Door trim fixing device and method using an Agile Robotic fixture(ARF)

Abstract

A door trim fixing device and method using a robotic jig are disclosed. The door trim fixing device includes a recognition unit that recognizes the shape of the door trim based on the input information when image information and depth information regarding the door trim of a vehicle are input; a selection unit that determines a contact point with a robotic jig for fixing the door trim based on the recognized shape; and a fixing unit that controls the robotic jig based on the determined contact point to fix the door trim.

Description

Technology Field

[0001] The present invention relates to a door trim fixing method, and more specifically, to a door trim fixing device and method using a robotic jig that effectively fixes a vehicle door trim made of various shapes. Background Technology

[0002] Generally, door trims are attached to the interior side of a vehicle door to protect occupants from impact and improve the interior finish. Additionally, they are formed to allow for the installation of various components for the convenience of the user.

[0003] Recently, there has been a trend to use jigs in many processes for manufacturing or installing door trims.

[0004] However, the existing setup environment can only handle a single door trim shape, creating a problem where jigs must be replaced to produce different shapes. Since such replacement work leads to production line shutdowns and increased production time, it is practically impossible; instead, production is carried out by setting up a separate workspace for each door trim to modify the settings.

[0005] As a result, conventional methods are negatively impacting overall productivity due to the problem of requiring excessively large factory sizes. Prior art literature

[0006] Registered Utility Model Publication No. 20-0474369 (September 2, 2014) The problem to be solved

[0007] The problem that the present invention aims to solve is to eliminate the inefficiency caused by jig replacement and manual adjustment in the door trim assembly process of a vehicle, and to provide a door trim fixing device and method using an Agile Robotic fixture (ARF) that automatically recognizes door trims of various shapes and performs optimal fixing work. means of solving the problem

[0008] To solve the above problem, the door trim fixing device according to the present invention includes a recognition unit that recognizes the shape of the door trim based on the input information when image information and depth information regarding the door trim of a vehicle are input; a selection unit that determines a contact point with a robotic jig for fixing the door trim based on the recognized shape; and a fixing unit that controls the robotic jig based on the determined contact point to fix the door trim.

[0009] In addition, the recognition unit is characterized by generating a 3D point cloud of the door trim using the depth information, and detecting the outline and curved surface of the door trim based on the generated 3D point cloud and the image information to recognize the shape.

[0010] In addition, the selection unit calculates the center point of the shape, divides the image information into four regions based on the calculated center point, and sets a region of interest (ROI) that the end of the robotic jig can contact by considering the operating radius of the robotic jig for each of the divided regions.

[0011] In addition, the selection unit is characterized by recognizing the planar state for each of the aforementioned regions of interest, and selecting planes in each region of interest where the height difference is less than or equal to a preset threshold value based on the recognized planar state to select a combination of planes that are close to horizontal.

[0012] In addition, the selection unit is characterized by deriving a plurality of contact point candidate groups based on the minimum area that the end of the robotic jig can contact in the selected plane combination, and determining two points that are as far as possible from each plane among the derived contact point candidate groups as the final contact points.

[0013] In addition, the fixing part is characterized by automatically aligning the end of the robotic jig to the contact point to perform a first fixation, and detecting a position error occurring in the first fixation.

[0014] In addition, the fixing part is characterized by performing a second fixation between the end of the robotic jig and the door trim by compensating for the detected position error through admittance control.

[0015] In addition, the above fixing part is characterized by storing the position where the door trim is fixed by the end of the robotic jig as a teaching point.

[0016] In addition, the recognition unit is characterized by omitting the process of determining the contact point when the shape of the recognized door trim matches the shape of the door trim corresponding to a previously stored teaching point, and supporting the door trim to be fixed based on the teaching point.

[0017] A door trim fixing method performed by a door trim fixing device for fixing a door trim of a vehicle according to the present invention includes the steps of: recognizing the shape of the door trim based on the input information when image information and depth information regarding the door trim are input; determining a contact point with a robotic jig for fixing the door trim based on the recognized shape; and controlling the robotic jig based on the determined contact point to fix the door trim. Effects of the invention

[0018] According to an embodiment of the present invention, the shape of a door trim is accurately recognized based on image information and depth information, and after calculating an optimal contact point suitable for the door trim based on the recognized shape, the door trim can be firmly fixed through a robotic jig.

