A method for precise matching and adjustment of vehicle doors and vehicle body sides based on scanning measurement

Abstract

The present application discloses a method for precise matching and adjustment of vehicle doors and vehicle body sides based on scanning measurement, and relates to the technical field of matching and adjustment of vehicle doors and vehicle body sides. The present invention comprises the following steps: obtaining the initial position of the hinge in a virtual matching environment; optimizing the characteristic information according to a first predetermined method when characteristic information is obtained; and calculating the position adjustment amount that matches the hinge based on the initial position when the characteristic information is optimized. In an embodiment of the present application, the above-mentioned method for precise matching and adjustment of vehicle doors and vehicle body sides based on scanning measurement is adopted, and the accuracy and reliability of the optimization scheme are guaranteed by establishing a virtual environment. The obtained hinge translation adjustment amount can provide a basis for positioning the hinge once during its actual installation. The obtained hinge translation adjustment amount is applied to the actual installation of the hinge to obtain the optimal door installation effect.

Description

Technical Field

[0001] The present invention relates to the technical field of matching and adjusting vehicle doors and vehicle body sides, and in particular to a method for accurately matching and adjusting vehicle doors and vehicle body sides based on scanning measurement. Background Art

[0002] With the development of society and the economy, the quality and aesthetics of automobile appearance are increasingly valued by automakers and consumers. A car's appearance depends not only on the manufacturing quality of each exterior covering component, but also on the matching quality between adjacent exterior covering components after assembly. Therefore, during the vehicle development process, manufacturers conduct actual vehicle builds of exterior covering components in order to obtain the optimal appearance matching results based on the currently manufactured parts, which are used to improve the component manufacturing process and the vehicle assembly process. Among these, the matching of doors and body panels is of paramount importance influencing the vehicle's appearance, accounting for more than half of the entire matching task.

[0003] The process for matching and aligning the appearance of a real vehicle build involves initially positioning and installing each part using the reference point system (RPS) defined in the RPS. Minor adjustments are then made to the position and posture of each part to achieve a more optimized match between adjacent parts. However, this adjustment process relies heavily on worker experience, making it complex and time-consuming. The main reasons for this are: Checking the matching between parts is time-consuming. Matching is described by the gaps and flushes around the parts, requiring inspection at various locations using a gap / flush gauge or a three-dimensional coordinate measuring machine. Each adjustment requires re-inspection, which is very time-consuming. Parts have multiple degrees of freedom for adjusting their position and posture in space. Adjusting a single part involves six degrees of freedom, and changes in a single degree of freedom can cause changes in the gaps and flushes of multiple matching locations. Consequently, the adjustment process often results in previously well-matched areas becoming worse due to the new adjustments. Furthermore, the adjustment is subject to the constraints of connectors. Parts are connected and fixed by hinges and bolts, which can only move within the surface of the attached parts and are subject to tolerance constraints, which affect part adjustment.

[0004] Currently, the actual vehicle matching and adjustment steps for doors and body side panels are usually as follows: (1) prepare the doors, side panels and hinge parts, and use a special fixture to fix the hinges on the doors or side panels; (2) position and install the side panels according to the RPS points; (3) align the upper and lower hinges between the rear door and the side panels; (4) check the gap and face difference matching results of the rear door and the side panels at key points, estimate the possible optimal matching results based on experience, and then adjust the position of the hinge by hammering, thereby driving the adjustment of the rear door posture; repeat this step of inspection, estimation and adjustment process until the engineer believes that a relatively satisfactory matching result is obtained; (5) For the front door, follow the steps (3) and (4) similar to the rear door to adjust. When hammering the hinge, if the force is too small, the hinge will be difficult to adjust; if the force is too large, it is easy to cause the hinge to be over-adjusted, and it is necessary to hammer in the opposite direction. It can be seen that whether the matching result is appropriate depends entirely on human judgment. Therefore, the door installation process is not only time-consuming and labor-intensive, but also unable to accurately adjust to an optimal matching result.

