Installation positioning control method, device, controller and storage medium for vehicle body roof

Abstract

The present invention discloses a vehicle body roof installation positioning control method, device, controller and medium, the method comprising: moving the vehicle body to a specified position and limiting the freedom of the vehicle body in a spatial coordinate system; moving the roof to a theoretical installation position and limiting the freedom of the roof in a spatial coordinate system; obtaining the deviation of the vehicle body between the specified position and the target position of the vehicle body; calculating the actual installation position of the roof according to the theoretical installation position and the deviation of the vehicle body; moving the roof to the actual installation position and placing the roof vertically downward on the vehicle body. The vehicle body roof installation positioning control method of the present invention has the characteristics of high flexibility, automation and saving process area while ensuring that the vehicle body roof assembly process can meet the trend of large-size roof design.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle body installation, and in particular to an installation positioning control method for a vehicle body roof, an installation positioning control device for a vehicle body roof, a controller and a storage medium. Background Art

[0002] With the development of automobile body-in-white assembly manufacturing technology, many variants of traditional fixture-assisted positioning welding have emerged, and the automation rate has gradually increased. However, the assembly process of the top cover assembly has always been a difficult point. The more notable limitations are as follows: 1. Due to the aesthetic needs of the market, contemporary car models have shown that the body and roof sunroof glass are developing towards larger sizes. The design space reserved for the typical features (holes, flanges) of the fixture to achieve the positioning function is becoming increasingly narrow, making it more difficult to achieve mechanical positioning through the fixture; 2. The current mainstream white body roof assembly process can generally be divided into three main connection processes: "positioning the roof on the fixture", "positioning the fixture on the parking station", and "assembly and welding", which occupies a relatively large process area, which is contrary to the low-carbon concept. In addition, the technical transformation of some old lines is subject to the limitations of the original process area, and there are difficulties in technical upgrading; 3. The traditional roof assembly fixture has a high degree of vehicle customization, and the fixture design and roof shape are highly consistent, which cannot be shared by multiple models. Under the flexible working conditions of multiple models on the same line, it is necessary to prepare multiple sets of fixtures according to different models, which is costly, occupies a large space, and consumes a lot of time for fixture switching. Fourth, the traditional roof assembly process adopts fixture-assisted positioning. Due to the relative fixedness of the fixture state, the installation position of the roof tends to be consistent. However, the size of the vehicle body itself fluctuates, which will lead to unstable matching between the two. It is difficult to meet the construction requirements of laser welding or laser brazing and other connection processes that have stringent matching requirements. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a method for controlling the installation and positioning of a vehicle body roof, a device for controlling the installation and positioning of a vehicle body roof, a controller and a storage medium to ensure that the vehicle body roof assembly process can meet the trend of large-size roof design, while having high flexibility, automation and saving process area.

[0004] In order to solve the above technical problems, according to one aspect of the present invention, a method for controlling the installation and positioning of a vehicle roof is provided, comprising:

[0005] Moving the vehicle body to a specified position and limiting the degree of freedom of the vehicle body in a spatial coordinate system;

[0006] Moving the top cover to a theoretical installation position and limiting the degree of freedom of the top cover in a spatial coordinate system;

[0007] Acquire a vehicle body deviation amount between the designated position and a target position of the vehicle body;

[0008] Calculating the actual installation position of the top cover according to the theoretical installation position and the vehicle body deviation;

[0009] The top cover is moved to the actual installation position, and the top cover is placed vertically downward on the vehicle body.

[0010] Furthermore, the step of moving the top cover to the theoretical installation position includes:

[0011] Obtaining the current position coordinates of the top cover, and determining whether the current position coordinates are consistent with the drawing position coordinates of the top cover in the vehicle coordinate system;

[0012] If not, the position of the top cover is adjusted according to the drawing position coordinates to move the top cover to the theoretical installation position.

[0013] Furthermore, the step of obtaining the vehicle body deviation amount between the designated position and the target position of the vehicle body includes:

[0014] Use a visual sensor to photograph the zero calibration device to obtain the three-dimensional coordinate measurement value of the zero point;

[0015] Calculating the three-dimensional coordinate deviation value of the zero point according to the three-dimensional coordinate measurement value and the preset zero point coordinate value;

[0016] Using a visual sensor to collect a set of three-dimensional spatial coordinate measurement values ​​of multiple feature points of the vehicle body;

[0017] Calculate a current three-dimensional space coordinate value set of the plurality of feature points according to the three-dimensional coordinate deviation value and the three-dimensional space coordinate measurement value set;

[0018] The vehicle body deviation is calculated according to a preset three-dimensional space coordinate value set of the plurality of feature points and the current three-dimensional space coordinate value set.