[0019] This allows door trims of various shapes to be fastened quickly and precisely without replacing jigs or introducing separate equipment, and minimizes operator intervention to ensure quality consistency, thereby maximizing the efficiency and flexibility of the production line. Brief explanation of the drawing

[0020] FIG. 1 is a configuration diagram for explaining a door trim fixing system according to an embodiment of the present invention. FIG. 2 is a block diagram illustrating a door trim fixing device according to an embodiment of the present invention. FIG. 3 is a block diagram for explaining a control unit according to an embodiment of the present invention. FIG. 4 is a drawing for explaining the shape recognition of a door trim according to an embodiment of the present invention. FIG. 5 is a drawing for explaining the area division of a door trim according to an embodiment of the present invention. FIG. 6 is a drawing for explaining the planar recognition of a door trim according to an embodiment of the present invention. FIG. 7 is a drawing for explaining the selection of a planar combination of a door trim according to an embodiment of the present invention. FIG. 8 is a drawing for explaining the determination of a contact point of a door trim according to an embodiment of the present invention. FIG. 9 is a drawing for explaining the precise fixing of a door trim according to an embodiment of the present invention. FIG. 10 is a flowchart illustrating a door trim fixing method according to an embodiment of the present invention. FIG. 11 is a block diagram illustrating a computing device according to an embodiment of the present invention. Specific details for implementing the invention

[0021] Embodiments of the present invention are described below with reference to the attached drawings so that those skilled in the art can easily implement them. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. Furthermore, in order to clearly explain the present invention in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification are denoted by similar reference numerals.

[0022] In this specification and drawings (hereinafter referred to as the 'this specification'), redundant descriptions of identical components are omitted.

[0023] Furthermore, when a component is described in this specification as being 'connected' or 'connected' to another component, it should be understood that it may be directly connected to or connected to the other component, or that there may be other components in between. On the other hand, when a component is described in this specification as being 'directly connected' or 'directly connected' to another component, it should be understood that there are no other components in between.

[0024] Furthermore, the terms used in this specification are used merely to describe specific embodiments and are not intended to limit the invention.

[0025] Additionally, in this specification, singular expressions may include plural expressions unless the context clearly indicates otherwise.

[0026] Furthermore, in this specification, terms such as 'comprising' or 'having' are intended merely to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not excluding in advance the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0027] Additionally, in this specification, the term "and / or" includes a combination of the plurality of described items or any of the plurality of described items. In this specification, "A or B" may include "A," "B," or "both A and B."

[0028] In addition, detailed descriptions of known functions and configurations that may obscure the essence of the invention will be omitted in this specification.

[0030] FIG. 1 is a configuration diagram for explaining a door trim fixing system according to an embodiment of the present invention.

[0031] Referring to FIG. 1, the door trim fixing system (300) eliminates inefficiency caused by jig replacement and manual adjustment occurring during the door trim assembly process of a vehicle and automatically recognizes door trims of various shapes to support optimal fixing operations. The door trim fixing system (300) includes a door trim fixing device (100) and a user terminal (200).

[0032] The door trim fixing device (100) eliminates the inefficiency caused by jig replacement and manual adjustment for each conventional vehicle and provides stable and robust fixation for door trims of various shapes. To this end, the door trim fixing device (100) determines the contact point of the robotic jig based on image information and depth information captured of the vehicle's door trim, and controls the robotic jig based on the determined contact point to achieve accurate and precise fixation. That is, the door trim fixing device (100) maximizes work efficiency and flexibility and improves the precision and flexibility of the fixing work.

[0033] Additionally, the door trim fixing device (100) can monitor the work status in real time and generate monitoring information regarding the monitored work status. The monitoring information may include the type of door trim previously worked on, the type of door trim currently being worked on, the type of door trim to be worked on next, the error rate, the remaining amount of work, the estimated time for work completion, and whether there is a malfunction. The door trim fixing device (100) can transmit the generated monitoring information to a user terminal (200).

[0034] The user terminal (200) is a terminal used by a user (or administrator) and receives monitoring information from the door trim fixing device (100). The user terminal (200) outputs the received monitoring information to help the user check the information. That is, the user terminal (200) supports the user in checking the status of the door trim fixing device (100) in real time from a remote location.

