Method and system for confirming a movement trajectory of a vehicle door glass

Abstract

The application provides a vehicle door glass movement track confirmation method and system, wherein the steps of the vehicle door glass movement track confirmation method comprise: obtaining boundary conditions of a vehicle door glass surface; obtaining helix line information according to the boundary conditions of the vehicle door glass surface; obtaining a vehicle door glass movement guide line according to the helix line information; obtaining vehicle door glass surface information according to the guide line; and obtaining vehicle door glass lowering position information according to the vehicle door glass surface information. The helix line information is obtained with high efficiency and high accuracy, thereby ensuring the accuracy and efficiency of the obtained vehicle door glass lowering position information, greatly saving the overall development cycle of the automobile, and having a wide range of use.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automobile detection technology, in particular to a door glass motion trajectory confirmation method and system. BACKGROUND

[0002] In the design of passenger cars, the common glass surface forms are single curvature glass and double curvature glass. Single curvature glass is also a cylindrical glass surface, that is, the cross section of the glass is a straight line in the X direction, and only a regular curve in the Z direction. Double curvature glass surface is divided into two forms of torus and waist drum surface. For single curvature glass surface, the motion of the glass is the composition of rotation and straight line motion, that is, spiral line motion. For double curvature glass surface, the motion of the glass needs to be defined as spiral line motion, and the motion trajectory line is determined by means of cylindrical surface.

[0003] In the development process of the whole vehicle, the glass surface of the side is an important basis for modeling and engineering. In the fitting process of the glass surface, the spiral line and the motion trajectory of the glass motion need to be determined. The spiral line and the motion trajectory are also the basis for the subsequent glass lifter engineering structure. The glass motion trajectory line is a key factor affecting the glass motion performance. The glass motion trajectory line is the basis for designing the guide rail, and whether it is reasonable determines whether the glass can be smoothly lifted. Many cars are due to the unreasonable design of the glass motion trajectory line, resulting in abnormal sound, lift jamming, inability to lift, water cutting seal and poor wiper during the glass lifting process.

[0004] Therefore, how to quickly generate the glass motion spiral line to obtain the glass motion trajectory, improve the efficiency and accuracy of generating the spiral line, and thus improve the efficiency and accuracy of obtaining the door glass lowering position information, so as to improve the efficiency of the overall system development, is one of the problems to be solved in the field of automobile parts technology at present. SUMMARY

[0005] The problem solved by the present application is to provide a door glass motion trajectory confirmation method and system, which can quickly obtain spiral line information and door glass motion guide line according to the boundary conditions of the door glass surface, so as to obtain door glass surface information according to the spiral line information and the door glass motion guide line, and obtain door glass lowering position information according to the door glass surface information. This method has high efficiency and high accuracy in generating spiral line, can improve the development rate of the system as a whole, shorten the research and development cycle of the whole vehicle, and has a wide range of applications.

[0006] To solve the above problems, the present application provides a door glass motion trajectory confirmation method, comprising the steps of: obtaining the boundary conditions of the door glass surface; obtaining the spiral line information according to the boundary conditions of the door glass surface; obtaining the door glass motion guide line according to the spiral line information; obtaining the door glass surface information according to the guide line; and obtaining the door glass lowering position information according to the door glass surface information.

[0007] Optionally, the boundary condition of the door glass surface comprises: a curvature parameter of the door glass surface, and an initial marking line on the door glass surface.

[0008] Optionally, the initial marking line comprises an initial roof K line, an initial water-cut R line, and an initial B-pillar trim border line, and the initial B-pillar trim border line intersects with the initial water-cut R line at a first intersection point, and the initial B-pillar trim border line intersects with the initial roof K line at a third intersection point.

[0009] Optionally, the step of obtaining the spiral line information comprises: obtaining a preliminary spiral line axis according to the boundary condition of the door glass surface; obtaining a position of the spiral line axis according to the preliminary spiral line axis by using a simulated annealing algorithm; and obtaining the spiral line according to the position of the spiral line axis.

[0010] Optionally, the process of obtaining the preliminary spiral line axis comprises: obtaining at least three first positioning points at any positions on the initial B-pillar trim border line; obtaining a first circle according to the three first positioning points, the first circle having a first circle center; moving the initial B-pillar trim border line in a direction towards a head of the automobile to obtain a first B-pillar trim border line; obtaining at least three second positioning points at any positions on the first B-pillar trim border line, and determining a second circle according to the three second positioning points, the second circle having a second circle center; obtaining a first plane according to the first intersection point, the first circle center and the second circle center, the first plane passing through the first intersection point and being perpendicular to a line connecting the first circle center and the second circle center; projecting the first circle onto the first plane to obtain a projection curve of the first circle; obtaining at least three third positioning points at any positions on the projection curve of the first circle, and determining a third circle according to the three third positioning points, the third circle having a third circle center; the intersection point of the first B-pillar trim border line and the initial water-cut R line being a second intersection point, obtaining a second plane according to the second intersection point, the first circle center and the second circle center, the second plane passing through the second intersection point and being perpendicular to the line connecting the first circle center and the second circle center; projecting the second circle onto the second plane to obtain a projection curve of the second circle, obtaining at least three fourth positioning points at any positions on the projection curve of the second circle, and determining a fourth circle and a fourth circle center according to the three fourth positioning points, and obtaining the preliminary spiral line axis according to a line connecting the third circle center and the fourth circle center.

[0011] Optionally, a translation amount of the initial B-pillar trim border line to the first B-pillar trim border line is a width of the door glass, and a direction of the width is parallel to a direction from a tail of the automobile to the head of the automobile.

[0012] Optionally, the process of obtaining the position of the helical axis according to the initial helical axis comprises: using a local coordinate system to establish a position point of the first helical axis and a position point of the second helical axis, the relative coordinates of the first helical position point and the first circle center being (x1, y1, z1), and the relative coordinates of the second helical axis position point and the second circle center being (x2, y2, z2); the first B-column trim panel boundary line intersects the initial roof K-line at a fourth intersection point, the first intersection point projects onto a straight line formed by the first helical axis position point and the second helical axis position point to form a projected first intersection point, the second intersection point projects onto the straight line formed by the first helical axis position point and the second helical axis position point to form a projected second intersection point, the third intersection point projects onto the straight line formed by the first helical axis position point and the second helical axis position point to form a projected third intersection point, and the fourth intersection point projects onto the straight line formed by the first helical axis position point and the second helical axis position point to form a projected fourth intersection point; the coordinates of the first helical axis position point and the coordinates of the second helical axis position point are obtained according to the distance between the first intersection point and the projected first intersection point being equal to the distance between the third intersection point and the projected third intersection point, and the distance between the second intersection point and the projected second intersection point being equal to the distance between the fourth intersection point and the projected fourth intersection point; the position of the straight line determined according to the coordinates of the first helical axis position point and the coordinates of the second helical axis position point is the position of the helical axis, and the straight line determined according to the coordinates of the first helical axis position point and the coordinates of the second helical axis position point is the helical axis.

[0013] Optionally, the process of obtaining the helical line information according to the position of the helical line axis comprises: obtaining a distance D1 between the projection first intersection point and the projection third intersection point; obtaining a distance D2 between the projection second intersection point and the projection fourth intersection point; obtaining a first vertical plane passing through the helical line axis, projecting a straight line formed by the first intersection point and the projection first intersection point onto the first vertical plane to obtain a first projection line, and projecting a straight line formed by the third intersection point and the projection third intersection point onto the first vertical plane to obtain a second projection line; obtaining an angle θ1 between the first projection line and the second projection line; projecting a straight line formed by the second intersection point and the projection second intersection point onto the first vertical plane to form a third projection line, and projecting a straight line formed by the fourth intersection point and the projection fourth intersection point onto the first vertical plane to form a fourth projection line; obtaining an angle θ2 between the third projection line and the fourth projection line; obtaining a first pitch, which is a ratio of D1 to θ1, and obtaining a second pitch, which is a ratio of D2 to θ2; obtaining first helical line information according to the helical line axis, the first intersection point, and the first pitch, and obtaining second helical line information according to the helical line axis, the second intersection point, and the second pitch.