[0005] At present, there are also some studies that optimize the matching of body panels by aligning measurement data with theoretical models. For example, in the paper “Body Panel Matching Method Based on Line Segment Hausdorff Distance Metric” (Journal of Tongji University (Natural Science Edition), 2009, 37(12): 1648-1652) published by Zhu Wenfeng, Wang Hao, and Li Yanping, a panel matching model based on a feature point set is established, and then a genetic algorithm is used to quickly and parallelly search for matching shape and position variables to determine the optimal matching adjustment parameters; in the paper “The non-closed parts optimal fitting methodbased on curvature Hausdorff distance using 3D non-contact measurementpoints” (Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering), published by Wang H and Yu J, a matching method is used to optimize the matching of body panels by aligning measurement data with theoretical models. In the paper “Analysis and Optimization of Complex Structure Matching with Multiple Error Sources Based on Gaussian Mapping” (Journal of Shanghai Jiao Tong University, 2013, 47(5): 840-845), Xu Chuan, Wu Hao, Wang Hua and other authors published a paper titled “Analysis and Optimization of Complex Structure Matching with Multiple Error Sources Based on Gaussian Mapping” (Journal of Shanghai Jiao Tong University, 2013, 47(5): 840-845), which uses Gaussian mapping and mathematical statistics as the basis to calculate and find the best matching adjustment method for body parts.

[0006] However, existing research has not considered the actual hinge assembly and adjustment conditions. While the results of these component matching optimizations may be theoretically feasible, engineers cannot use these results for actual assembly and adjustment, and are unlikely to achieve the desired results in practice. Therefore, it is desirable to develop a method for precise matching and adjustment of automotive doors and bodies that can be used in actual engineering, ensuring accurate, optimal, and adjustable matching results. Summary of the Invention

[0007] The present invention aims to solve one of the technical problems existing in the prior art.

[0008] In response to the shortcomings of the existing technology, the present invention provides a method for precise matching and adjustment of vehicle doors and vehicle body sides based on scanning measurement, which has an accurate and optimal matching result and can be actually adjusted, comprising:

[0009] Obtain the initial position of the hinge in the virtual matching environment;

[0010] When the characteristic information is acquired, optimizing the characteristic information according to a first predetermined method;

[0011] When the feature information is optimized, a position adjustment amount matching the hinge is calculated according to the initial position.

[0012] It is further defined that the above-mentioned method for precise matching and adjustment of a vehicle door and a vehicle body side based on scanning measurement, before obtaining the initial position of the hinge in a virtual matching environment, further comprises:

[0013] Scan and measure the door and body side shapes to be installed to obtain the door measurement point cloud data and body side measurement point cloud data.

[0014] It is further defined that the above-mentioned method for precise matching and adjustment of a vehicle door and a vehicle body side based on scanning measurement, wherein obtaining the initial position of the hinge in a virtual matching environment specifically includes:

[0015] Performing door RPS alignment processing on the measured point cloud data of the door and the door theoretical model matching the door;

[0016] Aligning the point cloud data of the vehicle body side with the vehicle body side theoretical model matching the vehicle body side to form the virtual matching environment;

[0017] In the current virtual matching environment, the hinge theoretical model is matched and set on the measured point cloud data of the door and body side;

[0018] The hinge initial position is formed according to the hinge theoretical model.

[0019] It is further defined that the above-mentioned method for precise matching and adjustment of a vehicle door and a vehicle body side based on scanning measurement, wherein, after obtaining the characteristic information, optimizing the characteristic information according to the first predetermined method specifically includes:

[0020] When the vehicle door is installed, generating characteristic information based on position information of the vehicle door;

[0021] The feature information is optimized according to a first predetermined method to form a matching coordinate transformation matrix.