[0035] The door trim fixing system (300) supports communication between the door trim fixing device (100) and the user terminal (200) by establishing a communication network (350). The communication network (350) may be composed of a backbone network and a subscriber network. The backbone network may be composed of one or more integrated networks among an X.25 network, a Frame Relay network, an ATM network, an MPLS (Multi-Protocol Label Switching) network, and a GMPLS (Generalized Multi-Protocol Label Switching) network. The subscriber network may be FTTH (Fiber To The Home), ADSL (Asymmetric Digital Subscriber Line), cable network, Zigbee, Bluetooth, Wireless LAN (IEEE 802.11b, IEEE 802.11a, IEEE 802.11g, IEEE 802.11n), Wireless Hart (ISO / IEC 62591-1), ISA 100.11a (ISO / IEC 62734), CoAP (Constrained Application Protocol), MQTT (Message Queuing Telemetry Transport), WIBro (Wireless Broadband), WiMAX, 3G, HSDPA (High Speed ​​Downlink Packet Access), 4G, 5G, and 6G, etc. In some embodiments, the communication network (350) may be an internet network and a mobile communication network. Additionally, the communication network (350) may include any other widely known or future-developed wireless or wired communication methods.

[0037] FIG. 2 is a block diagram illustrating a door trim fixing device according to an embodiment of the present invention.

[0038] Referring to FIGS. 1 and 2, the door trim fixing device (100) includes a communication unit (10), a camera unit (20), a sensor unit (30), a control unit (40), a robotic jig (50), and a storage unit (60).

[0039] The communication unit (10) performs communication with the user terminal (200). The communication unit (10) transmits monitoring information related to the door trim fixing device (100) to the user terminal (200).

[0040] The camera unit (20) captures the door trim of the vehicle to generate image information and depth information. At this time, the camera unit (20) can capture the entire shape of the door trim to generate image information and depth information for the entire door trim. Preferably, the camera unit (20) may include an RGB-D camera, but is not limited thereto, and may include an RGB camera and a distance sensor.

[0041] The sensor unit (30) is provided at the end of the robotic jig (50) and generates sensing information by measuring the state in which the robotic jig (50) contacts the door trim. The end of the robotic jig (50) may refer to the end of the robotic arm among the robotic jig (50). The sensor unit (30) may include a contact sensor, a force / torque sensor (F / T sensor), etc. The sensor unit (30) can measure the contact state between the robotic jig (50) and the door trim through the contact sensor, and measure the minute misalignment and separation state between the robotic jig (50) and the door trim through the F / T sensor.

[0042] The control unit (40) performs overall control of the door trim fixing device (100). When image information and depth information regarding the door trim of a vehicle are input from the camera unit (20), the control unit (40) recognizes the shape of the door trim based on the input information. Based on the recognized shape, the control unit (40) determines a contact point with a robotic jig (50) for fixing the door trim. Based on the determined contact point, the control unit (40) controls the robotic jig (50) to fix the door trim. At this time, the control unit (40) saves the fixed position as a teaching point so that when fixing the same door trim in the future, the process of determining the contact point is omitted and the door trim can be fixed immediately. A teaching point refers to a fixed point where the robotic jig (50) contacts the door trim when fixing the door trim.

[0043] The robotic jig (50) is a device that combines a jig for fixing a door trim and a robot system. The robotic jig (50) automatically fixes the door trim by the control unit (40) and includes four robotic arms. That is, the robotic jig (50) can support and fix four points of the door trim using each robotic arm.

[0044] The storage unit (60) stores a program or algorithm for operating the door trim fixing device (100). The storage unit (60) stores image information, depth information, sensing information, etc. related to the door trim. Additionally, the storage unit (60) stores a teaching point, which is a fixed point where the door trim is fixed. At this time, the storage unit (60) can store the teaching point so that it matches the image information and depth information of the corresponding door trim. The storage unit (60) may include a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., SD or XD memory, etc.), RAM (Random Access Memory), SRAM (Static Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory), magnetic memory, a magnetic disk, and an optical disk.

[0046] FIG. 3 is a block diagram for explaining a control unit according to an embodiment of the present invention, FIG. 4 is a diagram for explaining shape recognition of a door trim according to an embodiment of the present invention, FIG. 5 is a diagram for explaining area division of a door trim according to an embodiment of the present invention, FIG. 6 is a diagram for explaining planar recognition of a door trim according to an embodiment of the present invention, FIG. 7 is a diagram for explaining planar combination selection of a door trim according to an embodiment of the present invention, FIG. 8 is a diagram for explaining contact point determination of a door trim according to an embodiment of the present invention, and FIG. 9 is a diagram for explaining precision fixing of a door trim according to an embodiment of the present invention.