[0019] Further, the feature points include a plurality of first feature points and a plurality of second feature points;

[0020] On the side walls on both sides of the vehicle body in the width direction, multiple first feature points are selected along both ends of the vehicle body in the length direction, and

[0021] A plurality of the second feature points are selected on the top of the vehicle body.

[0022] Furthermore, the angles between the planes of the structure of the vehicle body at which the second characteristic points are respectively located and the horizontal plane are within a preset angle range.

[0023] Furthermore, the second characteristic point is a circular hole or a circular groove.

[0024] Furthermore, a plurality of the second characteristic points are respectively located at locations having a corner structure on the top of the vehicle body.

[0025] Furthermore, the angle between two sides of the angled structure is less than or equal to a preset angle.

[0026] According to another aspect of the present invention, there is provided a device for controlling the installation and positioning of a vehicle roof, comprising:

[0027] A movement control module, configured to move the vehicle body to a specified position and limit the degree of freedom of the vehicle body in a spatial coordinate system, move the top cover to a theoretical installation position and limit the degree of freedom of the top cover in the spatial coordinate system;

[0028] a position determination module configured to obtain a body deviation amount between the designated position and a target position of the body, and calculate an actual installation position of the top cover according to the theoretical installation position and the body deviation amount; and

[0029] The movement control module is also configured to move the top cover to the actual installation position and place the top cover vertically downward on the vehicle body.

[0030] Furthermore, the mobile control module includes:

[0031] A judgment unit, configured to obtain the current position coordinates of the top cover, and judge whether the current position coordinates are consistent with the drawing position coordinates of the top cover in the vehicle coordinate system;

[0032] The adjustment unit is configured to adjust the position of the top cover according to the drawing position coordinates when the current position coordinates are inconsistent with the drawing position coordinates, so as to move the top cover to the theoretical installation position.

[0033] Furthermore, the location determination module includes:

[0034] A zero calibration unit, configured to photograph the zero calibration device using a visual sensor to obtain a three-dimensional coordinate measurement value of a zero point;

[0035] A calculation unit, configured to calculate a three-dimensional coordinate deviation value of the zero point according to the three-dimensional coordinate measurement value and a preset zero point coordinate value;

[0036] A collection unit, which uses a visual sensor to collect a set of three-dimensional spatial coordinate measurement values ​​of multiple feature points of the vehicle body; and

[0037] The calculation unit is also configured to calculate a current three-dimensional space coordinate value set of the multiple feature points based on the three-dimensional coordinate deviation value and the three-dimensional space coordinate measurement value set, and calculate the vehicle body deviation amount based on a preset three-dimensional space coordinate value set of the multiple feature points and the current three-dimensional space coordinate value set.

[0038] Further, the feature points include a plurality of first feature points and a plurality of second feature points;

[0039] On the side walls on both sides of the vehicle body in the width direction, multiple first feature points are selected along both ends of the vehicle body in the length direction, and

[0040] A plurality of the second feature points are selected on the top of the vehicle body.

[0041] Furthermore, the angles between the planes of the structure of the vehicle body where the plurality of second characteristic points are respectively located and the horizontal plane are within a preset angle range.

[0042] Furthermore, the second characteristic point is a circular hole or a circular groove.

[0043] Furthermore, a plurality of the second characteristic points are respectively located at locations having a corner structure on the top of the vehicle body.

[0044] Furthermore, the angle between two sides of the angled structure is less than or equal to a preset angle.

[0045] According to another aspect of the present invention, a controller is provided, which includes a memory and a processor, wherein the memory stores a computer program, and when the program is executed by the processor, the steps of any one of the above-mentioned vehicle roof installation positioning control methods can be implemented.

[0046] According to another aspect of the present invention, a computer-readable storage medium is provided for storing a computer program, wherein the program, when executed by a computer or a processor, implements the steps of any one of the above-mentioned vehicle roof installation positioning control methods.

[0047] Compared with the prior art, the present invention has obvious advantages and beneficial effects. By means of the above technical solution, the vehicle roof installation positioning control method, device, controller and computer storage medium of the present invention can achieve considerable technical advancement and practicality, and have wide industrial utilization value, and at least have the following advantages:

[0048] (1) The process scheme of the present invention directly collects characteristic measurement points on the vehicle body as a reference, obtains the coordinates of the target installation position of the top cover by calculation, and directly places the top cover at the target installation position by means of a fixture, thus saving the time and effort of Figure 5 The parking station mechanism 52 required for the positioning of the top cover fixture 51 and the clamping mechanism for correcting the body posture in the prior art shown avoid the interference problem of multiple parking stations and clamping mechanisms in the scenario of co-production of different models, which greatly reduces the difficulty of process planning for flexible co-production of multiple models.

