side of the window frame when the windshield and the window frame are projected on the same plane; and the second gap is used to simulate the gap between the right side of the windshield and the right side of the window frame when the windshield and the window frame are projected on the same plane to exemplify the technical solution provided by the present disclosure.

[0083] In step S13 , when it is determined that the installation condition is not met, the posture of the actuator is adjusted according to the first gap and the second gap.

[0084] The installation condition is used to characterize that the same side of the windshield and the window frame are projected onto the same plane and are parallel and the windshield is centered relative to the window frame.

[0085] It is worth noting that after executing the step of adjusting the posture of the actuator according to the first gap and the second gap, the process returns to step S12 to implement iterative adjustment of the posture of the actuator until the installation conditions are met.

[0086] It is worth noting that the first gap and the second gap can be used to determine whether the same side of the windshield and the window frame are projected onto the same plane in parallel and whether the windshield is centered relative to the window frame, that is, the first gap and the second gap can reflect the relative position of the windshield and the window frame.

[0087] For example, refer to Figure 2 , the same side (e.g., left side) of the windshield and the window frame are not parallel when projected onto the same plane. The position of the actuator can be adjusted so that the same side of the windshield and the window frame are parallel when projected onto the same plane; refer to Figure 3 When the windshield is not centered relative to the window frame when projected onto the same plane, the position of the actuator can be adjusted so that the windshield and the window frame can be centered on the window frame. The specific implementation method of adjusting the position of the actuator according to the first gap and the second gap can refer to the following related embodiments, which will not be described in detail in this embodiment.

[0088] In step S14 , when it is determined that the installation condition is met, the actuator is controlled according to the current posture of the actuator so that the actuator installs the windshield glass to the window frame.

[0089] It is worth noting that if the installation conditions are not met, the standard for centering installation cannot be met if the actuator is installed in its current position. Therefore, the actuator position is adjusted, and the first gap and the second gap need to be obtained, that is, step S12 is continued, and it is determined whether the installation conditions are met until the standard for centering installation is met. It is also worth noting that if the installation conditions are met, the standard for centering installation can be met by installing the actuator in its current position.

[0090] Through the above method, the first gap and the second gap are obtained in real time, and the posture of the actuator is adjusted according to the first gap and the second gap without human intervention. Since the installation condition is used to characterize that the same side of the windshield and the window frame are projected onto the same plane in parallel and the windshield is centered relative to the window frame, the robot automatically iterates and adjusts the posture of the actuator until the installation condition is met, thereby ensuring that the windshield and the window frame can be installed in the center with the adjusted posture of the actuator, thereby avoiding the situation where the gap between the windshield and a same side of the window frame is large.

[0091] In some embodiments, the first gap and the second gap can be determined by the position data between the two sides of the windshield and the two sides of the window frame collected by the information collection device. The information collection device here can be a line scan camera and a laser camera. The following takes the information collection device as a line scan camera and the corresponding position data as point cloud data as an example to explain how to obtain the first gap and the second gap.

[0092] For example, the first gap and the second gap can be obtained in the following way: obtain the line scan point cloud from the left side of the windshield to the left side of the window frame and the line scan point cloud from the right side of the windshield to the right side of the window frame; determine the first gap based on the line scan point cloud from the left side of the windshield to the left side of the window frame; determine the second gap based on the line scan point cloud from the right side of the windshield to the right side of the window frame.

[0093] The line scan point cloud is obtained by a line scan camera, and each line scan point cloud extends from the windshield to the window frame. During the extension process, the point cloud of other parts will be interfered. Therefore, in order to eliminate the interference of invalid point clouds, each line scan point cloud can be segmented to obtain the point cloud on the windshield and the point cloud on the window frame. The specific implementation method of point cloud segmentation can refer to the relevant technology, and this embodiment will not be repeated here.