[0022] It is further defined that in the above-mentioned method for precise matching and adjustment of a vehicle door and a vehicle body side based on scanning measurement, the first predetermined method is:

[0023]

[0024] Among them, M is the door matching coordinate transformation matrix;

[0025] m is the number of key points on the door and side panels;

[0026] p i is the measurement value of the i-th key point;

[0027] q i is the theoretical value of the i-th key point;

[0028] w i is the weight of the i-th key point;

[0029] n i q i Normal vector of

[0030] ε - , ε + q i Tolerance constraint or inverted height prohibition constraint.

[0031] It is further defined that the above-mentioned method for precise matching and adjustment of a vehicle door and a vehicle body side based on scanning measurement, wherein, after the feature information is optimized, the position adjustment amount for matching the hinge is calculated based on the initial position and specifically includes:

[0032] Obtaining a set of coaxial reference points for each hinge according to the initial position;

[0033] When the feature information is optimized, the coaxial reference point of each hinge is adjusted so that the coaxial reference points of all hinges are coaxial, and a position adjustment amount matching the current hinge is formed according to the adjustment value of each hinge.

[0034] It is further defined that the above-mentioned method for precise matching and adjustment of a vehicle door and a vehicle body side based on scanning measurement, wherein, after the feature information is optimized, the coaxial reference point of each hinge is adjusted so that the coaxial reference points of all hinges are coaxial, and the position adjustment amount that matches the current hinge is formed according to the adjustment value of each hinge specifically includes:

[0035] forming a hinge center matrix according to the coaxial reference point of each hinge, and performing matrix transformation on the hinge center matrix to form a hinge center transformation matrix;

[0036] Forming the basic coordinates of the coaxial reference point of each hinge according to the hinge center transformation matrix, and performing straight line fitting processing on the basic coordinates to form a fitting central axis;

[0037] Projecting the basic coordinates onto the YOZ plane to form a first axis distance, a first marker midpoint, a first marker distance, and a first marker rotation angle;

[0038] A translation adjustment amount in the X, Y, and Z directions of each hinge in the YOZ plane formed according to the first axis distance, the first mark midpoint, the first mark distance, and the first mark rotation angle;

[0039] Projecting the basic coordinates onto the XOZ plane to form a second axis distance, a second marker midpoint, a second marker distance, and a second marker rotation angle;

[0040] A translation adjustment amount in the X, Y, and Z directions of each hinge in the XOZ plane formed according to the second axis distance, the second mark midpoint, the second mark distance, and the second mark rotation angle;

[0041] Iterative modulation is performed according to the translation adjustment amount of each hinge in the X, Y, and Z directions in the YOZ plane and the translation adjustment amount of each hinge in the X, Y, and Z directions in the XOZ plane until the coaxial reference points of all hinges are coaxial.

[0042] It is further defined that the above-mentioned method for precise matching and adjustment of a vehicle door and a vehicle body side based on scanning measurement, wherein projecting the basic coordinates onto the YOZ plane to form the first axis distance, the first marker midpoint, the first marker distance, and the first marker rotation angle specifically includes:

[0043] Projecting the basic coordinate value onto the YOZ plane to form a first projection coordinate point, and calculating the first axis distance between the first projection coordinate point and the central axis;

[0044] Take the two first projection coordinate points of any hinge to form the first marking point coordinates and the second marking point coordinates, and calculate the first marking midpoint, the first marking distance and the first marking point coordinates around the marking midpoint along the X-axis direction based on the first marking point coordinates and the second marking center coordinates.

[0045] It is further defined that the above-mentioned method for precise matching and adjustment of a vehicle door and a vehicle body side based on scanning measurement, wherein the translation adjustment amount in the X, Y, and Z directions of each hinge in the YOZ plane formed according to the first axis distance, the first mark midpoint, the first mark distance, and the first mark rotation angle is specifically determined as follows:

[0046]

[0047]

[0048] in, is the translation adjustment amount of the coaxial reference point represented by the coordinates of the first marking point in the xyz direction;

[0049] is the translation adjustment amount of the coaxial reference point represented by the coordinates of the second marking point in the xyz direction;

[0050] The first axis distance corresponding to the coordinates of the first marking point;

[0051] is the first marking distance;

[0052] is the first marker rotation angle.