[0049] (2) The process scheme of the present invention is different from the mainstream scheme that relies on the accuracy of the fixture itself to ensure the position of the top cover. By collecting and calculating the body data, the position of the top cover and the body are directly related. It has good adaptability to common manufacturing size problems such as inconsistent Y-direction deviation of the side panel. The centering of the top cover installation is much better than that of the fixed positioning fixture. It can meet the construction requirements of precision manufacturing processes such as laser welding, and also improve the appearance quality level of the top cover that can be perceived by customers.

[0050] (3) The process method of the present invention uses a measurement-assisted positioning strategy instead of a fixture-assisted positioning strategy, which saves a large number of mechanical actions such as fixture switching, positioning, and clamping, saves the single cycle time of process implementation, and improves production efficiency.

[0051] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following specifically cites a preferred embodiment and describes it in detail with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A flow chart showing a method for controlling the installation and positioning of a vehicle roof cover according to an embodiment of the present invention is shown;

[0053] Figure 2 A structural block diagram of a vehicle body roof installation positioning control device according to an embodiment of the present invention is shown;

[0054] Figure 3 Shows Figure 2 The structural block diagram of the mobile control module shown;

[0055] Figure 4 Shows Figure 2 The structural block diagram of the position determination module shown;

[0056] Figure 5 A schematic structural diagram of an existing vehicle body top rod installation device is shown;

[0057] Figure 6 A schematic diagram showing the structure of a vehicle body roof installation and positioning device according to an embodiment of the present invention is shown;

[0058] Figure 7 A schematic structural diagram of a vehicle body roof installation and positioning device according to another embodiment of the present invention is shown;

[0059] Figure 8 A schematic diagram showing an application of a visual sensor according to an embodiment of the present invention is shown;

[0060] Fig. 9 A schematic diagram showing an application of a visual sensor according to another embodiment of the present invention is shown;

[0061] Fig.10 A schematic diagram showing the position of a second characteristic point according to an embodiment of the present invention is shown;

[0062] Fig.11 A schematic diagram showing the position of a second characteristic point according to another embodiment of the present invention is shown. DETAILED DESCRIPTION

[0063] To further illustrate the present invention, a method for controlling the installation and positioning of a vehicle roof cover and a specific implementation method of a device for controlling the installation and positioning of a vehicle roof cover according to the present invention will be described in detail below in conjunction with the accompanying drawings.

[0064] A method for controlling the installation and positioning of a vehicle roof according to an embodiment of the present invention is as follows: Figure 1 As shown, the method includes:

[0065] Step S11: Move the vehicle body to a specified position and limit the degree of freedom of the vehicle body in the space coordinate system.

[0066] Specifically, Figure 6 As shown, the mechanical transport device 61 is controlled to transport the vehicle body 62 to the designated working position (i.e., the designated position). The mechanical transport device may be a transport roller bed. After the vehicle body moves to the designated position, the positioning mechanism cooperates with the positioning structure on the vehicle body chassis to limit the degree of freedom of the vehicle body in the spatial coordinate system. The degree of freedom in the spatial coordinate is the degree of freedom along the XYZ coordinate axis in the vehicle coordinate system.

[0067] Step S12: Move the top cover to a theoretical installation position and limit the degree of freedom of the top cover in the space coordinate system.

[0068] The top cover is placed on the centering stand by controlling the robot, and the top cover is moved to the theoretical installation position. The centering stand is a positioning tool, through which the position of the top cover is fixed. The theoretical installation position refers to the top cover drawing position in the vehicle coordinate system. The top cover's degree of freedom in the spatial coordinate system is limited by the reference mechanical positioning of the centering stand. The degree of freedom in the spatial coordinate is the degree of freedom along the XYZ coordinate axis in the vehicle coordinate system.

[0069] In one embodiment, after placing the top cover on the centering stand, the current position coordinates P0 of the top cover are obtained. The current position coordinates of the top cover can be obtained by a visual sensor or by other methods. After obtaining the current position coordinates P0 of the top cover, it is determined whether the current position coordinates P0 are consistent with the drawing position coordinates of the top cover in the vehicle coordinate system. If they are inconsistent, the position of the top cover is adjusted according to the drawing position coordinates, that is, the current position coordinates of the top cover are adjusted to be consistent with the drawing position coordinates, so that the top cover is in the theoretical installation position P. If they are consistent, it means that the current position of the top cover is the theoretical installation position P.