[0094] Specifically, the above-mentioned step of determining the first gap based on the line scan point cloud from the left side of the windshield to the left side of the window frame can be implemented in the following way: segment the line scan point cloud from the left side of the windshield to the left side of the window frame to obtain the point cloud corresponding to the left side of the windshield and the point cloud corresponding to the left side of the window frame; determine the first gap based on the point cloud corresponding to the left side of the windshield and the point cloud corresponding to the left side of the window frame.

[0095] The first gap is determined by referring to the following formula (1):

[0096] E lr =∑||RP mid +tP′ mid || 2 (1)

[0097] In the above formula (1), E lr represents the first gap, ∑ represents the sum, || || represents the vector norm, R represents the rotation matrix of the windshield, t represents the translation of the windshield, P mid represents the midpoint of the windshield, P′ mid represents the midpoint of the window frame, where R and t are used to describe the pose of the actuator.

[0098] It is worth noting that the parameters on the right side of the equal sign in the above formula (1) are determined by the point cloud corresponding to the left side of the windshield and the point cloud corresponding to the left side of the window frame. The specific method of determining each parameter from the point cloud can refer to the relevant technology.

[0099] Specifically, the above-mentioned step of determining the second gap based on the line scan point cloud from the right side of the windshield to the right side of the window frame can be implemented in the following way: segment the line scan point cloud from the right side of the windshield to the right side of the window frame to obtain the point cloud corresponding to the right side of the windshield and the point cloud corresponding to the right side of the window frame; determine the second gap based on the point cloud corresponding to the right side of the windshield and the point cloud corresponding to the right side of the window frame.

[0100] The second gap is determined by referring to the following formula (2):

[0101] E rr =∑||RP mid +tP′ mid || 2 (2)

[0102] In the above formula (1), E rr represents the second gap, ∑ represents the sum, || || represents the vector norm, R represents the rotation matrix of the windshield, t represents the translation of the windshield, P mid represents the midpoint of the windshield, P′ mid represents the midpoint of the window frame, where R and t are used to describe the pose of the actuator.

[0103] It is worth noting that the parameters in the above formula (2) are determined by the point cloud corresponding to the right side of the windshield and the point cloud corresponding to the right side of the window frame. The specific method of determining each parameter from the point cloud can refer to the relevant technology.

[0104] In some embodiments, the first gap and the second gap may include multiple groups, and each group of the first gap and the second gap is located in the same horizontal direction. The above-mentioned step of adjusting the position and posture of the actuator according to the first gap and the second gap when it is determined that the installation conditions are not met can be implemented in the following manner: determine whether the same side of the windshield and the window frame are projected to the same plane in parallel according to multiple target gaps, and adjust the position and posture of the actuator when it is determined that the same side of the windshield and the window frame are projected to the same plane is not parallel; adjust the position and posture of the actuator when it is determined that the difference between the first gap and the second gap of any group is greater than a first preset threshold.

[0105] The same horizontal direction may be the upper edge of the windshield and the window frame, or the lower edge of the windshield and the window frame.

[0106] The target gap is the gap between the same side of the windshield and the window frame, for example, the target gap may be the gap between the left side of the windshield and the left side of the window frame, i.e., the first gap; the target gap may be the gap between the right side of the windshield and the right side of the window frame, i.e., the second gap. It is worth noting that at least two target gaps can determine whether the same side of the windshield and the window frame are projected onto the same plane in parallel, and therefore, the multiple target gaps are at least two target gaps.

[0107] As an example, when the difference between the multiple target gaps is less than or equal to the third preset threshold, it can be determined that the same side of the windshield and the window frame projected to the same plane are parallel; when the difference between the multiple target gaps is greater than the third preset threshold, it can be determined that the same side of the windshield and the window frame projected to the same plane are not parallel. The third preset threshold can be any value within 1 mm to 5 mm.

[0108] It is worth noting that, when it is determined that the projections of the same side of the windshield and the window frame onto the same plane are not parallel, adjusting the position and posture of the actuator can be understood as rotating the actuator.