[0053] It is further defined that the above-mentioned method for precise matching and adjustment of a vehicle door and a vehicle body side based on scanning measurement further includes:

[0054] The hinge is adjusted according to the position adjustment amount so that the hinge is fixed at a target position of the vehicle door and / or vehicle body.

[0055] The present invention has the following beneficial effects:

[0056] By scanning the door and body side shapes to obtain the corresponding point cloud data, a virtual environment is established and the hinge theoretical model is placed on the point cloud data in the virtual environment. After optimizing the facets and gaps of key points, the hinge translation adjustment amount is calculated based on the optimization results. The establishment of the virtual environment ensures the accuracy and reliability of the optimization solution. The obtained hinge translation adjustment amount can provide a basis for one-time positioning of the hinge during its actual installation process. Applying the obtained hinge translation adjustment amount to the actual installation of the hinge can obtain the optimal door installation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 This is a schematic diagram of a theoretical model in a virtual matching environment according to an embodiment of the present application;

[0058] Figure 2 This is a schematic diagram of a theoretical model in a virtual matching environment according to an embodiment of the present application;

[0059] Figure 3 This is a schematic diagram of measurement data in a virtual matching environment according to an embodiment of the present application;

[0060] Figure 4 This is a schematic diagram of the appearance of the "hinge theoretical model 25" according to an embodiment of the present application;

[0061] Figure 5 This is a connection diagram of the "hinge theoretical model 25" of an embodiment of the present application;

[0062] Figure 6 This is a schematic diagram of the position of the “definition circle 254” in an embodiment of the present application;

[0063] Figure 7 Schematic diagram of the projection of the center of the “defined circle 254” on the yoz plane and the calculation of the translation adjustment amount in an embodiment of the present application;

[0064] Figure 8 A schematic diagram showing the locations of key points in an embodiment of the present application;

[0065] Figure 9 This is a flow chart of a method for precise matching and adjustment of a vehicle door and a vehicle body side based on scanning measurement according to an embodiment of the present application.

[0066] Reference numerals

[0067] Front door point cloud data-11, rear door point cloud data-12, body point cloud data-13, first key point-14, second key point-15, third key point-16, fourth key point-17, fifth key point-18, sixth key point-19, seventh key point-20, eighth key point-21, front door theoretical model-22, rear door theoretical model-23, body theoretical model-24, hinge theoretical model-25, body side hinge-251, door hinge-252, connecting pin-253, definition circle-254. DETAILED DESCRIPTION

[0068] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0069] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0070] The server provided in the embodiment of the present application is described in detail below through specific embodiments and application scenarios in conjunction with the accompanying drawings.

[0071] like Figure 9 As shown, the embodiment of the present application provides a method for accurately matching and adjusting a vehicle door and a vehicle body side panel based on scanning measurement, comprising:

[0072] S1. Scan and measure the exterior shape of the door and body side to be installed and adjusted to obtain point cloud data. Perform RPS alignment on the point cloud data of the door and body side with their respective theoretical models to achieve preliminary matching and establish a virtual matching environment. In the virtual environment, align the hinge theoretical model 25 on the measured point cloud to obtain the initial position of the hinge.

[0073] S2. Define key points for matching, perform matching optimization with the facet difference and gap of the key points as optimization targets under weights and constraints, and obtain the coordinate transformation matrix of the car door relative to the preliminary matching result;

[0074] S3. Apply the transformation matrix to the door hinge 252, while the body side hinge 251 remains unchanged. The center points of the eight defined circles 254 can be measured, and the translation adjustment for each point can be calculated to meet the coaxial requirements.

[0075] S4. During actual adjustment, adjust the hinge by the translation adjustment amount on the fixture to achieve one-time adjustment.

[0076] In S1, the virtual matching environment includes front door point cloud data 11, rear door point cloud data 12, body point cloud data 13, front door theoretical model 22, rear door theoretical model 23, body theoretical model 24, hinge theoretical model 25, and the coordinate transformation matrix of each data and model. The coordinate transformation matrix is ​​a 4*4 matrix that can constrain the three rotation quantities and three translation quantities of the object.