[0047] Referring to FIGS. 1 to 9, the control unit (40) includes a recognition unit (41), a selection unit (43), and a fixing unit (45).

[0048] When image information and depth information for the entire door trim (D) of a vehicle are input, the recognition unit (41) recognizes the shape of the door trim (D) using the input image information and depth information (40a). Specifically, the recognition unit (41) generates a 3D point cloud of the door trim (D) using the depth information. Based on the generated 3D point cloud and the image information of the door trim (D), the recognition unit (41) detects the outline (border) and the curved surface of the inner surface of the door trim (D) to recognize the shape. At this time, the recognition unit (41) may recognize only the main curved surface of the door trim (D) and not recognize the sub-curved surface. The main curved surface refers to a curved surface of the door trim (D) that relatively affects the inner shape, and the sub-curved surface refers to a curved surface of the door trim (D) that relatively does not affect the inner shape.

[0049] Here, the recognition unit (41) supports fixing the door trim (D) based on the teaching point when the shape of the recognized door trim (D) matches the shape of the door trim corresponding to the previously stored teaching point. That is, the recognition unit (41) supports omitting the process of determining the contact point performed in the selection unit (43) and enabling the robotic jig (50) to be controlled directly through the fixing unit (45).

[0050] The selection unit (43) calculates the center point (C) of the recognized shape and divides the image information into four regions (A1, A2, A3, A4) based on the calculated center point (C) (40b). The selection unit (43) can make the number of regions divided correspond to the number of robot arms of the robotic jig (50). The selection unit (43) divides diagonally based on the center point (C) in the up, down, left, and right directions, and separates them into the first region (A1), the second region (A2), the third region (A3), and the fourth region (A4), respectively. Here, the first region (A1), the second region (A2), the third region (A3), and the fourth region (A4) can serve as a reference for the robotic jig (50) to support the door trim.

[0051] The selection unit (43) sets regions of interest (ROI) (R1, R2, R3, R4) that the end of the robotic jig (50) can contact, taking into account the workspace of the robotic jig (50) for each divided area (A1, A2, A3, A4) (40c). That is, the selection unit (43) can set the areas within each area (A1, A2, A3, A4) that the end of the robotic jig (50) can contact as the first region of interest (R1), the second region of interest (R2), the third region of interest (R3), and the fourth region of interest (R4). Here, the workspace refers to the maximum range in which the end of the robotic jig (50) can move.

[0052] The selection unit (43) recognizes the plane state for each region of interest (R1, R2, R3, R4). The selection unit (43) can recognize the plane state using the RANSAC algorithm (40d). The selection unit (43) can distinguish planes that have the same height or are within a preset error range. For example, the selection unit (43) can distinguish planes that have the same height or are within a preset error range by the same color, but is not limited thereto.

[0053] The selection unit (43) selects an optimal plane for fixing the door trim based on the recognized plane state (40e). That is, the selection unit (43) selects planes in each area of ​​interest (R1, R2, R3, R4) where the height difference is less than or equal to a preset threshold value, and selects an optimal combination of planes (P1, P2, P3, P4) that is close to horizontal. Through this, the selection unit (43) can provide conditions in which the door trim can be stably supported while maintaining a horizontal position by the robotic jig (50).

[0054] The selection unit (43) selects the location where the end of the robotic jig (50) will actually make contact in the selected plane combination (40f). To do this, the selection unit (43) derives a group of multiple contact point candidates having a minimum area or larger than the minimum area that the end of the robotic jig (50) can make contact with among the plane combinations. The selection unit (43) determines two points that are as far apart as possible from each plane among the derived contact point candidates as the final contact points. That is, the selection unit (43) determines the two end points of each plane as the final contact points to support the robotic jig (50) so that it can stably support the door trim.

[0055] The fixing unit (45) controls the robotic jig (50) based on the determined contact point to fix the door trim. Specifically, the fixing unit (45) performs a first fixation by automatically aligning each end of the robotic jig (50) to the contact point. The fixing unit (45) may use known control software for the robotic jig (50). At this time, the fixing unit (45) detects a position error occurring during the first fixation using the contact sensor of the sensor unit (30). The position error refers to shaking or an incomplete fixation state that occurs when the end of the robotic jig (50) actually comes into contact with the door trim.