[0109] It is worth noting that, when the same side of the windshield and the window frame are projected onto the same plane and are parallel, and when it is determined that the difference between the first gap and the second gap of any group is greater than the first preset threshold, and when it is determined that the difference between the first gap and the second gap of any group is greater than the first preset threshold, it can be considered that the windshield is not centered relative to the window frame, and therefore, the position of the actuator can be adjusted, and here adjusting the position of the actuator is equivalent to being understood as translating the actuator. The first preset threshold can be any value within 1mm to 5mm.

[0110] As an example, when the first gap is larger than the second gap, it moves to the left; when the first gap is smaller than the second gap, it moves to the right.

[0111] Through the above method, the windshield glass and the window frame are centrally installed, avoiding the situation where there is a large gap between the windshield glass and a same side of the window frame.

[0112] Figure 4 FIG. 1 is a flow chart of a method for installing a windshield according to an exemplary embodiment. Figure 4 Before controlling the actuator according to the current posture of the actuator, the windshield glass installation method may further include the following steps:

[0113] In step S21 , at least three surface differences between the windshield and the window frame are obtained.

[0114] It is worth mentioning that each face difference is used to characterize the distance between the windshield and the window frame. And because three points determine a plane, it is necessary to calculate three face differences to better control the problem of the surface.

[0115] In step S22, when it is determined that the maximum face difference value among the at least three face differences is not less than the second preset threshold, the posture of the actuator is adjusted according to the at least three face differences, and the process returns to step S21.

[0116] It is worth noting that step S21 and step S22 are steps performed when the installation conditions are met.

[0117] For example, if the face difference corresponding to the upper left corner of the windshield is the largest and is not less than the second preset threshold, the position and posture of the actuator can be adjusted so that the upper left corner of the windshield is closer to the upper left corner of the window frame, thereby reducing the face difference corresponding to the upper left corner of the windshield. For another example, if the face difference corresponding to the lower left corner of the windshield is the largest and is not less than the second preset threshold, the position and posture of the actuator can be adjusted so that the lower left corner of the windshield is closer to the upper left corner of the window frame, thereby reducing the face difference corresponding to the upper left corner of the windshield.

[0118] The second preset threshold may be any value within a range of 1 mm to 5 mm.

[0119] It is worth noting that if the maximum face difference value of at least three face differences is less than the second preset threshold, it can be indicated that the difference in distances from different positions of the windshield to the corresponding positions of the window frame is not large, thus not causing the problem of tilted installation.

[0120] In addition, when the maximum face difference value among the at least three face differences is less than the second preset threshold, the step of controlling the actuator according to the current posture of the actuator can be performed.

[0121] In this way, without manual intervention, the actuator's posture is iteratively adjusted by comparing the maximum face difference value of at least three face differences with the second preset threshold value, thereby determining whether the face difference between the windshield and the window frame is qualified, thereby avoiding the problem of tilted installation.

[0122] Figure 5 is a schematic diagram of the structure of an actuator according to an exemplary embodiment. Figure 5 The actuator includes a fixture bracket, on which four suction cups are arranged, and the suction cups are used to suck, i.e., grab, the windshield glass, and the four suction cups form a first suction cup group and a second suction cup group, the first suction cup group is located on one side frame of the fixture bracket; the second suction cup group is located on the other side frame of the fixture bracket, and the four suction cups form a suction cup matrix;

[0123] The fixture bracket is also equipped with a 3D structured light camera, which is used to collect point cloud data of the positioning pin holes of the vehicle body, thereby realizing the positioning of the window frame;

[0124] Four linear cameras are also arranged on the fixture bracket, and the four linear cameras form a first linear camera group and a second linear camera group. The first linear camera group is located on one side frame of the fixture bracket, and is used to collect the line scan point cloud from one side edge of the windshield to the corresponding side edge of the window frame; the second linear camera group is located on the other side frame of the fixture bracket, and is used to collect the line scan point cloud from the other side edge of the windshield to the corresponding side edge of the window frame.