[0077] In S2, the constraints include tolerance constraints and inverted height prohibition constraints. The selection of key points needs to ensure that the degrees of freedom in the six directions are fully restricted. The optimization goal is:

[0078]

[0079] Among them, M is the door matching coordinate transformation matrix, m is the number of key points on the door and side panel, and p i ,q i are the measured value and theoretical value of the i-th key point, w i is the weight of the i-th key point, n i q i Normal vector, ε - , ε + q i Tolerance constraint or inverted height prohibition constraint.

[0080] In S3, the hinge theoretical model 25 is represented by the centers of a set of eight measurable definition circles 254 on the hinge theoretical model 25. The translation adjustment of the hinge theoretical model 25 is the translation of the eight points onto the same axis. The method for establishing the local coordinate system is as follows: the center point of the hinge theoretical model 25 is the coordinate origin, the axis direction of the hinge theoretical model 25 is the z-direction of the coordinate system, and according to the right-hand rule, one axis in the global coordinate system is taken as the x-axis of the local coordinate system. The coordinate transformation matrix in this local coordinate system is M L .

[0081] In S3, the method for approximately converting the rotation amount and the translation amount into the translation amount is: the translation amount of the center of the definition circle 254 (a total of 8) on the hinge theoretical model 25 is calculated in the local coordinate system. Taking a body side hinge 251 (2 definition circles 254) as an example, Figure 7 As shown, the conversion method is as follows:

[0082] (1) The centers of the eight defined circles 254 (denoted as ) to conduct M L Conversion, coordinate value is

[0083] (2) Yes Perform straight line fitting to obtain the fitting center axis a;

[0084] (3) The center of the circle Project onto the yoz plane to get the projection point Calculate the distance from the projection point to the central axis (denoted as );

[0085] (4) Take the projection point corresponding to the center of the two definition circles 254 of one of the body side hinges 251 (for example, ), calculate the midpoint of the line connecting the two circle centers corresponding to the projection points (denoted as have: Calculate the z-direction distance between the two circle centers corresponding to the projection points (denoted as ), calculate the projection point corresponding to the center of the circle Around the midpoint The rotation angle along the x-axis (denoted as have: for Corresponding for Corresponding );

[0086] (5) Calculate the translation adjustment amount of the center of the circle 254 defined by the body side hinge 251 in the xyz direction, which is:

[0087]

[0088]

[0089] in, for The corresponding translation adjustment amount of the circle center in the xyz direction, for The translation adjustment amount of the corresponding circle center in the xyz direction;

[0090] (6) Projecting the center of the circle onto the xoz plane, and calculating the translation adjustment amount of the center of the circle 254 defined by the body side hinge 251 in the xyz direction in the same manner as steps (3) to (5);

[0091] (7) According to the adjustable directions of the centers of the defined circles 254 , the specific translation adjustment amounts are determined, and the hinge theoretical model 25 is adjusted.

[0092] (8) Repeat steps (2) to (7) and perform iterative calculations until the center of the adjusted defined circle 254 meets the coaxiality requirement, and output the final translation adjustment amount of the hinge theoretical model 25.

[0093] In S4, engineers fix the hinges on the door or side panel according to the position of the adjustment amount by first positioning the hinges on the door or side panel according to the position of the fixture on a special fixture, then adjust the hinges according to the adjustable direction and final adjustment amount, and finally tighten them.

[0094] In an embodiment of the present application, the above-mentioned method for precise matching and adjustment of vehicle doors and vehicle body sides based on scanning measurement is adopted. The corresponding point cloud data is obtained by scanning the vehicle door and vehicle body side shapes, a virtual environment is established, and the hinge theoretical model is projected on the point cloud data in the virtual environment. After optimizing the face difference and gap of key points, the translation adjustment amount of the hinge is calculated based on the optimization results. The establishment of the virtual environment ensures the accuracy and reliability of the optimization scheme. The obtained hinge translation adjustment amount can provide a basis for one-time positioning of the hinge during the actual installation process. The obtained hinge translation adjustment amount is applied to the actual installation of the hinge to obtain the optimal door installation effect.