[0070] Through the above-mentioned embodiment, in the whole vehicle manufacturing process, the position of the top cover can be adjusted through the platform reference of the top cover position, so that the position adjustment of the top cover becomes simple.

[0071] Step S13: Obtaining the vehicle body deviation amount between the designated position and the target position of the vehicle body.

[0072] It is known that after the vehicle body is moved to the designated position by mechanical transportation equipment, there is still a certain deviation between the vehicle body and the actual target position due to problems such as equipment process accuracy. In order to ensure the accuracy of the combination of the top cover and the vehicle body and improve the accuracy of the combination, it is necessary to obtain the deviation between the designated position of the vehicle body and the target position of the vehicle body.

[0073] In one embodiment, if Figure 7 As shown, at least one zero calibration device 71 is installed around the designated position. Preferably, zero calibration devices 71 are installed on both sides of the designated position. The two sides of the designated position refer to the two sides of the length of the vehicle body when the vehicle body is at the designated position.

[0074] The visual sensor 72 is used to photograph the zero calibration device 71 to obtain the three-dimensional coordinate measurement value O1 of the zero point, and then the obtained three-dimensional coordinate measurement value O1 of the zero point is compared with the pre-stored preset zero point coordinate value O to calculate the three-dimensional coordinate deviation value θ of the zero point, that is, θ=O1-O.

[0075] Furthermore, if Figure 8 and Fig. 9 As shown, a visual sensor 72 is used to collect a set of three-dimensional spatial coordinate measurement values ​​of multiple feature points on the vehicle body 62. Specifically, multiple feature points suitable for collection are selected on the vehicle body, and the visual sensor 72 is used to scan and photograph the vehicle body 62 to obtain the three-dimensional spatial coordinate measurement values ​​of the multiple feature points, which are recorded as t1, t2...t n , whose three-dimensional space coordinate measurement value set {t1, t1…t n} is marked as T.

[0076] like Figure 8As shown, the visual sensor 72 of this embodiment can be installed on the robot, such as Fig. 9 As shown, the visual sensor 72 can also be fixedly installed, but the present application is not limited thereto. In this embodiment, the visual sensor uses laser imaging measurement technology to obtain a set of three-dimensional spatial coordinate measurement values ​​T of multiple physical features points on the vehicle body and a three-dimensional coordinate measurement value O1 of the zero point.

[0077] In order to ensure that the selected feature points can fully represent the size of the vehicle body and fully consider the overlap relationship between the vehicle body and the roof, so as to better ensure the combination effect of the vehicle body and the roof, the selection of multiple feature points is limited.

[0078] In one embodiment, the characteristic points include a plurality of first characteristic points and a plurality of second characteristic points. On the side circumferences on both sides in the width direction of the vehicle body, a plurality of first characteristic points are selected at both ends in the length direction of the vehicle body, and a plurality of second characteristic points are selected on the top of the vehicle body.

[0079] Specifically, Fig.10 As shown, the selection of the second characteristic point 100 position is to collect at least two second characteristic points 100 near the position matching the top cover on the top of the vehicle body, with the principle of maximizing the distance between the second characteristic points 100. This is to deal with the potential problem of inconsistent deviations between the front and rear ends of the length direction of the vehicle body in the width direction of the vehicle body. Each second characteristic point 100 is measured at least twice, and the results obtained are used as the basis for calculating the deviation in the width direction of the vehicle body.

[0080] In a specific embodiment, a plurality of circular holes or circular grooves on the top of the vehicle near the position matching the top cover are selected as the plurality of second characteristic points 100. The angles between the plane of the structure of the vehicle body where the plurality of second characteristic points 100 are located and the horizontal plane are within the preset angle range.

[0081] Preferably, the preset angle range is -10° to +10°.

[0082] In another specific embodiment, Fig.11 As shown, the plurality of second characteristic points 100 are respectively located at the top of the vehicle body with a corner structure. More specifically, the plurality of second characteristic points 100 are selected on the structure with a distinct molding line on the top of the vehicle body. At this time, the visual sensor needs to be directed to measure the cross-sectional angle angular line of the structure with the molding line.

[0083] Preferably, the angle between the two sides of the angle structure is less than or equal to a preset angle. Specifically, the preset angle is 150°.

[0084] The outer diameter of the angle should not be too large to ensure that the two sides of the angle structure can be clearly captured within the measurement coverage range.

[0085] Furthermore, a current three-dimensional space coordinate value set of the plurality of feature points is calculated based on the three-dimensional coordinate deviation value and the three-dimensional space coordinate measurement value set.