[0125] based on Figure 5 The actuator shown can determine multiple groups of first gaps and second gaps because two line scan point clouds are obtained from the left side of the windshield to the left side of the window frame, and two line scan point clouds are obtained from the right side of the windshield to the right side of the window frame.

[0126] based on Figure 5 The actuator shown in the figure has four line scan cameras, so four face differences can be calculated. For example, the face difference between the windshield and the window frame can be obtained in the following way: obtain the line scan point cloud between the four corners of the windshield corresponding to the four corners of the window frame; segment the line scan point cloud between the same corners of the windshield and the window frame to obtain the point cloud corresponding to each corner of the windshield and the point cloud corresponding to each corner of the window frame; determine the face difference corresponding to the same angle according to the point cloud corresponding to the same angle of the windshield and the window frame, so as to obtain the four face differences between the windshield and the window frame.

[0127] Among them, the four corners of the windshield can be understood as the upper left corner of the windshield, the lower left corner of the windshield, the upper right corner of the windshield and the lower right corner of the windshield. Correspondingly, the four corners of the window frame can be understood as the upper left corner of the window frame, the lower left corner of the window frame, the upper right corner of the window frame and the lower right corner of the window frame. Then, what is obtained is the line scan point cloud of the upper left corner of the windshield corresponding to the upper left corner of the window frame, the line scan point cloud of the lower left corner of the windshield corresponding to the lower left corner of the window frame, the line scan point cloud of the upper right corner of the windshield corresponding to the upper right corner of the window frame, and the line scan point cloud of the lower right corner of the windshield corresponding to the lower right corner of the window frame. The four point clouds here can be respectively obtained by Figure 5 The four line scan cameras shown are acquired separately.

[0128] Among them, the same angle can be understood as the upper left corner, the lower left corner, the upper right corner and the lower right corner.

[0129] Determine the face difference corresponding to the same angle by referring to the following formula (3):

[0130] E flush =∑nT (RP+tc) (3)

[0131] In the above formula (3), E flush is the face difference corresponding to the same angle, n represents the plane normal vector of the plane where the window frame is located, R represents the rotation matrix of the windshield, t represents the translation of the windshield, c is the plane center of the plane where the window frame is located, and P represents the face difference point.

[0132] It is worth noting that the parameters on the right side of the equal sign in the above formula (3) are determined by the point cloud corresponding to the same corner of the windshield and the window frame. The specific method of determining each parameter from the point cloud can refer to the relevant technology. For example, if the calculation of the face difference of the upper left corner is taken as an example, the parameters on the right side of the equal sign in the above formula (3) are determined by the point cloud corresponding to the upper left corner of the windshield and the window frame.

[0133] In some embodiments, Figure 1 The step S11 shown can be implemented in the following manner: collecting point cloud data of the body locating pin holes on the frame supporting the window frame; determining the position of the window frame based on the point cloud data of the body locating pin holes; and controlling the actuator to move the captured windshield to the top of the window frame based on the position of the window frame.

[0134] Among them, the body positioning pin hole on the frame is used as a positioning reference for assembly and manufacturing. Therefore, the position of the window frame can be obtained by collecting the point cloud data of the body positioning pin hole. The point cloud data here can be collected by a 3D (Three Dimensional) structured light camera set on the fixture bracket of the actuator. The specific implementation method of determining the position based on the point cloud data can refer to the relevant technology, and this embodiment will not be repeated here.

[0135] In this way, the actuator can be controlled to move the grabbed windshield glass to the top of the window frame according to the position of the window frame.

[0136] Figure 6 is a block diagram of a windshield glass installation device according to an exemplary embodiment. Figure 6 The device 600 includes a first control module 601 , a first acquisition module 602 , a first adjustment module 603 and a second control module 404 .