[0014] Optionally, the step of obtaining the vehicle door glass movement guide line according to the helical line information comprises: projecting the first helical line onto the vehicle door glass surface to form a first projection curve, generating a first projection curve surface on the first projection curve by randomly selecting three points on the first projection curve, and obtaining a first vehicle door glass movement guide line as an intersection line between the first projection curve surface and the vehicle door glass surface; projecting the second helical line onto the vehicle door glass surface to form a second projection curve, generating a second projection curve surface on the second projection curve by randomly selecting three points on the second projection curve, and obtaining a second vehicle door glass movement guide line as an intersection line between the second projection curve surface and the vehicle door glass surface.

[0015] Optionally, the step of obtaining the vehicle door glass surface information according to the guide line comprises: obtaining a vehicle roof K line by translating the initial vehicle roof K line in a direction parallel to the initial vehicle roof K line according to the first vehicle door glass movement guide line and the second vehicle door glass movement guide line, and obtaining a water cut R line by translating the initial water cut R line in a direction parallel to the initial water cut R line.

[0016] Optionally, the step of obtaining the vehicle door glass descending position information according to the vehicle door glass surface information comprises: when the vehicle door glass is in the closed state, obtaining a second closing edge point as an intersection of the first vehicle door glass movement guide line and the roof K line, and obtaining a first closing edge point as an intersection of the first vehicle door glass movement guide line and the water-cut R line; obtaining a closing edge vertical plane, the closing edge vertical plane passing through the first closing edge point and a straight line where the first closing edge point and the second closing edge point are located being perpendicular to the closing edge vertical plane, the closing edge vertical plane intersecting with the second vehicle door glass movement guide line at a closing vertical point; determining a first local coordinate system through the closing vertical point, the first closing edge point and the second closing edge point.

[0017] Optionally, the step of obtaining the vehicle door glass descending position information according to the vehicle door glass surface information further comprises: when the vehicle door glass is in the opened state, obtaining a second opening edge point as an intersection of the first vehicle door glass movement guide line and the roof K line, and obtaining a first opening edge point as an intersection of the first vehicle door glass movement guide line and the water-cut R line; obtaining an opening edge vertical plane, the opening edge vertical plane passing through the first opening edge point and a straight line where the first opening edge point and the second opening edge point are located being perpendicular to the opening edge vertical plane, the opening edge vertical plane intersecting with the second vehicle door glass movement guide line at an opening vertical point; determining a second local coordinate system through the opening vertical point, the first opening edge point and the second opening edge point, and obtaining the vehicle door glass descending position information through coordinate transformation of the first local coordinate system and the second local coordinate system.

[0018] Correspondingly, the application further provides a system for confirming a vehicle door glass movement track, comprising: a boundary condition module for obtaining boundary conditions of a vehicle door glass surface; a spiral line information module for obtaining spiral line information according to the boundary conditions of the vehicle door glass surface; a guide line obtaining module for obtaining a vehicle door glass movement guide line according to the spiral line information; a first data processing module for obtaining vehicle door glass surface information according to the guide line; and a second data processing module for obtaining vehicle door glass descending position information according to the vehicle door glass surface information.

[0019] Optionally, the boundary conditions of the vehicle door glass surface comprise a curvature parameter of the vehicle door glass surface and an initial marking line on the vehicle door glass surface.

[0020] Optionally, the initial marking line comprises an initial roof K line, an initial water-cut R line and an initial B column trim panel boundary line, and the initial B column trim panel boundary line intersects with the initial water-cut R line at a first intersection point and intersects with the initial roof K line at a third intersection point.

[0021] Optionally, the spiral line information module comprises: a preliminary determining module, configured to obtain a preliminary spiral line axis according to boundary conditions of a door glass surface; a position determining module, configured to obtain a position of the spiral line axis according to the preliminary spiral line axis by using a simulated annealing algorithm; and a shaping module, configured to obtain the spiral line information according to the position of the spiral line axis.

[0022] Optionally, the process of obtaining the preliminary spiral line axis comprises: obtaining at least three first positioning points at any positions on the initial B-pillar trim panel boundary line; obtaining a first circle according to the three first positioning points, the first circle having a first circle center; moving the initial B-pillar trim panel boundary line in a direction towards a head of the automobile to obtain a first B-pillar trim panel boundary line; obtaining at least three second positioning points at any positions on the first B-pillar trim panel boundary line, and obtaining a second circle according to the three second positioning points, the second circle having a second circle center; obtaining a first plane according to the first intersection point, the first circle center and the second circle center, the first plane passing through the first intersection point and being perpendicular to a line connecting the first circle center and the second circle center; projecting the first circle onto the first plane to obtain a projection curve of the first circle; obtaining at least three third positioning points at any positions on the projection curve of the first circle, and obtaining a third circle according to the three third positioning points, the third circle having a third circle center; the intersection point of the first B-pillar trim panel boundary line and the initial water-cut R line being a second intersection point, obtaining a second plane according to the second intersection point, the first circle center and the second circle center, the second plane passing through the second intersection point and being perpendicular to the line connecting the first circle center and the second circle center; projecting the second circle onto the second plane to obtain a projection curve of the second circle, obtaining at least three fourth positioning points at any positions on the projection curve of the second circle, and obtaining a fourth circle and a fourth circle center according to the three fourth positioning points, and obtaining the preliminary spiral line axis according to a line connecting the third circle center and the fourth circle center.

[0023] Optionally, the translation amount of the initial B-pillar trim panel boundary line to the first B-pillar trim panel boundary line is a width of the door glass, and the width is in a direction parallel to a direction from a tail of the automobile to a head of the automobile.

[0024] Optionally, the process of obtaining the position of the helical axis according to the initial helical axis comprises: using a local coordinate system to establish a position point of the first helical axis and a position point of the second helical axis, the relative coordinates of the first helical position point and the first circle center being (x1, y1, z1), and the relative coordinates of the second helical axis position point and the second circle center being (x2, y2, z2); the first B-column trim panel boundary line intersects the initial roof K-line at a fourth intersection point, the first intersection point projects onto a straight line formed by the first helical axis position point and the second helical axis position point to form a projected first intersection point, the second intersection point projects onto the straight line formed by the first helical axis position point and the second helical axis position point to form a projected second intersection point, the third intersection point projects onto the straight line formed by the first helical axis position point and the second helical axis position point to form a projected third intersection point, and the fourth intersection point projects onto the straight line formed by the first helical axis position point and the second helical axis position point to form a projected fourth intersection point; the coordinates of the first helical axis position point and the coordinates of the second helical axis position point are obtained according to the distance between the first intersection point and the projected first intersection point being equal to the distance between the third intersection point and the projected third intersection point, and the distance between the second intersection point and the projected second intersection point being equal to the distance between the fourth intersection point and the projected fourth intersection point; the position of the straight line determined according to the coordinates of the first helical axis position point and the coordinates of the second helical axis position point is the position of the helical axis, and the straight line determined according to the coordinates of the first helical axis position point and the coordinates of the second helical axis position point is the helical axis.

[0025] Optionally, the process of obtaining the helical line information according to the position of the helical line axis comprises: obtaining a distance D1 between the projection first intersection point and the projection third intersection point; obtaining a distance D2 between the projection second intersection point and the projection fourth intersection point; obtaining a first vertical plane passing through the helical line axis, projecting a straight line formed by the first intersection point and the projection first intersection point onto the first vertical plane to obtain a first projection line, and projecting a straight line formed by the third intersection point and the projection third intersection point onto the first vertical plane to obtain a second projection line; obtaining an angle θ1 between the first projection line and the second projection line; projecting a straight line formed by the second intersection point and the projection second intersection point onto the first vertical plane to form a third projection line, and projecting a straight line formed by the fourth intersection point and the projection fourth intersection point onto the first vertical plane to form a fourth projection line; obtaining an angle θ2 between the third projection line and the fourth projection line; obtaining a first pitch, which is a ratio of D1 to θ1, and obtaining a second pitch, which is a ratio of D2 to θ2; obtaining first helical line information according to the helical line axis, the first intersection point, and the first pitch, and obtaining second helical line information according to the helical line axis, the second intersection point, and the second pitch.