[0056] When a position error occurs, the fixing part (45) performs precise fixing between the end of the robotic jig (50) and the door trim using the force / torque sensor of the sensor part (30) (40g). The fixing part (45) can perform a second fixing between the end of the robotic jig (50) and the door trim by compensating for the detected position error through admittance control. Through this, the fixing part (45) can stably fix the door trim and ensure the quality of the fixed state.

[0057] The fixing unit (45) stores the position where the door trim is fixed by the robotic jig (50) as a teaching point. That is, the fixing unit (45) supports the immediate fixing of the door trim using the teaching point without the process of determining the contact point when fixing the same door trim in a subsequent door trim fixing process, thereby shortening the process time and lowering the production cost.

[0058] Additionally, although not shown in the drawing, the control unit (40) may further include a monitoring unit (not shown). The monitoring unit monitors the process of fixing the door trim in real time and generates monitoring information based on the monitored results. The monitoring unit can transmit the generated monitoring information to a user terminal (200) to support the output of the information through the user terminal (200).

[0060] FIG. 10 is a flowchart illustrating a door trim fixing method according to an embodiment of the present invention.

[0061] Referring to FIGS. 1 and 10, the door trim fixing method can accurately recognize the shape of the door trim based on image information and depth information, calculate an optimal contact point suitable for the door trim based on the recognized shape, and then firmly fix the door trim using a robotic jig. Through this, the door trim fixing method can quickly and precisely fix door trims of various shapes without replacing the jig or introducing separate equipment, and can maximize the efficiency and flexibility of the production line by ensuring consistency in quality through minimizing operator intervention.

[0062] In step S110, the door trim fixing device (100) recognizes the shape of the door trim. When image information and depth information regarding the door trim of a vehicle are input, the door trim fixing device (100) recognizes the shape of the door trim based on the input information. The door trim fixing device (100) can generate a 3D point cloud of the door trim using the depth information, and can recognize the shape by detecting the outline and curved surface of the door trim based on the generated 3D point cloud and image information.

[0063] In step S120, the door trim fixing device (100) determines whether the shape of the recognized door trim is a new door trim. If the shape of the recognized door trim is a new door trim, the door trim fixing device (100) performs step S130, and if it is not a new door trim but matches the shape of a previously stored door trim, it performs step S170.

[0064] In step S130, the door trim fixing device (100) performs region division on the shape of the recognized door trim. The door trim fixing device (100) calculates the center point of the shape and divides the image information into four regions based on the calculated center point. At this time, the door trim fixing device (100) can divide the regions in the up, down, left, and right directions through two diagonals passing through the center point. For each divided region, the door trim fixing device (100) sets a region of interest where the end of the robotic jig can make contact, taking into account the operating radius of the robotic jig.

[0065] In step S140, the door trim fixing device (100) performs plane recognition for each region of interest. The door trim fixing device (100) recognizes multiple planes in each region of interest according to the shape of the door trim using the RANSAC algorithm.

[0066] In step S150, the door trim fixing device (100) selects an optimal combination of planes for fixing the door trim. Based on the recognized plane state, the door trim fixing device (100) selects planes in each region of interest where the height difference is less than or equal to a preset threshold to select a combination of planes that are close to horizontal.

[0067] In step S160, the door trim fixing device (100) calculates the contact points of the end of the robotic jig. The door trim fixing device (100) derives a plurality of contact point candidates based on the minimum area that the end of the robotic jig can contact in a selected combination of planes. The door trim fixing device (100) determines two points among the derived contact point candidates that are as far apart as possible from each plane as the final contact points.

[0068] In step S170, the door trim fixing device (100) controls a robotic jig to perform a first fixing. The door trim fixing device (100) performs the first fixing by automatically aligning the end of the robotic jig to a contact point or a previously stored teaching point. The door trim fixing device (100) can detect a position error occurring during the first fixing.

[0069] In step S180, the door trim fixing device (100) controls the robotic jig to perform a second fixing. The door trim fixing device (100) performs a precise fixing by compensating for the position error that occurred in the first fixing. That is, the door trim fixing device (100) can perform a second fixing between the end of the robotic jig and the door trim by compensating for the position error detected through admittance control. In addition, the door trim fixing device (100) can support the door trim fixing process to be performed quickly by storing the position where the door trim is fixed by the end of the robotic jig as a teaching point.

[0071] FIG. 11 is a block diagram illustrating a computing device according to an embodiment of the present invention.

[0072] Referring to FIG. 11, the computing device (TN100) may be a device described in this specification (e.g., a door trim fixing device, a user terminal, etc.).