[0137] The first control module 601 is configured to execute step S11, controlling the actuator to move the grabbed windshield glass to above the window frame;

[0138] A first acquisition module 602 is configured to execute step S12 to acquire a first gap and a second gap, wherein the first gap and the second gap are respectively used to simulate a gap between a left side of the windshield and a left side of the window frame and a gap between a right side of the windshield and a right side of the window frame when the windshield and the window frame are projected on the same plane;

[0139] The first adjustment module 603 is configured to execute step S13, and if it is determined that the installation condition is not met, adjust the posture of the actuator according to the first gap and the second gap, wherein the installation condition is used to indicate that the same side of the windshield and the window frame are projected onto the same plane in parallel and the windshield is centered relative to the window frame;

[0140] The second control module 604 is configured to execute step S14, and when it is determined that the installation condition is met, control the actuator according to the current posture of the actuator so that the actuator installs the windshield to the window frame.

[0141] In some embodiments, the first acquisition module 602 includes:

[0142] A first acquisition submodule is configured to acquire a line scan point cloud from the left side of the windshield to the left side of the window frame and a line scan point cloud from the right side of the windshield to the right side of the window frame;

[0143] A first determination submodule is configured to determine a first gap according to a line scan point cloud from the left side of the windshield to the left side of the window frame;

[0144] The second determination submodule is configured to determine a second gap based on a line scan point cloud from the right side of the windshield to the right side of the window frame.

[0145] In some embodiments, the first determination submodule is configured to segment the line scan point cloud from the left side of the windshield to the left side of the window frame to obtain the point cloud corresponding to the left side of the windshield and the point cloud corresponding to the left side of the window frame; determine the first gap based on the point cloud corresponding to the left side of the windshield and the point cloud corresponding to the left side of the window frame.

[0146] In some embodiments, the first determination submodule is configured to segment the line scan point cloud from the right side of the windshield to the right side of the window frame to obtain the point cloud corresponding to the right side of the windshield and the point cloud corresponding to the right side of the window frame; determine the second gap based on the point cloud corresponding to the right side of the windshield and the point cloud corresponding to the right side of the window frame.

[0147] In some embodiments, the first gap and the second gap include multiple groups, and each group of the first gap and the second gap are located in the same horizontal direction. The first adjustment module 603 is specifically configured to: determine whether the same side of the windshield and the window frame are projected to the same plane in parallel according to multiple target gaps, wherein the target gap is the gap between the same side of the windshield and the window frame; when it is determined that the same side of the windshield and the window frame are projected to the same plane are not parallel, adjust the posture of the actuator; when it is determined that the difference between the first gap and the second gap of any group is greater than a first preset threshold, adjust the posture of the actuator.

[0148] In some embodiments, the apparatus 600 further includes:

[0149] A second acquisition module is configured to, before controlling the actuator according to the current posture of the actuator, execute step S21 to acquire at least three face differences between the windshield and the window frame, each face difference being used to characterize the distance between the windshield and the window frame;

[0150] The second adjustment module is configured to execute step S22, and when it is determined that the maximum face difference value among the at least three face differences is not less than a second preset threshold, adjust the posture of the actuator according to the at least three face differences.

[0151] In some embodiments, the flushness includes four, and the second acquisition module includes:

[0152] A second acquisition submodule is configured to acquire a line scan point cloud between four corners of the windshield glass corresponding to four corners of the window frame;

[0153] A segmentation submodule is configured to segment the line scan point cloud between the same corners of the windshield and the window frame to obtain a point cloud corresponding to each corner of the windshield and a point cloud corresponding to each corner of the window frame;

[0154] The third determination submodule is configured to determine the face differences corresponding to the same angles of the windshield and the window frame according to the point clouds corresponding to the same angles of the windshield and the window frame, so as to obtain four face differences between the windshield and the window frame.

[0155] In some embodiments, the first control module 601 includes:

[0156] A collection submodule, used for collecting point cloud data of the body locating pin holes on the frame carrying the window frame;

[0157] a fourth determination submodule, configured to determine the position of the window frame according to the point cloud data of the positioning pin hole of the vehicle body;

[0158] The control submodule is used to control the actuator to move the grabbed windshield glass to the top of the window frame according to the position of the window frame.