[0026] Optionally, the step of obtaining the vehicle door glass movement guide line according to the helical line information comprises: projecting the first helical line onto the vehicle door glass surface to form a first projection curve, generating a first projection curve surface on the first projection curve by randomly selecting three points on the first projection curve, and obtaining a first vehicle door glass movement guide line as an intersection line between the first projection curve surface and the vehicle door glass surface; projecting the second helical line onto the vehicle door glass surface to form a second projection curve, generating a second projection curve surface on the second projection curve by randomly selecting three points on the second projection curve, and obtaining a second vehicle door glass movement guide line as an intersection line between the second projection curve surface and the vehicle door glass surface.

[0027] Optionally, the step of obtaining the vehicle door glass surface information according to the guide line comprises: obtaining a vehicle roof K line by translating the initial vehicle roof K line in a direction parallel to the initial vehicle roof K line according to the first vehicle door glass movement guide line and the second vehicle door glass movement guide line, and obtaining a water cut R line by translating the initial water cut R line in a direction parallel to the initial water cut R line.

[0028] Optionally, the step of obtaining the vehicle door glass descending position information according to the vehicle door glass surface information comprises: when the vehicle door glass is in the closed state, obtaining the intersection of the first vehicle door glass movement guide line and the roof K line as a second closing edge point, and obtaining the intersection of the first vehicle door glass movement guide line and the water cut R line as a first closing edge point; obtaining a closing edge vertical plane, the closing edge vertical plane passing through the first closing edge point and a straight line, on which the first closing edge point and the second closing edge point are located, being perpendicular to the closing edge vertical plane, the closing edge vertical plane intersecting the second vehicle door glass movement guide line at a closing vertical point; and determining a first local coordinate system through the closing vertical point, the first closing edge point and the second closing edge point.

[0029] Optionally, the step of obtaining the vehicle door glass descending position information according to the vehicle door glass surface information further comprises: when the vehicle door glass is in the opened state, obtaining the intersection of the first vehicle door glass movement guide line and the roof K line as a second opening edge point, and obtaining the intersection of the first vehicle door glass movement guide line and the water cut R line as a first opening edge point; obtaining an opening edge vertical plane, the opening edge vertical plane passing through the first opening edge point and a straight line, on which the first opening edge point and the second opening edge point are located, being perpendicular to the opening edge vertical plane, the opening edge vertical plane intersecting the second vehicle door glass movement guide line at an opening vertical point; determining a second local coordinate system through the opening vertical point, the first opening edge point and the second opening edge point; and obtaining the vehicle door glass descending position information through coordinate transformation of the first local coordinate system and the second local coordinate system.

[0030] Compared with the prior art, the technical scheme of the present application has the following advantages:

[0031] The steps of the vehicle door glass movement trajectory confirmation method of the present application comprise: obtaining boundary conditions of a vehicle door glass surface; obtaining helical line information according to the boundary conditions of the vehicle door glass surface; obtaining a vehicle door glass movement guide line according to the helical line information; obtaining vehicle door glass surface information according to the guide line; and obtaining vehicle door glass descending position information according to the vehicle door glass surface information. The helical line information is obtained with high efficiency and high accuracy, thereby ensuring the accuracy and efficiency of the obtained vehicle door glass descending position information, greatly saving the overall development cycle of the automobile, and having a wide range of use. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 The figure is a flow chart of the steps of the vehicle door glass movement trajectory confirmation method in an embodiment of the present application.

[0033] Figure 2A schematic view of initial mark lines on a door glass surface in a method for confirming a door glass movement trajectory according to an embodiment of the present application;

[0034] Figure 3 A flowchart for obtaining helical line information according to boundary conditions of a door glass surface according to an embodiment of the present application;

[0035] Figure 4 and Figure 5 A schematic view of obtaining a position of a helical line axis in a method for confirming a door glass movement trajectory according to an embodiment of the present application;

[0036] Figure 6 A schematic view of obtaining door glass surface information in a method for confirming a door glass movement trajectory according to an embodiment of the present application;

[0037] Figure 7 A schematic view of obtaining a door glass lowering position information in a method for confirming a door glass movement trajectory according to an embodiment of the present application;

[0038] Figure 8 A schematic view of a structure of a system for confirming a door glass movement trajectory according to an embodiment of the present application;

[0039] Figure 9 A schematic view of a structure of a helical line information module according to an embodiment of the present application. DETAILED DESCRIPTION

[0040] A conventional method for determining a helical line of a side glass of a vehicle usually uses a manual adjustment of helical line axis coordinates to find a required helical line, obtains a glass movement guide line according to the helical line, confirms the guide line, obtains glass surface information according to the confirmed guide line, and finally obtains glass lowering position information according to the glass surface information, which completes the design of the side glass of the vehicle. However, this design process has the problems of complicated adjustment of the helical line, low efficiency, and low accuracy, which results in low accuracy of the finally obtained glass design parameters and affects the overall performance of the vehicle.

[0041] To solve the problem of a movement trajectory line design of a side glass of a vehicle, an embodiment of the present application provides a method for confirming a door glass movement trajectory, which comprises the following steps: obtaining boundary conditions of a door glass surface; obtaining helical line information according to the boundary conditions of the door glass surface; obtaining a door glass movement guide line according to the helical line information; obtaining door glass surface information according to the guide line; and obtaining door glass lowering position information according to the door glass surface information. This method for obtaining the helical line information has high efficiency and high accuracy, thereby ensuring the accuracy and efficiency of the obtained door glass lowering position information, greatly saving the overall development period of the vehicle, and having a wide range of use.

[0042] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0043] Figure 1 Flow chart of the steps of the method for confirming the movement trajectory of the door glass in the present application; Figure 2 Schematic diagram of the initial marking line on the door glass surface in the method for confirming the movement trajectory of the door glass in the present application; Figure 3 Flow chart of obtaining the helix information according to the boundary conditions of the door glass surface in the present application; Figure 4 and Figure 5 Schematic diagram of obtaining the position of the helix axis in the method for confirming the movement trajectory of the door glass in the present application; Figure 6 Schematic diagram of obtaining the door glass surface information in the method for confirming the movement trajectory of the door glass in the present application; Figure 7 Schematic diagram of obtaining the door glass lowering position information in the method for confirming the movement trajectory of the door glass in the present application; Figure 8 Structural schematic diagram of the system for confirming the movement trajectory of the door glass in the present application; Figure 9 Structural schematic diagram of the helix information module in the present application.

[0044] Please refer to Figure 1 The method for confirming the movement trajectory of the door glass comprises the steps of:

[0045] S01: obtaining the boundary conditions of the door glass surface;

[0046] S02: obtaining the helix information according to the boundary conditions of the door glass surface;

[0047] S03: obtaining the door glass movement guide line according to the helix information;

[0048] S04: obtaining the door glass surface information according to the guide line;

[0049] S05: obtaining the door glass lowering position information according to the door glass surface information.

[0050] In the embodiment, the helix information is acquired according to the boundary condition of the door glass surface, the method for acquiring the helix information is simple and efficient, and the high accuracy can be ensured; the door glass movement guide line is acquired according to the helix information, the door glass surface information is acquired according to the guide line, and the door glass lowering position information is acquired according to the door glass surface information, so that the accuracy of the acquired door glass movement guide line, door glass surface information and door glass lowering position information can be ensured, the reasonable trajectory of the glass movement can be quickly designed, the development efficiency of the whole vehicle is greatly improved, the development cycle of the whole vehicle is shortened, and the method has a wide range of application. In the embodiment, the helix information is acquired according to the boundary condition of the door glass surface, the process of acquiring the helix information is simple, and then the process of adjusting the helix information is relatively simple, so that the accuracy of the helix information can be ensured when the acquisition rate of the helix information is ensured, and the method for acquiring the helix information has a wide range of application.

[0051] The embodiment will be described in detail below with reference to the accompanying drawings.