[0086] Specifically, the three-dimensional space coordinate measurement value set T of multiple feature points is superimposed with the three-dimensional coordinate deviation value θ of the acquired zero point to obtain the current three-dimensional space coordinate values ​​of multiple feature points, which are recorded as m1, m2, ... n , its current three-dimensional space coordinate value set {m1, m2...m n} is marked as M, that is: M=T+θ; the current position of the vehicle body can be determined through the current three-dimensional space coordinate value set of the multiple feature points.

[0087] Furthermore, the vehicle body deviation amount is calculated according to a preset three-dimensional space coordinate value set and a current three-dimensional space coordinate value set of a plurality of feature points.

[0088] Specifically, the current three-dimensional space coordinate value set M is compared with a preset three-dimensional space coordinate value set M0 of a plurality of feature points of the vehicle body stored in advance, that is, the vehicle body deviation amount δ=M-M0.

[0089] Step S14, calculating the actual installation position of the top cover according to the theoretical installation position and the deviation of the vehicle body.

[0090] Specifically, the obtained theoretical installation position P of the top cover is superimposed on the vehicle body deviation δ to calculate the actual installation position P1 of the top cover, that is, P1=P+δ.

[0091] Step S15, move the top cover to the actual installation position, and place the top cover vertically downward on the vehicle body.

[0092] Specifically, the position of the top cover is adjusted to the actual installation position P1 by controlling the robot, and the top cover is vertically moved downward to place the top cover on the vehicle body so that the top cover and the vehicle body are overlapped.

[0093] Furthermore, under the condition of auxiliary clamping of the robot's clamp, the relative position of the car body and the roof is kept unchanged. Then, the car body and the roof are connected as one by electric welding, laser welding, etc.

[0094] Before the clamp is clamped, the relative position between the vehicle body and the top cover can be measured again to confirm and correct errors. If there is still a deviation between the top cover and the vehicle body, the robot is controlled to correct the deviation, or the robot is controlled to grab the top cover to the initial position and restart the above-mentioned top rod installation and positioning process.

[0095] After the top cover welding is completed, the control robot removes the top cover fixture on the vehicle body and moves it to the initial position to prepare for the installation of the next top cover.

[0096] Finally, the vehicle body is separated from the positioning mechanism and transported away from the designated position by mechanical transport equipment.

[0097] The embodiment of the present invention also provides a mounting and positioning device for a vehicle roof, such as Figure 2 As shown, it includes a movement control module 10 and a position determination module 20 .

[0098] Among them, the mobile control module 10 is configured to move the vehicle body to a specified position and limit the freedom of the vehicle body in the spatial coordinate system, and to move the top cover to a theoretical installation position and limit the freedom of the top cover in the spatial coordinate system; the position determination module 20 is configured to obtain the vehicle body deviation between the specified position and the target position of the vehicle body, and calculate the actual installation position of the top cover according to the theoretical installation position and the vehicle body deviation; and the mobile control module 10 is also configured to move the top cover to the actual installation position and place the top cover vertically downward on the vehicle body.

[0099] Specifically, the mobile control module 10 controls the mechanical transport equipment to transport the vehicle body to the designated working position (i.e., the designated position). The mechanical transport equipment may be a transport roller bed. After the vehicle body moves to the designated position, the positioning mechanism cooperates with the positioning structure on the vehicle body chassis to limit the degree of freedom of the vehicle body in the spatial coordinate system. The degree of freedom in the spatial coordinate is the degree of freedom along the XYZ coordinate axis in the vehicle coordinate system.

[0100] In one embodiment, if Figure 2 As shown, the mobile control module 10 includes a judgment unit 101 and an adjustment unit 102. The judgment unit 101 is configured to obtain the current position coordinates of the top cover and judge whether the current position coordinates are consistent with the drawing position coordinates of the top cover in the vehicle coordinate system; the adjustment unit 102 is configured to adjust the position of the top cover according to the drawing position coordinates when the current position coordinates are inconsistent with the drawing position coordinates, so as to move the top cover to the theoretical installation position.

[0101] Specifically, the top cover is placed on the centering platform by controlling the robot, and the top cover is moved to the theoretical installation position. The theoretical installation position refers to the top cover drawing position in the vehicle coordinate system. The degree of freedom of the top cover in the space coordinate system is limited by the reference mechanical positioning of the centering platform. The degree of freedom in the space coordinate is the degree of freedom along the XYZ coordinate axis in the vehicle coordinate system.