[0159] Regarding the device 600 in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0160] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon. When the program instructions are executed by a processor, the steps of the windshield installation method provided by the present disclosure are implemented.

[0161] The present disclosure also provides a robot, comprising:

[0162] An actuator, the actuator comprising a clamp bracket, the clamp bracket being provided with a suction cup, the suction cup being used to grasp the windshield;

[0163] A processor is configured to execute the steps of the windshield installation method provided by the present disclosure.

[0164] Figure 7 is a block diagram of a robot according to an exemplary embodiment. Figure 7 , the robot 700 may include one or more of the following components: a processing component 702, a memory 704, a power component 706, a multimedia component 708, an audio component 710, an input / output interface 712, a sensor component 714, and a communication component 716. In addition, the robot may also include Figure 5 Actuator shown.

[0165] The processing component 702 generally controls the overall operation of the robot 700, such as the gripping of the suction cup, the movement of the actuator, etc. The processing component 702 may include one or more processors 720 to execute instructions to complete all or part of the steps of the above-mentioned windshield installation method. In addition, the processing component 702 may include one or more modules to facilitate the interaction between the processing component 702 and other components. For example, the processing component 702 may include a multimedia module to facilitate the interaction between the multimedia component 708 and the processing component 702.

[0166] The memory 704 is configured to store various types of data to support operations on the robot 700. Examples of such data include instructions for any application or method operating on the robot 700, contact data, phone book data, messages, pictures, videos, etc. The memory 704 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0167] The power supply assembly 706 provides power to various components of the robot 700. The power supply assembly 706 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the robot 700.

[0168] The multimedia component 708 includes a screen that provides an output interface between the robot 700 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.

[0169] The audio component 710 is configured to output and / or input audio signals. The received audio signals may be further stored in the memory 704 or transmitted via the communication component 716. In some embodiments, the audio component 710 further includes a speaker for outputting audio signals.

[0170] The input / output interface 712 provides an interface between the processing component 702 and the peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0171] The sensor assembly 714 includes one or more sensors for providing various aspects of the status assessment of the robot 700. For example, the sensor assembly 714 can detect the open / closed state of the robot 700, the relative positioning of components, such as the display and keypad of the robot 700, the sensor assembly 714 can also detect the position change of the robot 700 or a component of the robot 700, the presence or absence of user contact with the robot 700, the orientation or acceleration / deceleration of the robot 700, and the temperature change of the robot 700. The sensor assembly 714 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 714 can also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 714 can also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0172] The communication component 716 is configured to facilitate wired or wireless communication between the robot 700 and other devices. The robot 700 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 716 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 716 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0173] In an exemplary embodiment, the robot 700 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to perform the above-mentioned windshield installation method.

[0174] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 704 including instructions, which can be executed by a processor 720 of the robot 700 to perform the above windshield installation method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0175] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the present disclosure. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0176] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A windshield installation method, characterized in that: include: Step S11, controlling the actuator to move the grabbed windshield glass to above the window frame; Step S12, obtaining a first gap and a second gap, wherein the first gap and the second gap are respectively used to simulate a gap between the left side of the windshield and the left side of the window frame and a gap between the right side of the windshield and the right side of the window frame when the windshield and the window frame are projected on the same plane; Step S13, if it is determined that the installation condition is not met, adjusting the position of the actuator according to the first gap and the second gap, and returning to step S12, wherein the installation condition is used to indicate that the same side of the windshield and the window frame are projected onto the same plane in parallel and the windshield is centered relative to the window frame; Step S14: When it is determined that the installation condition is met, the actuator is controlled according to the current position of the actuator so that the actuator installs the windshield to the window frame.

2. The method according to claim 1, characterized in that Get the first gap and the second gap by: Acquire a line scan point cloud from the left side of the windshield to the left side of the window frame and a line scan point cloud from the right side of the windshield to the right side of the window frame; Determine a first gap according to a line scan point cloud from the left side of the windshield to the left side of the window frame; A second gap is determined based on a line scan point cloud from the right side of the windshield to the right side of the window frame.