[0052] Step S01 is performed to acquire the boundary condition of the door glass surface.

[0053] In the embodiment, the boundary condition of the door glass surface includes the curvature parameter of the door glass surface and the initial marking line on the door glass surface.

[0054] In the embodiment, the door glass surface is generally curved, so it has a certain curvature parameter, and the curvature parameter is set in advance.

[0055] In the embodiment, please refer to Figure 2 , the initial marking line includes an initial roof K line L K1 , an initial water cutting R line L R1 and an initial B column trim panel boundary line L B1 , and the initial B column trim panel boundary line L B1 intersects the initial water cutting R line L R1 at a first intersection point A1, and the initial B column trim panel boundary line L B1 intersects the initial roof K line L K1 at a third intersection point B1.

[0056] Step S02 is performed to acquire the helix information according to the boundary condition of the door glass surface.

[0057] The process of acquiring the helix information is described in detail in Figure 4 to Figure 5 .

[0058] In the embodiment, the method for acquiring the helix information is as followsFigure 3 As shown, the method comprises: S201, obtaining an initial helical line axis according to boundary conditions of a door glass surface; S202, obtaining a position of the helical line axis according to the initial helical line axis using a simulated annealing algorithm; and S203, obtaining the helical line information according to the position of the helical line axis, which will be described in detail below.

[0059] Please refer to Figure 4 and Figure 5 to execute step S201, the process of obtaining an initial helical line axis according to boundary conditions of a door glass surface comprises: obtaining at least three first positioning points at any position on the initial B-pillar trim panel boundary line L B1 ; obtaining a first circle a having a first circle center O1 according to the three first positioning points; moving the initial B-pillar trim panel boundary line L B1 parallelly in a direction towards the head of the vehicle to obtain a first B-pillar trim panel boundary line L B2 ; obtaining at least three second positioning points at any position on the first B-pillar trim panel boundary line L B2 , determining a second circle b having a second circle center O2 according to the three second positioning points; obtaining a first plane S1 passing through the first intersection A1 and perpendicular to the line connecting the first circle center O1 and the second circle center O2 according to the first intersection A1, the first circle center O1 and the second circle center O2; projecting the first circle a onto the first plane S1 to obtain a projection curve of the first circle; obtaining at least three third positioning points at any position on the projection curve of the first circle, determining a third circle c having a third circle center O3 according to the three third positioning points; the intersection of the first B-pillar trim panel boundary line and the initial water cutting R line is a second intersection A2, obtaining a second plane S2 passing through the second intersection A2 and perpendicular to the line connecting the first circle center O1 and the second circle center O2 according to the second intersection A2, the first circle center O1 and the second circle center O2; projecting the second circle b onto the second plane S2 to obtain a projection curve of the second circle, obtaining at least three fourth positioning points at any position on the projection curve of the second circle, determining a fourth circle e and a fourth circle center O4 according to the three fourth positioning points, and obtaining the initial helical line axis according to the line connecting the third circle center O3 and the fourth circle center O4.

[0060] The process of obtaining the initial helical line axis is simple and has good accuracy, greatly shortening the research and development cycle of the initial helical line axis and having a wide range of applications.

[0061] In the embodiment, the initial B-pillar trim panel boundary line L B1 is translated to the first B-pillar trim panel boundary line LB2 The translation amount of the parallel movement is the width of the door glass, and the direction of the width is parallel to the direction from the tail of the automobile to the head of the automobile.

[0062] In the embodiment, parallel movement is performed along a direction parallel to the initial B-pillar trim border line L B1 , and the parallel movement amount is the width of the door glass.

[0063] After the initial helical line axis is obtained, step S202 is performed to obtain the position of the helical line axis according to the initial helical line axis by using a simulated annealing algorithm.

[0064] The specific process of obtaining the position of the helical line axis will be further described with reference to Figure 4 and Figure 5 . The process includes establishing a first helical line axis position point O5 and a second helical line axis position point O6 by using a local coordinate system, the relative coordinates of the first helical line position point O5 and the first circle center O1 are (x1, y1, z1), and the relative coordinates of the second helical line axis position point O6 and the second circle center O2 are (x2, y2, z2); the first B-pillar trim border line L B2 intersects the initial roof K line L k1 at a fourth intersection point B2, the first intersection point A1 projects onto a straight line formed by the first helical line axis position point O5 and the second helical line axis position point O6 to form a projected first intersection point A3, the second intersection point A2 projects onto the straight line formed by the first helical line axis position point O5 and the second helical line axis position point O6 to form a projected second intersection point A4, the third intersection point B1 projects onto the straight line formed by the first helical line axis position point O5 and the second helical line axis position point O6 to form a projected third intersection point B3, and the fourth intersection point B2 projects onto the straight line formed by the first helical line axis position point O5 and the second helical line axis position point O6 to form a projected fourth intersection point B4; the coordinates of the first helical line axis position point O5 and the second helical line axis position point O6 are obtained according to the distance between the first intersection point A1 and the projected first intersection point A3 being equal to the distance between the third intersection point B1 and the projected third intersection point B3, and the distance between the second intersection point A2 and the projected second intersection point A4 being equal to the distance between the fourth intersection point B2 and the projected fourth intersection point B4; the position of the straight line determined according to the coordinates of the first helical line axis position point O5 and the second helical line axis position point O6 is the position of the helical line axis, and the straight line determined according to the coordinates of the first helical line axis position point O5 and the second helical line axis position point O6 is the helical line axis O5O6.

[0065] The step S203 is performed to obtain the helical line according to the position of the helical line axis, which specifically includes: obtaining a distance D1 between the projected first intersection A3 and the projected third intersection B3; obtaining a distance D2 between the projected second intersection A4 and the projected fourth intersection B4; obtaining a first vertical plane passing through the helical line axis O5 O6, projecting a straight line formed by the first intersection A1 and the projected first intersection A3 onto the first vertical plane to obtain a first projection line, projecting a straight line formed by the third intersection B1 and the projected third intersection B3 onto the first vertical plane to obtain a second projection line; obtaining an angle θ1 between the first projection line and the second projection line; projecting a straight line formed by the second intersection A2 and the projected second intersection A4 onto the first vertical plane to form a third projection line, projecting a straight line formed by the fourth intersection B2 and the projected fourth intersection B4 onto the first vertical plane to form a fourth projection line; obtaining an angle θ2 between the third projection line and the fourth projection line; obtaining a first pitch P1, which is a ratio of D1 to θ1, and obtaining a second pitch P2, which is a ratio of D2 to θ2; obtaining first helical line information according to the helical line axis O5 O6, the first intersection A1 and the first pitch P1, and obtaining second helical line information according to the helical line axis O5 O6, the second intersection A2 and the second pitch P2.

[0066] In the embodiment, the first helical line information can be obtained according to the helical line axis O5 O6, the first pitch P1 and the first intersection A1 as the starting point of the helical line, and the second helical line information can be obtained according to the helical line axis O5 O6, the second pitch P2 and the second intersection A2 as the starting point of the helical line.

[0067] After the helical line information is obtained, the step S03 is performed to obtain a vehicle door glass movement guide line according to the helical line information.

[0068] In the embodiment, the step of obtaining the vehicle door glass movement guide line includes: projecting the first helical line onto the vehicle door glass surface to form a first projected curve, generating a first projected curve surface on the first projected curve by randomly selecting three points on the first projected curve, and obtaining a first vehicle door glass movement guide line G1 as an intersection between the first projected curve surface and the vehicle door glass surface; projecting the second helical line onto the vehicle door glass surface to form a second projected curve, generating a second projected curve surface on the second projected curve by randomly selecting three points on the second projected curve, and obtaining a second vehicle door glass movement guide line G2 as an intersection between the second projected curve surface and the vehicle door glass surface.

[0069] In the embodiment, the first vehicle door glass movement guide line G1 and the second vehicle door glass movement guide line G2 are used as limit positions of the vehicle door glass in left-right movement during lifting.