[0102] In one embodiment, after placing the top cover on the centering stand, the judgment unit 101 obtains the current position coordinates P0 of the top cover. The current position coordinates of the top cover can be obtained by a visual sensor or by other methods. After obtaining the current position coordinates P0 of the top cover, the judgment unit 101 determines whether the current position coordinates P0 are consistent with the drawing position coordinates of the top cover in the vehicle coordinate system. If not, the adjustment unit 102 adjusts the position of the top cover according to the drawing position coordinates, that is, adjusts the current position coordinates of the top cover to be consistent with the drawing position coordinates, so that the top cover is in the theoretical installation position P. If they are consistent, it means that the current position of the top cover is the theoretical installation position P.

[0103] Through the above-mentioned embodiment, in the whole vehicle manufacturing process, the position of the top cover can be adjusted through the platform reference of the top cover position, so that the position adjustment of the top cover becomes simple.

[0104] like Figure 4 As shown, the position determination module 20 includes a zero calibration unit 201 , a calculation unit 202 and a collection unit 203 .

[0105] It is known that after the vehicle body is moved to the designated position by mechanical transportation equipment, there is still a certain deviation between the vehicle body and the actual target position due to problems such as equipment process accuracy. In order to ensure the accuracy of the combination of the top cover and the vehicle body and improve the accuracy of the combination, it is necessary to obtain the deviation between the designated position of the vehicle body and the target position of the vehicle body.

[0106] In one embodiment, at least one zero calibration device is installed around the designated position. Preferably, zero calibration devices are installed on both sides of the designated position. The two sides of the designated position refer to the two sides of the length of the vehicle body when the vehicle body is at the designated position.

[0107] The zero calibration unit 201 uses a visual sensor to photograph the zero calibration device to obtain the three-dimensional coordinate measurement value O1 of the zero point, and then the calculation unit 202 compares the obtained three-dimensional coordinate measurement value O1 of the zero point with the pre-stored preset zero point coordinate value O to calculate the three-dimensional coordinate deviation value θ of the zero point, that is, θ=O1-O.

[0108] Furthermore, the acquisition unit 203 uses a visual sensor to acquire a set of three-dimensional spatial coordinate measurement values ​​of multiple feature points on the vehicle body. Specifically, multiple feature points suitable for acquisition are selected on the vehicle body, and the vehicle body is scanned and photographed using a visual sensor to obtain the three-dimensional spatial coordinate measurement values ​​of the multiple feature points, which are recorded as t1, t2...t n , whose three-dimensional space coordinate measurement value set {t1, t1…t n} is marked as T.

[0109] The visual sensor of this embodiment can be installed on the robot or fixedly installed, and the present application is not limited thereto. This embodiment uses a laser imaging measurement technology through a visual sensor to obtain a set of three-dimensional spatial coordinate measurement values ​​T of multiple physical features points on the vehicle body and a three-dimensional coordinate measurement value O1 of the zero point.

[0110] In order to ensure that the selected feature points can fully represent the size of the vehicle body and fully consider the overlap relationship between the vehicle body and the roof, so as to better ensure the combination effect of the vehicle body and the roof, the selection of multiple feature points is limited.

[0111] In one embodiment, the characteristic points include a plurality of first characteristic points and a plurality of second characteristic points. On the side circumferences on both sides in the width direction of the vehicle body, a plurality of first characteristic points are selected at both ends in the length direction of the vehicle body, and a plurality of second characteristic points are selected on the top of the vehicle body.

[0112] Specifically, the second feature point position is selected by collecting at least two second feature points near the position matching the top cover on the top of the vehicle body, with the principle of maximizing the distance between the second feature points. This is to deal with the potential problem of inconsistent deviations between the front and rear ends of the vehicle body in the length direction and the width direction of the vehicle body. Each second feature point is measured at least twice, and the results obtained are used as the basis for calculating the deviation in the width direction of the vehicle body.

[0113] In a specific embodiment, a plurality of circular holes or circular grooves on the top of the vehicle near the position matching the top cover are selected as the plurality of second characteristic points, and the angles between the plane of the structure of the vehicle body where the plurality of second characteristic points are located and the horizontal plane are within a preset angle range.

[0114] Preferably, the preset angle range is -10° to +10°.

[0115] In another specific embodiment, the plurality of second characteristic points are respectively located at the top of the vehicle body with a corner structure. More specifically, the plurality of second characteristic points are selected on the structure with a distinct molding line on the top of the vehicle body. In this case, the visual sensor needs to be placed directly opposite to the cross-sectional angle of the molding line structure to measure the angle dividing line.

[0116] Preferably, the angle between the two sides of the angle structure is less than or equal to a preset angle. Specifically, the preset angle is 150°.

[0117] The outer diameter of the angle should not be too large to ensure that the two sides of the angle structure can be clearly captured within the measurement coverage range.