3. The method according to claim 2, characterized in that Determining the first gap according to the line scan point cloud from the left side of the windshield to the left side of the window frame comprises: Segmenting the line scan point cloud from the left side of the windshield to the left side of the window frame to obtain a point cloud corresponding to the left side of the windshield and a point cloud corresponding to the left side of the window frame; The first gap is determined according to the point cloud corresponding to the left side of the windshield and the point cloud corresponding to the left side of the window frame.

4. The method according to claim 2, characterized in that: Determining the second gap according to the line scan point cloud from the right side of the windshield to the right side of the window frame comprises: Segmenting the line scan point cloud from the right side of the windshield to the right side of the window frame to obtain a point cloud corresponding to the right side of the windshield and a point cloud corresponding to the right side of the window frame; The second gap is determined according to the point cloud corresponding to the right side of the windshield and the point cloud corresponding to the right side of the window frame.

5. The method according to claim 1, characterized in that The first gap and the second gap include a plurality of groups, each group of the first gap and the second gap are located in the same horizontal direction, and when it is determined that the installation condition is not met, adjusting the posture of the actuator according to the first gap and the second gap, including: Determining whether the same side of the windshield and the window frame are projected onto the same plane in parallel according to a plurality of target gaps, wherein the target gap is the gap between the same side of the windshield and the window frame; When it is determined that the windshield and the window frame are not parallel when projected onto the same plane, adjusting the posture of the actuator; When it is determined that the difference between the first gap and the second gap of any group is greater than a first preset threshold, the posture of the actuator is adjusted.

6. The method according to claim 1, characterized in that Before controlling the actuator according to the current posture of the actuator, the method further includes: Step S21, obtaining at least three face differences between the windshield and the window frame, each face difference being used to characterize the distance between the windshield and the window frame; Step S22, when it is determined that the maximum face difference value among the at least three face differences is not less than the second preset threshold, adjust the posture of the actuator according to the at least three face differences, and return to step S21.

7. The method according to claim 6, characterized in that The surface differences include four, and the surface differences between the windshield and the window frame are obtained by the following method: Obtaining line scan point clouds between the four corners of the windshield glass corresponding to the four corners of the window frame; Segmenting the line scan point cloud between the same corners of the windshield and the window frame to obtain a point cloud corresponding to each corner of the windshield and a point cloud corresponding to each corner of the window frame; According to the point clouds corresponding to the same angles of the windshield and the window frame, the face differences corresponding to the same angles are determined to obtain four face differences between the windshield and the window frame.

8. The method according to claim 1, characterized in that The controlling actuator to move the grabbed windshield glass to above the window frame comprises: Collecting point cloud data of a body locating pin hole on a frame that carries the window frame; Determine the position of the window frame according to the point cloud data of the positioning pin hole of the vehicle body; According to the position of the window frame, the actuator is controlled to move the grabbed windshield glass to above the window frame.

9. A windshield glass installation device, characterized in that: include: The first control module is configured to execute step S11, controlling the actuator to move the grabbed windshield glass to above the window frame; a first acquisition module, configured to execute step S12 to acquire a first gap and a second gap, wherein the first gap and the second gap are respectively used to simulate a gap between a left side of the windshield and a left side of the window frame and a gap between a right side of the windshield and a right side of the window frame when the windshield and the window frame are projected on the same plane; A first adjustment module is configured to execute step S13, and if it is determined that the installation condition is not met, adjust the posture of the actuator according to the first gap and the second gap, wherein the installation condition is used to indicate that the same side of the windshield and the window frame are projected onto the same plane in parallel and the windshield is centered relative to the window frame; The second control module is configured to execute step S14, and when it is determined that the installation condition is met, control the actuator according to the current posture of the actuator so that the actuator installs the windshield to the window frame.

10. A robot, characterized in that: include: Actuator; A processor, wherein the processor is configured to execute the steps of any one of the methods of claims 1-8.

11. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the steps of the method described in any one of claims 1 to 8 are implemented.

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