[0070] In the embodiment, please refer to Figure 6 After the guide lines of the door glass movement are acquired, step S04 is performed: acquiring door glass surface information according to the guide lines, specifically, acquiring the door glass surface information according to the first door glass movement guide line G1 and the second door glass movement guide line G2, and translating the initial roof K line L K1 in a direction parallel to the initial roof K line to obtain a roof K line L K , and translating the initial water cut R line in a direction parallel to the initial water cut R line to obtain a water cut R line L R .

[0071] In the embodiment, the initial roof K line is translated according to the structural relationship to obtain a roof K line, which can determine the upper boundary of the door glass; the initial water cut R line is translated according to the structural relationship, which can determine the lower boundary of the door glass, and the left and right boundaries of the door glass movement are determined by the first door glass movement guide line G1 and the second door glass movement guide line G2 respectively, thereby obtaining the door glass surface information.

[0072] In the embodiment, the structural relationship refers to the relative relationship between the roof K line and the upper boundary of the glass and the relative relationship between the water cut R line and the lower boundary of the glass, which is determined by the structure of the door system in the development process of the door.

[0073] After the door glass surface information is acquired according to the upper, lower, left and right boundaries of the door glass movement, please refer to Figure 7 , step S05 is performed: acquiring door glass lowering position information according to the door glass surface information, specifically, the steps of acquiring the door glass lowering position information include: when the door glass is in a closed state, acquiring the intersection of the first door glass movement guide line G1 and the roof K line L K as a second closing edge point C2, and acquiring the intersection of the first door glass movement guide line G1 and the water cut R line as a first closing edge point C1; acquiring a closing edge vertical plane E1, the closing edge vertical plane E1 passes through the first closing edge point C1, and a straight line where the first closing edge point C1 and the second closing edge point C2 are located is perpendicular to the closing edge vertical plane E1, the closing edge vertical plane E1 intersects with the second door glass movement guide line G1 at a closing vertical point C3; determining a first local coordinate system X1 through the closing vertical point C3, the first closing edge point C1 and the second closing edge point C2.

[0074] In the embodiment, the first local coordinate system X1 is determined with C1 as the origin, the X-axis direction is formed by the origin and C3, the Y-axis direction is formed by the normal direction of the plane E1, and the Z-axis direction is formed by the normal direction of the plane formed by the X-axis and the Y-axis.

[0075] Please continue to refer to Figure 7 When the door glass is in the open state, the intersection of the first door glass movement guide line G1 and the roof K line L K is the second opening edge point D2, and the intersection of the first door glass movement guide line G1 and the water cutting R line L R is the first opening edge point D1; an opening edge vertical plane E2 is obtained, the opening edge vertical plane E2 passes through the first opening edge point D1, and the straight line where the first opening edge point D1 and the second opening edge point D2 are located is perpendicular to the opening edge vertical plane E2, the opening edge vertical plane E2 intersects with the second door glass movement guide line G2 at an opening vertical point D3; a second local coordinate system X2 is determined through the opening vertical point D3, the first opening edge point D1, and the second opening edge point D2, and the door glass lowering position information is obtained through the coordinate transformation of the first local coordinate system X1 and the second local coordinate system X2.

[0076] In the embodiment, the first local coordinate system X2 is determined with C2 as the origin, the X-axis direction is formed by the origin and D3, the Y-axis direction is formed by the normal direction of the plane E2, and the Z-axis direction is formed by the normal direction of the plane formed by the X-axis and the Y-axis.

[0077] Correspondingly, the application also provides a system for confirming the movement trajectory of a door glass, please refer to Figure 7 , comprising:

[0078] A boundary condition module 100 is configured to obtain the boundary condition of the door glass surface.

[0079] A spiral line information module 200 is configured to obtain the spiral line information according to the boundary condition of the door glass surface.

[0080] A guide line obtaining module 300 is configured to obtain the door glass movement guide line according to the spiral line information.

[0081] A first data processing module 400 is configured to obtain the door glass surface information according to the guide line.

[0082] A second data processing module 500 is configured to obtain the door glass lowering position information according to the door glass surface information.

[0083] In the embodiment, the boundary condition module 100 acquires the boundary condition of the door glass surface, the spiral line information module 200 acquires the spiral line information according to the boundary condition of the door glass surface, the guide line acquisition module 300 acquires the door glass movement guide line according to the spiral line information, the first data processing module 400 acquires the door glass surface information according to the guide line, and the second data processing module 500 acquires the door glass lowering position information according to the door glass surface information. The process of acquiring the door glass lowering position information by using the system is simple and easy to operate. According to the acquired boundary condition, the accuracy and precision of the acquired spiral line information are ensured, the spiral line is simple to acquire, the process of acquiring the spiral line is simplified, and the accuracy of the finally acquired door glass lowering position information is ensured. The period required in the development process of the automobile is greatly shortened, and the system has a wide range of application.

[0084] In the embodiment, the boundary condition of the door glass surface includes a curvature parameter of the door glass surface and an initial marking line on the door glass surface.

[0085] The initial marking line includes an initial roof K line, an initial water-cut R line, and an initial B-pillar trim panel boundary line. The initial B-pillar trim panel boundary line intersects with the initial water-cut R line at a first intersection point, and the initial B-pillar trim panel boundary line intersects with the initial roof K line at a third intersection point.

[0086] In the embodiment, please refer to Figure 9 The spiral line information module 200 includes an initial determination module 210, a position determination module 220, and a shaping module 230. The initial determination module 210 is configured to acquire an initial spiral line axis according to the boundary condition of the door glass surface. The position determination module 220 is configured to acquire the position of the spiral line axis by using an analog annealing algorithm according to the initial spiral line axis. The shaping module 230 is configured to acquire the spiral line information according to the position of the spiral line axis.

[0087] Please continue to refer to Figure 5 to Figure 6 for the process of acquiring the spiral line information.

[0088] The initial determination module 210 acquires the initial spiral line axis according to the boundary condition of the door glass surface. The steps include:

[0089] Please refer to Figure 5 and Figure 6 at least three first positioning points are acquired at any position on the initial B-pillar trim panel boundary line L B1 . A first circle a with a first center O1 is acquired according to the three first positioning points. The initial B-pillar trim panel boundary line L B1 is moved in parallel along the direction towards the head of the automobile to obtain a first B-pillar trim panel boundary line L B2; at any position of the first B-pillar trim panel boundary line L B2 obtaining at least three second positioning points at any position of the first B-pillar trim panel boundary line L B1 obtaining a first plane S1 passing through the first intersection point A1 and perpendicular to the line connecting the first circle center O1 and the second circle center O2; projecting the first circle a onto the first plane S1 to obtain a projection curve of the first circle; obtaining at least three third positioning points at any position of the projection curve of the first circle, and determining a third circle c having a third circle center O3 according to the three third positioning points; the intersection point of the first B-pillar trim panel boundary line and the initial water-cutting R line being a second intersection point A2, obtaining a second plane S2 passing through the second intersection point A2 and perpendicular to the line connecting the first circle center O1 and the second circle center O2; projecting the second circle b onto the second plane S2 to obtain a projection curve of the second circle, and obtaining at least three fourth positioning points at any position of the projection curve of the second circle, and determining a fourth circle e and a fourth circle center O4 according to the three fourth positioning points, and obtaining the determined helical line axis according to the line connecting the third circle center O3 and the fourth circle center O4.

[0090] In the embodiment, the process of obtaining the determined helical line axis is simple and accurate, greatly shortens the development cycle of the determined helical line axis, and has a wide range of application.

[0091] In the embodiment, the translation of the initial B-pillar trim panel boundary line L B1 to the first B-pillar trim panel boundary line L B2 The translation amount is the width of the door glass, and the direction of the width is parallel to the direction from the tail of the automobile to the head of the automobile.

[0092] In the embodiment, the parallel movement is performed along the direction parallel to the initial B-pillar trim panel boundary line L B1 , and the parallel movement amount is the width of the door glass.

[0093] After obtaining the determined helical line axis, the position of the helical line axis is obtained according to the determined helical line axis using a simulated annealing algorithm.