[0073] The computing device (TN100) may include at least one processor (TN110), a transceiver (TN120), and a memory (TN130). Additionally, the computing device (TN100) may further include a storage device (TN140), an input interface device (TN150), an output interface device (TN160), etc. The components included in the computing device (TN100) may be connected by a bus (TN170) to communicate with each other.

[0074] The processor (TN110) can execute a program command stored in at least one of the memory (TN130) and the storage device (TN140). The processor (TN110) may refer to a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which methods according to embodiments of the present invention are performed. The processor (TN110) may be configured to implement the procedures, functions, and methods described in relation to embodiments of the present invention. The processor (TN110) can control each component of the computing device (TN100).

[0075] Each of the memory (TN130) and the storage device (TN140) can store various information related to the operation of the processor (TN110). Each of the memory (TN130) and the storage device (TN140) may be composed of at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory (TN130) may be composed of at least one of read-only memory (ROM) and random access memory (RAM).

[0076] The transmitting and receiving device (TN120) can transmit or receive wired or wireless signals. The transmitting and receiving device (TN120) can be connected to a network to perform communication.

[0078] Meanwhile, embodiments of the present invention are not limited to being implemented only through the apparatus and / or methods described so far, but may also be implemented through a program that realizes a function corresponding to the configuration of the embodiments of the present invention or a recording medium on which such program is recorded, and such implementation can be easily achieved by a person skilled in the art to which the present invention belongs based on the description of the embodiments described above.

[0080] Although embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by a person skilled in the art using the basic concept of the present invention as defined in the following claims also fall within the scope of the present invention. Explanation of the symbols

[0081] 10: Communications Department 20: Camera Department 30: Sensor section 40: Control unit 41: Recognition part 43: Selection Department 45: Fixed part 50: Robotic Jig 60: Storage section 100: Door trim fixing device 200: User terminal 300: Door trim fixing system 350: Communication network

Claims

Claim 1 A door trim fixing device comprising: a recognition unit that recognizes the shape of the door trim based on the input information when image information and depth information regarding the door trim of a vehicle are input; a selection unit that determines a contact point with a robotic jig for fixing the door trim based on the recognized shape; and a fixing unit that controls the robotic jig based on the determined contact point to fix the door trim. Claim 2 A door trim fixing device according to claim 1, wherein the recognition unit generates a 3D point cloud of the door trim using the depth information, and detects the outline and curved surface of the door trim based on the generated 3D point cloud and the image information to recognize the shape. Claim 3 A door trim fixing device according to claim 1, wherein the selection unit calculates the center point of the shape, divides the image information into four regions based on the calculated center point, and sets a region of interest (ROI) where the end of the robotic jig can contact, considering the operating radius of the robotic jig for each of the divided regions. Claim 4 A door trim fixing device according to claim 3, wherein the selection unit recognizes the planar state for each of the regions of interest and, based on the recognized planar state, selects planes in each region of interest where the height difference is less than or equal to a preset threshold value to select a combination of planes that are close to horizontal. Claim 5 A door trim fixing device according to claim 4, wherein the selection unit derives a plurality of contact point candidate groups based on the minimum area in which the end of the robotic jig can contact in the selected plane combination, and determines two points among the derived contact point candidate groups that are as far as possible from each plane as the final contact points. Claim 6 A door trim fixing device according to claim 1, wherein the fixing part automatically aligns the end of the robotic jig to the contact point to perform a first fixing, and detects a position error occurring in the first fixing. Claim 7 A door trim fixing device according to claim 6, wherein the fixing part performs a second fixing between the end of the robotic jig and the door trim by compensating for the detected position error through admittance control. Claim 8 A door trim fixing device according to claim 1, wherein the fixing part stores the position where the door trim is fixed by the end of the robotic jig as a teaching point. Claim 9 A door trim fixing device according to claim 8, wherein the recognition unit omits the process of determining the contact point when the shape of the recognized door trim matches the shape of the door trim corresponding to a previously stored teaching point, and supports the door trim to be fixed based on the teaching point. Claim 10 A door trim fixing method performed by a door trim fixing device for fixing a door trim of a vehicle, comprising: a step of recognizing the shape of the door trim based on the input information when image information and depth information regarding the door trim are input; a step of determining a contact point with a robotic jig for fixing the door trim based on the recognized shape; and a step of fixing the door trim by controlling the robotic jig based on the determined contact point.

Images