[0118] Furthermore, the calculation unit 202 calculates a current three-dimensional space coordinate value set of the plurality of feature points according to the three-dimensional coordinate deviation value and the three-dimensional space coordinate measurement value set.

[0119] Specifically, the calculation unit 202 superimposes the three-dimensional space coordinate measurement value set T of the multiple feature points with the obtained three-dimensional coordinate deviation value θ of the zero point to obtain the current three-dimensional space coordinate values ​​of the multiple feature points, which are recorded as m1, m2, ..., m n , its current three-dimensional space coordinate value set {m1, m2...m n} is marked as M, that is: M=T+θ; the current position of the vehicle body can be determined through the current three-dimensional space coordinate value set of the multiple feature points.

[0120] Furthermore, the calculation unit 202 calculates the vehicle body deviation amount according to a preset three-dimensional space coordinate value set and a current three-dimensional space coordinate value set of a plurality of feature points.

[0121] Specifically, the current three-dimensional space coordinate value set M is compared with a preset three-dimensional space coordinate value set M0 of a plurality of feature points of the vehicle body stored in advance, that is, the vehicle body deviation amount δ=M-M0.

[0122] In one embodiment, the position determination module 20 is configured to calculate the actual installation position of the roof according to the theoretical installation position and the deviation of the vehicle body.

[0123] Specifically, the configuration determination module superimposes the obtained theoretical installation position P of the top cover with the vehicle body deviation δ to calculate the actual installation position P1 of the top cover, that is, P1=P+δ.

[0124] In one embodiment, the movement control module 10 is configured to control the robot to move the top cover to the actual installation position and place the top cover vertically downward on the vehicle body.

[0125] Specifically, the mobile control module 10 controls the robot to adjust the position of the top cover to the actual installation position P1, and moves vertically downward to place the top cover on the vehicle body so that the top cover and the vehicle body are overlapped.

[0126] Furthermore, under the condition of auxiliary clamping of the robot's clamp, the relative position of the car body and the roof is kept unchanged. Then, the car body and the roof are connected as one by electric welding, laser welding, etc.

[0127] Before the clamp is clamped, the relative position between the vehicle body and the top cover can be measured again to confirm and correct errors. If there is still a deviation between the top cover and the vehicle body, the robot is controlled to correct the deviation, or the robot is controlled to grab the top cover to the initial position and restart the above-mentioned top rod installation and positioning process.

[0128] After the top cover welding is completed, the control robot removes the top cover fixture on the vehicle body and moves it to the initial position to prepare for the installation of the next top cover.

[0129] Finally, the vehicle body is separated from the positioning mechanism and transported away from the designated position by mechanical transport equipment.

[0130] In order to further ensure the accuracy of the assembly of the vehicle body and the roof, the body positioning repeatability accuracy involved in the vehicle body positioning is ±0.3mm; the body feature manufacturing repeatability accuracy involved in the vehicle body data acquisition is ±0.5mm; the robot motion repeatability accuracy equipped with a visual sensor is ±0.15mm; the visual sensor measurement repeatability accuracy is ±0.05mm; the top cover feature manufacturing repeatability accuracy involved in the top cover data acquisition is ±0.5mm; the top cover fixture processing accuracy involved in the top cover assembly is ±0.3mm, and the robot motion repeatability accuracy carried by the fixture is ±0.15mm.

[0131] In summary, without considering the manufacturing deviations of the vehicle body and the parts themselves, the positioning accuracy of the top cover obtained in this application can reach ±0.5mm. Considering the manufacturing tolerances of the vehicle body and the top cover, the positioning accuracy can reach ±0.87mm.

[0132] An embodiment of the present invention further provides a controller, which includes a memory and a processor, wherein the memory stores a computer program, and the program can implement the steps of the above method when executed by the processor.

[0133] An embodiment of the present invention further provides a computer-readable storage medium for storing a computer program, which implements the steps of the above method when executed by a computer or a processor.