[0094] The position determination module 220 obtains the position of the helical line axis according to the determined helical line axis using a simulated annealing algorithm, and the specific process of obtaining the position of the helical line axis will be further described in combination with the description of the step S120 of the method 100. Figure 5 and Figure 6, including using a local coordinate system to establish a position point O5 of the first helix axis and a position point O6 of the second helix axis, the relative coordinates of the first helix position point O5 and the first circle center O1 being (x1, y1, z1), and the relative coordinates of the second helix axis position point O6 and the second circle center O2 being (x2, y2, z2); the first B-column panel boundary line L B2 intersects the initial roof K line L k1 , the first intersection point A1 forms a projected first intersection point A3 when projected onto a straight line formed by the position point O5 of the first helix axis and the position point O6 of the second helix axis, the second intersection point A2 forms a projected second intersection point A4 when projected onto the straight line formed by the position point O5 of the first helix axis and the position point O6 of the second helix axis, the third intersection point B1 forms a projected third intersection point B3 when projected onto the straight line formed by the position point O5 of the first helix axis and the position point O6 of the second helix axis, the fourth intersection point B2 forms a projected fourth intersection point B4 when projected onto the straight line formed by the position point O5 of the first helix axis and the position point O6 of the second helix axis, the coordinates of the position point O5 of the first helix axis and the coordinates of the position point O6 of the second helix axis are obtained according to the distance between the first intersection point A1 and the projected first intersection point A3 being equal to the distance between the third intersection point B1 and the projected third intersection point B3, and the distance between the second intersection point A2 and the projected second intersection point A4 being equal to the distance between the fourth intersection point B2 and the projected fourth intersection point B4, the position of the straight line determined according to the coordinates of the position point O5 of the first helix axis and the coordinates of the position point O6 of the second helix axis is the position of the helix axis, and the straight line determined according to the coordinates of the position point O5 of the first helix axis and the coordinates of the position point O6 of the second helix axis is the helix axis O5 O6.

[0095] The process of obtaining the helical line information according to the position of the helical line axis by the forming module 230 comprises: obtaining the distance D1 between the projected first intersection point A3 and the projected third intersection point B3; obtaining the distance D2 between the projected second intersection point A4 and the projected fourth intersection point B4; obtaining a first vertical plane passing through the helical line axis O5 O6, projecting the straight line formed by the first intersection point A1 and the projected first intersection point A3 onto the first vertical plane to obtain a first projection line, and projecting the straight line formed by the third intersection point B1 and the projected third intersection point B3 onto the first vertical plane to obtain a second projection line; obtaining the included angle θ1 between the first projection line and the second projection line; projecting the straight line formed by the second intersection point A2 and the projected second intersection point A4 onto the first vertical plane to form a third projection line, and projecting the straight line formed by the fourth intersection point B2 and the projected fourth intersection point B4 onto the first vertical plane to form a fourth projection line; obtaining the included angle θ2 between the third projection line and the fourth projection line; obtaining a first pitch P1, which is the ratio of D1 to θ1, and obtaining a second pitch P2, which is the ratio of D2 to θ2; obtaining first helical line information according to the helical line axis O5 O6, the first intersection point A1 and the first pitch P1, and obtaining second helical line information according to the helical line axis O5 O6, the second intersection point A2 and the second pitch P2.

[0096] In this embodiment, specifically, the helical line axis O5 O6, the first pitch P1 and the first intersection point A1 as the starting point of the helical line can obtain the first helical line information, and the helical line axis O5 O6, the second pitch P2 and the second intersection point A2 as the starting point of the helical line can obtain the second helical line information.

[0097] After obtaining the helical line information, the vehicle door glass movement guide line is obtained.

[0098] In this embodiment, the step of obtaining the vehicle door glass movement guide line comprises: projecting the first helical line onto the vehicle door glass surface to form a first projection curve, generating a first projection curve surface on the first projection curve by randomly selecting three points on the first projection curve, and the intersection line between the first projection curve surface and the vehicle door glass surface is a first vehicle door glass movement guide line G1; projecting the second helical line onto the vehicle door glass surface to form a second projection curve, generating a second projection curve surface on the second projection curve by randomly selecting three points on the second projection curve, and the intersection line between the second projection curve surface and the vehicle door glass surface is a second vehicle door glass movement guide line G2.

[0099] In this embodiment, the first vehicle door glass movement guide line G1 and the second vehicle door glass movement guide line G2 are the limit positions of the left and right movement of the vehicle door glass during the lifting process.

[0100] In this embodiment, after obtaining the door glass movement guide line, it is necessary to obtain the limit position of the door glass during the lifting and lowering process. Specifically, based on the first door glass movement guide line G1 and the second door glass movement guide line G2, the initial roof K line is translated along a direction parallel to the initial roof K line Lk1 to obtain the roof K line, and the initial water cut R line is translated along a direction parallel to the initial water cut R line to form the water cut R line.

[0101] In this embodiment, the upper boundary of the door glass can be determined by translating the initial roof K-line according to the structural relationship; the lower boundary of the door glass can be determined by translating the initial water-cutting R-line according to the structural relationship; and the left and right boundaries of the door glass movement are determined by the first door glass movement guide line G1 and the second door glass movement guide line G2, respectively, thereby obtaining the door glass surface information.

[0102] In this embodiment, the structural relationship refers to the relative relationship between the roof K-line and the upper boundary of the glass, and between the water-cutting R-line and the lower boundary of the glass, determined by the structure of the door system during the door development process.

[0103] After obtaining the door glass surface information based on the vertical and horizontal boundaries of the door glass movement, please refer to... Figure 6 The steps for obtaining the lowered position information of the car door glass include: when the car door glass is in the closed state, obtaining the first car door glass motion guide line G1 and the roof K line L. K The intersection point is the second closing edge point C2. The intersection point of the first door glass movement guide line G1 and the water-cutting R line is the first closing edge point C1. The closing edge vertical plane E1 is obtained, which passes through the first closing edge point C1 and the straight line containing the first closing edge point C1 and the second closing edge point C2 is perpendicular to the closing edge vertical plane E1. The closing edge vertical plane E1 intersects the second door glass movement guide line G1 at the closing vertical point C3. The first local coordinate system X1 is determined by the closing vertical point C3, the first closing edge point C1 and the second closing edge point C2.

[0104] In this embodiment, the first local coordinate system X1 is determined with C1 as the origin, the origin and C3 forming the X-axis direction, the origin and the normal direction of plane E1 forming the Y-axis direction, and the normal direction of the plane formed by the origin and the X-axis and Y-axis forming the Z-axis direction.

[0105] Please continue to refer to this. Figure 6 When the door glass is in the open state, the motion guide line G1 of the first door glass and the roof K line L are obtained.K The intersection of the first door glass movement guide line G1 and the water cut R line L R The intersection of the first door glass movement guide line G1 and the water cut R line L The opening edge vertical plane E2 intersects the second door glass movement guide line G2 at an opening vertical point D3; a second local coordinate system X2 is determined by the opening vertical point D3, the first opening edge point D1 and the second opening edge point D2; and the door glass lowering position information is obtained by coordinate transformation between the first local coordinate system X1 and the second local coordinate system X2.

[0106] In the embodiment, the first local coordinate system X2 is determined with C2 as the origin, the X axis direction is formed by the origin and D3, the Y axis direction is formed by the normal direction of the plane E2, and the Z axis direction is formed by the normal direction of the plane formed by the X axis and the Y axis.

[0107] Although the present application is disclosed as above, the present application is not limited to this. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, and the protection scope of the present application should be defined by the scope of the claims.

Claims

1. A method of confirming a movement locus of a door glass, characterized by, The method comprises the steps of: acquiring boundary conditions of a door glass surface, the boundary conditions of the door glass surface including initial marking lines on the door glass surface, the initial marking lines including an initial roof K line, an initial water-cut R line, and an initial B-pillar trim panel boundary line, and the initial B-pillar trim panel boundary line intersecting with the initial water-cut R line at a first intersection point and intersecting with the initial roof K line at a third intersection point; acquiring helix line information according to the boundary conditions of the door glass surface, the step of acquiring the helix line information including: acquiring a preliminary helix line axis according to the boundary conditions of the door glass surface; acquiring a position of the helix line axis using a simulated annealing algorithm according to the preliminary helix line axis; and acquiring the helix line information according to the position of the helix line axis; acquiring a door glass movement guide line according to the helix line information; acquiring door glass surface information according to the guide line; acquiring a door glass lowering position according to the door glass surface information, the step of acquiring the door glass lowering position according to the door glass surface information including: when the door glass is in a closed state, acquiring a first door glass movement guide line and a roof K line intersection point as a second closed edge point and a first door glass movement guide line and a water-cut R line intersection point as a first closed edge point; acquiring a closed edge vertical plane, the closed edge vertical plane passing through the first closed edge point and being perpendicular to a straight line where the first closed edge point and the second closed edge point are located, the closed edge vertical plane intersecting with a second door glass movement guide line at a closed vertical point; and determining a first local coordinate system through the closed vertical point, the first closed edge point, and the second closed edge point.

2. The vehicle door glass movement locus confirmation method according to claim 1, characterized by, The boundary conditions of the door glass surface further include a curvature parameter of the door glass surface.

3. The vehicle door glass movement locus confirmation method according to claim 1, characterized by, The process of obtaining the preliminary helical line axis comprises: obtaining at least three first positioning points at any position on the initial B column trim panel boundary line; obtaining a first circle according to the three first positioning points, the first circle having a first circle center; moving the initial B column trim panel boundary line in a direction towards the head of the automobile to obtain a first B column trim panel boundary line; obtaining at least three second positioning points at any position on the first B column trim panel boundary line, and determining a second circle according to the three second positioning points, the second circle having a second circle center; obtaining a first plane according to the first intersection point, the first circle center and the second circle center, the first plane passing through the first intersection point and being perpendicular to the line connecting the first circle center and the second circle center; projecting the first circle onto the first plane to obtain a projection curve of the first circle; obtaining at least three third positioning points at any position on the projection curve of the first circle, and determining a third circle according to the three third positioning points, the third circle having a third circle center; the intersection point of the first B column trim panel boundary line and the initial water-cut R line being a second intersection point, obtaining a second plane according to the second intersection point, the first circle center and the second circle center, the second plane passing through the second intersection point and being perpendicular to the line connecting the first circle center and the second circle center; projecting the second circle onto the second plane to obtain a projection curve of the second circle, obtaining at least three fourth positioning points at any position on the projection curve of the second circle, determining a fourth circle and a fourth circle center according to the three fourth positioning points, and obtaining the preliminary helical line axis according to the line connecting the third circle center and the fourth circle center.

4. The vehicle door glass movement locus confirmation method according to claim 3, characterized by, The translation amount of the initial B column trim panel boundary line to the first B column trim panel boundary line is the width of the door glass, and the direction of the width is parallel to the direction from the tail of the automobile to the head of the automobile.

5. The method of claim 3, wherein The process of obtaining the position of the helical axis according to the initial helical axis using the simulated annealing algorithm comprises: using a local coordinate system to establish a position point of the first helical axis and a position point of the second helical axis, the relative coordinates of the first helical position point and the first circle center being (x1, y1, z1), and the relative coordinates of the second helical axis position point and the second circle center being (x2, y2, z2); the first B-column trim panel boundary line intersects the initial roof K-line at a fourth intersection point, the first intersection point projects onto a straight line formed by the position point of the first helical axis and the position point of the second helical axis to form a projected first intersection point, the second intersection point projects onto the straight line formed by the position point of the first helical axis and the position point of the second helical axis to form a projected second intersection point, the third intersection point projects onto the straight line formed by the position point of the first helical axis and the position point of the second helical axis to form a projected third intersection point, and the fourth intersection point projects onto the straight line formed by the position point of the first helical axis and the position point of the second helical axis to form a projected fourth intersection point; the coordinates of the position point of the first helical axis and the coordinates of the position point of the second helical axis are obtained according to the distance between the first intersection point and the projected first intersection point being equal to the distance between the third intersection point and the projected third intersection point, and the distance between the second intersection point and the projected second intersection point being equal to the distance between the fourth intersection point and the projected fourth intersection point; the position of the straight line determined according to the coordinates of the position point of the first helical axis and the coordinates of the position point of the second helical axis is the position of the helical axis, and the straight line determined according to the coordinates of the position point of the first helical axis and the coordinates of the position point of the second helical axis is the helical axis.

6. The vehicle door glass movement locus confirmation method according to claim 5, characterized by, The process of obtaining the helical line information according to the position of the helical line axis comprises: obtaining a distance D1 between the projection first intersection point and the projection third intersection point; obtaining a distance D2 between the projection second intersection point and the projection fourth intersection point; obtaining a first vertical plane passing through the helical line axis, projecting a straight line formed by the first intersection point and the projection first intersection point onto the first vertical plane to obtain a first projection line, and projecting a straight line formed by the third intersection point and the projection third intersection point onto the first vertical plane to obtain a second projection line; obtaining an angle θ1 between the first projection line and the second projection line; projecting a straight line formed by the second intersection point and the projection second intersection point onto the first vertical plane to form a third projection line, and projecting a straight line formed by the fourth intersection point and the projection fourth intersection point onto the first vertical plane to form a fourth projection line; obtaining an angle θ2 between the third projection line and the fourth projection line; obtaining a first pitch, which is a ratio of D1 to θ1, and obtaining a second pitch, which is a ratio of D2 to θ2; obtaining first helical line information according to the helical line axis, the first intersection point and the first pitch, and obtaining second helical line information according to the helical line axis, the second intersection point and the second pitch.

7. The vehicle door glass movement locus confirmation method according to claim 6, characterized by, The step of obtaining the vehicle door glass movement guide line according to the helical line information comprises: projecting the first helical line onto the vehicle door glass surface to form a first projection curve, generating a first projection curve surface on the first projection curve by taking three points on the first projection curve, and obtaining a first vehicle door glass movement guide line by intersecting the first projection curve surface with the vehicle door glass surface; projecting the second helical line onto the vehicle door glass surface to form a second projection curve, generating a second projection curve surface on the second projection curve by taking three points on the second projection curve, and obtaining a second vehicle door glass movement guide line by intersecting the second projection curve surface with the vehicle door glass surface.

8. The vehicle door glass motion trajectory confirmation method according to claim 1, characterized by, The step of obtaining the vehicle door glass surface information according to the guide line comprises: obtaining a vehicle roof K line by translating the initial vehicle roof K line along a direction parallel to the initial vehicle roof K line according to the first vehicle door glass movement guide line and the second vehicle door glass movement guide line, and obtaining a water cut R line by translating the initial water cut R line along a direction parallel to the initial water cut R line.

9. The vehicle door glass motion trajectory confirmation method according to claim 1, wherein According to the vehicle door glass surface information, the step of obtaining the vehicle door glass descending position information further comprises: when the vehicle door glass is in an open state, obtaining a second opening edge point as an intersection of the first vehicle door glass movement guide line and the roof K line, and obtaining a first opening edge point as an intersection of the first vehicle door glass movement guide line and the water-cut R line; obtaining an opening edge vertical plane, the opening edge vertical plane passing through the first opening edge point and being perpendicular to a straight line where the first opening edge point and the second opening edge point are located, the opening edge vertical plane intersecting with the second vehicle door glass movement guide line at an opening vertical point; determining a second local coordinate system through the opening vertical point, the first opening edge point and the second opening edge point, and obtaining the vehicle door glass descending position information through coordinate transformation between the first local coordinate system and the second local coordinate system.