[0134] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of equivalent changes using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A method for controlling the installation and positioning of a vehicle roof, characterized in that: include: Moving the vehicle body to a specified position and limiting the degree of freedom of the vehicle body in a spatial coordinate system; Moving the top cover to a theoretical installation position and limiting the degree of freedom of the top cover in a spatial coordinate system; Use a visual sensor to photograph the zero calibration device to obtain the three-dimensional coordinate measurement value of the zero point; Calculating the three-dimensional coordinate deviation value of the zero point according to the three-dimensional coordinate measurement value and the preset zero point coordinate value; A visual sensor is used to collect a set of three-dimensional spatial coordinate measurement values ​​of a plurality of feature points of the vehicle body, wherein the feature points include a plurality of first feature points and a plurality of second feature points, and a plurality of the first feature points are selected on both sides of the side circumference in the width direction of the vehicle body and at both ends in the length direction of the vehicle body, and a plurality of the second feature points are selected on the top of the vehicle body; Calculate a current three-dimensional space coordinate value set of the plurality of feature points according to the three-dimensional coordinate deviation value and the three-dimensional space coordinate measurement value set; Calculating the vehicle body deviation amount according to the preset three-dimensional space coordinate value set of the plurality of feature points and the current three-dimensional space coordinate value set; Calculating the actual installation position of the top cover according to the theoretical installation position and the vehicle body deviation; Controlling the robot to move the top cover to the actual installation position, and placing the top cover vertically downward on the vehicle body; Wherein, the step of moving the top cover to the theoretical installation position includes: Obtaining the current position coordinates of the top cover, and determining whether the current position coordinates are consistent with the drawing position coordinates of the top cover in the vehicle coordinate system; If not, the position of the top cover is adjusted according to the drawing position coordinates to move the top cover to the theoretical installation position.

2. The vehicle body roof installation positioning control method according to claim 1, characterized in that: The angles between the planes of the structure of the vehicle body where the plurality of second feature points are respectively located and the horizontal plane are within a preset angle range.

3. The vehicle body roof installation positioning control method according to claim 1 or 2, characterized in that: The second characteristic point is a circular hole or a circular groove.

4. The vehicle body roof installation positioning control method according to claim 1, characterized in that: The plurality of second characteristic points are respectively located at the top of the vehicle body where the corner structure is provided.

5. The vehicle body roof installation positioning control method according to claim 4, characterized in that: The angle between the two sides of the angled structure is less than or equal to a preset angle.

6. A vehicle roof installation positioning control device, characterized in that: include: A movement control module, configured to move the vehicle body to a specified position and limit the degree of freedom of the vehicle body in a spatial coordinate system, move the top cover to a theoretical installation position and limit the degree of freedom of the top cover in the spatial coordinate system; a position determination module, configured to obtain a body deviation amount between the designated position and a target position of the body, and calculate an actual installation position of the top cover according to the theoretical installation position and the body deviation amount; Wherein, the location determination module includes: A zero calibration unit, configured to photograph the zero calibration device using a visual sensor to obtain a three-dimensional coordinate measurement value of a zero point; A calculation unit, configured to calculate a three-dimensional coordinate deviation value of the zero point according to the three-dimensional coordinate measurement value and a preset zero point coordinate value; a collection unit, which uses a visual sensor to collect a set of three-dimensional spatial coordinate measurement values ​​of a plurality of feature points of the vehicle body, wherein the feature points include a plurality of first feature points and a plurality of second feature points, a plurality of the first feature points are selected on the side circumferences on both sides in the width direction of the vehicle body and at both ends in the length direction of the vehicle body, and a plurality of the second feature points are selected on the top of the vehicle body; and The calculation unit is further configured to calculate a current three-dimensional space coordinate value set of the plurality of feature points according to the three-dimensional coordinate deviation value and the three-dimensional space coordinate measurement value set, and calculate the vehicle body deviation amount according to a preset three-dimensional space coordinate value set of the plurality of feature points and the current three-dimensional space coordinate value set; and The movement control module is further configured to move the top cover to the actual installation position and place the top cover vertically downward on the vehicle body; Wherein, the mobile control module includes: A judgment unit, configured to obtain the current position coordinates of the top cover, and judge whether the current position coordinates are consistent with the drawing position coordinates of the top cover in the vehicle coordinate system; The adjustment unit is configured to adjust the position of the top cover according to the drawing position coordinates when the current position coordinates are inconsistent with the drawing position coordinates, so as to move the top cover to the theoretical installation position.

7. The installation positioning control device for a vehicle roof according to claim 6, characterized in that: The angles between the planes of the structure of the vehicle body where the plurality of second feature points are respectively located and the horizontal plane are within a preset angle range.

8. The installation positioning control device for a vehicle roof according to claim 6 or 7, characterized in that: The second characteristic point is a circular hole or a circular groove.

9. The installation positioning control device for a vehicle roof according to claim 6, characterized in that: The plurality of second characteristic points are respectively located at the top of the vehicle body where the corner structure is provided.

10. The installation positioning control device for a vehicle roof according to claim 9, characterized in that: The angle between the two sides of the angled structure is less than or equal to a preset angle.

11. A controller, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and when the program is executed by the processor, the steps of the method described in any one of claims 1 to 5 can be implemented.

12. A computer-readable storage medium for storing a computer program, which, when executed by a computer or a processor, implements the steps of the method according to any one of claims 1 to 5.

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