10. A system for confirming the movement trajectory of a vehicle door glass, characterized in that, Comprise: A boundary condition module for obtaining boundary conditions of a vehicle door glass surface, the boundary conditions of the vehicle door glass surface comprising initial marking lines on the vehicle door glass surface, the initial marking lines comprising an initial roof K line, an initial water-cut R line and an initial B-pillar trim panel boundary line, and the initial B-pillar trim panel boundary line intersecting with the initial water-cut R line at a first intersection point and intersecting with the initial roof K line at a third intersection point; A spiral line information module for obtaining spiral line information according to the boundary conditions of the vehicle door glass surface, the spiral line information module comprising: A preliminary determination module for obtaining a preliminarily determined spiral line axis according to the boundary conditions of the vehicle door glass surface; A position determination module for obtaining a position of the spiral line axis according to the preliminarily determined spiral line axis using a simulated annealing algorithm; A shaping module for obtaining the spiral line information according to the position of the spiral line axis; A guide line obtaining module for obtaining a vehicle door glass movement guide line according to the spiral line information; A first data processing module for obtaining vehicle door glass surface information according to the guide line; A second data processing module for obtaining vehicle door glass descending position information according to the vehicle door glass surface information, the step of obtaining the vehicle door glass descending position information according to the vehicle door glass surface information comprising: when the vehicle door glass is in a closed state, obtaining a second closing edge point as an intersection of the first vehicle door glass movement guide line and the roof K line, and obtaining a first closing edge point as an intersection of the first vehicle door glass movement guide line and the water-cut R line; obtaining a closing edge vertical plane, the closing edge vertical plane passing through the first closing edge point and being perpendicular to a straight line where the first closing edge point and the second closing edge point are located, the closing edge vertical plane intersecting with the second vehicle door glass movement guide line at a closing vertical point; determining a first local coordinate system through the closing vertical point, the first closing edge point and the second closing edge point.

11. The system for confirming a movement locus of a door glass according to claim 10, wherein The boundary conditions of the vehicle door glass surface further comprise a curvature parameter of the vehicle door glass surface.

12. The system for confirming a movement trajectory of a door glass according to claim 10, wherein The process of obtaining the preliminary helical line axis comprises: obtaining at least three first positioning points at any position on the initial B column trim panel boundary line; obtaining a first circle according to the three first positioning points, the first circle having a first circle center; moving the initial B column trim panel boundary line in a direction towards the head of the automobile to obtain a first B column trim panel boundary line; obtaining at least three second positioning points at any position on the first B column trim panel boundary line, and determining a second circle according to the three second positioning points, the second circle having a second circle center; obtaining a first plane according to the first intersection point, the first circle center and the second circle center, the first plane passing through the first intersection point and being perpendicular to the line connecting the first circle center and the second circle center; projecting the first circle onto the first plane to obtain a projection curve of the first circle; obtaining at least three third positioning points at any position on the projection curve of the first circle, and determining a third circle according to the three third positioning points, the third circle having a third circle center; the intersection point of the first B column trim panel boundary line and the initial water-cut R line being a second intersection point, obtaining a second plane according to the second intersection point, the first circle center and the second circle center, the second plane passing through the second intersection point and being perpendicular to the line connecting the first circle center and the second circle center; projecting the second circle onto the second plane to obtain a projection curve of the second circle, obtaining at least three fourth positioning points at any position on the projection curve of the second circle, determining a fourth circle and a fourth circle center according to the three fourth positioning points, and obtaining the preliminary helical line axis according to the line connecting the third circle center and the fourth circle center.

13. The system for confirming a movement trajectory of a door glass according to claim 12, wherein The translation amount of the initial B column trim panel boundary line to the first B column trim panel boundary line is the width of the door glass, and the direction of the width is parallel to the direction from the tail of the automobile to the head of the automobile.

14. The system for confirming a movement trajectory of a door glass according to claim 12, wherein The process of obtaining the position of the helical axis according to the initial helical axis using the simulated annealing algorithm comprises: using a local coordinate system to establish a position point of the first helical axis and a position point of the second helical axis, the relative coordinates of the first helical position point and the first circle center being (x1, y1, z1), and the relative coordinates of the second helical axis position point and the second circle center being (x2, y2, z2); the first B-column trim panel boundary line intersects the initial roof K-line at a fourth intersection point, the first intersection point projects onto a straight line formed by the position point of the first helical axis and the position point of the second helical axis to form a projected first intersection point, the second intersection point projects onto the straight line formed by the position point of the first helical axis and the position point of the second helical axis to form a projected second intersection point, the third intersection point projects onto the straight line formed by the position point of the first helical axis and the position point of the second helical axis to form a projected third intersection point, and the fourth intersection point projects onto the straight line formed by the position point of the first helical axis and the position point of the second helical axis to form a projected fourth intersection point; the coordinates of the position point of the first helical axis and the coordinates of the position point of the second helical axis are obtained according to the distance between the first intersection point and the projected first intersection point being equal to the distance between the third intersection point and the projected third intersection point, and the distance between the second intersection point and the projected second intersection point being equal to the distance between the fourth intersection point and the projected fourth intersection point; the position of the straight line determined according to the coordinates of the position point of the first helical axis and the coordinates of the position point of the second helical axis is the position of the helical axis, and the straight line determined according to the coordinates of the position point of the first helical axis and the coordinates of the position point of the second helical axis is the helical axis.

15. The system for confirmation of vehicle door glass motion trajectory of claim 14, wherein, The process of obtaining the helical line information according to the position of the helical line axis comprises: obtaining a distance D1 between the projection first intersection point and the projection third intersection point; obtaining a distance D2 between the projection second intersection point and the projection fourth intersection point; obtaining a first vertical plane passing through the helical line axis, projecting a straight line formed by the first intersection point and the projection first intersection point onto the first vertical plane to obtain a first projection line, and projecting a straight line formed by the third intersection point and the projection third intersection point onto the first vertical plane to obtain a second projection line; obtaining an angle θ1 between the first projection line and the second projection line; projecting a straight line formed by the second intersection point and the projection second intersection point onto the first vertical plane to form a third projection line, and projecting a straight line formed by the fourth intersection point and the projection fourth intersection point onto the first vertical plane to form a fourth projection line; obtaining an angle θ2 between the third projection line and the fourth projection line; obtaining a first pitch, which is a ratio of D1 to θ1, and obtaining a second pitch, which is a ratio of D2 to θ2; obtaining first helical line information according to the helical line axis, the first intersection point and the first pitch, and obtaining second helical line information according to the helical line axis, the second intersection point and the second pitch.

16. The system for confirmation of vehicle door glass motion trajectory of claim 15, wherein, The step of obtaining the vehicle door glass movement guide line according to the helical line information comprises: projecting the first helical line onto the vehicle door glass surface to form a first projection curve, generating a first projection curve surface on the first projection curve by taking three points on the first projection curve, and obtaining a first vehicle door glass movement guide line by intersecting the first projection curve surface with the vehicle door glass surface; projecting the second helical line onto the vehicle door glass surface to form a second projection curve, generating a second projection curve surface on the second projection curve by taking three points on the second projection curve, and obtaining a second vehicle door glass movement guide line by intersecting the second projection curve surface with the vehicle door glass surface.

17. The system for confirmation of vehicle door glass motion trajectory of claim 10, wherein, The step of obtaining the vehicle door glass surface information according to the guide line comprises: obtaining a vehicle roof K line by translating the initial vehicle roof K line along a direction parallel to the initial vehicle roof K line according to the first vehicle door glass movement guide line and the second vehicle door glass movement guide line, and obtaining a water cut R line by translating the initial water cut R line along a direction parallel to the initial water cut R line.

18. The system for confirmation of vehicle door glass motion trajectory of claim 10, wherein, The step of obtaining the door glass lowering position information according to the door glass surface information further comprises: when the door glass is in an open state, obtaining a second opening edge point as an intersection of the first door glass movement guide line and the roof K line, and obtaining a first opening edge point as an intersection of the first door glass movement guide line and the water cut R line; obtaining an opening edge vertical plane, the opening edge vertical plane passing through the first opening edge point, and a straight line in which the first opening edge point and the second opening edge point are located being perpendicular to the opening edge vertical plane, the opening edge vertical plane intersecting the second door glass movement guide line at an opening vertical point; determining a second local coordinate system through the opening vertical point, the first opening edge point and the second opening edge point, and obtaining the door glass lowering position information through coordinate transformation of the first local coordinate system and the second local coordinate system.

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