[0095] Example:

[0096] In this embodiment,

[0097] The point cloud data obtained by S1 is as follows Figure 3 As shown, there are 6 RPS points on the door and side panels, and the measured data is aligned with the theoretical model for RPS zeroing.

[0098] In S2, constraints are added to adjust the matching of the left rear door and the left front door, focusing on the face difference and gap deviation between the door and the side panel. Since the door is not allowed to be tilted up, that is, the left rear door must be higher when the left rear door matches the side panel, and the left front door must be higher when the left front door matches the left rear door. Therefore, the tolerance of the face difference constraint is specified as follows: The remaining constraint tolerances are specified as

[0099] Optimize the positions of the left rear door and the left front door in turn to obtain the adjustment matrix of the two doors:

[0100]

[0101]

[0102] Among them, M R is the adjustment matrix of the right door, M L The adjustment matrix for the left door;

[0103] like Figure 8As shown, the key points include the first key point 14, the second key point 15, the third key point 16, the fourth key point 17, the fifth key point 18, the sixth key point 19, the seventh key point 20, and the eighth key point 21. The theoretical values ​​of each constraint and the measured values ​​and deviation data before and after adjustment are shown in Table 1. The matching quality is significantly improved after adjustment, all deviations are within the tolerance range, and the door height is changed from reverse height to positive height.

[0104] Table 1 Left rear door matching constraint values

[0105]

[0106] Among them: the C-pillar is the matching position of the rear door and the side panel, the B-pillar is the matching position of the front door and the rear door, gap 18, gap 19, gap 20, gap 21 are the gaps corresponding to the fifth key point 18, the sixth key point 19, the seventh key point 20, and the eighth key point 21 respectively, the face difference 18, face difference 19, face difference 20, face difference 21 are the face differences corresponding to the fifth key point 18, the sixth key point 19, the seventh key point 20, and the eighth key point 21 respectively, the gap 14, gap 15, gap 16, gap 17 are the gaps corresponding to the first key point 14, the second key point 15, the third key point 16, and the fourth key point 17 respectively, the face difference 14, face difference 15, face difference 16, face difference 17 are the face differences corresponding to the first key point 14, the second key point 15, the third key point 16, and the fourth key point 17 respectively.

[0107] In S3, eight definition circles 254 are used as features of the hinge theory model 25 e.g. Figure 4-6 As shown, a pair of hinge theoretical models 25 has four definition circles 254. Since the body side hinge 251 and the door hinge 252 will be assembled together with the connecting pin 253 during actual assembly, one definition circle 254 on the door hinge 252 is selected at the lower end surface of the boss of the connecting pin 253, and the other is selected at the bottom of the connecting pin 253. The definition circle 254 on the body side hinge 251 is selected at the upper and lower end surfaces. There are a total of 8 definition circles 254 in the two pairs of hinge theoretical models 25 on a door. The straightness of the center coordinates of the 8 definition circles 254 is taken as the coaxiality judgment index of the hinge theoretical model 25. The door hinge 252 needs to be adjusted and transformed using the matrix obtained by S2.

[0108] The hinges were adjusted according to the method in S4, and the coaxiality of the left rear door and the left front door before and after adjustment was obtained as shown in Table 2. The coaxiality after adjustment was close to 0;

[0109] Table 2 Left rear door and left front door adjustment front and rear coaxiality

[0110] Adjust front coaxiality Coaxiality after adjustment Left rear door 0.415 0.001 Left front door 0.114 0

[0111] The actual vehicle was used for assembly and adjustment experiments, and the flushness and clearance on the doors and side panels were measured. The actual measurement results were compared with the calculation results of the measurement data in the virtual environment, and the deviation was within ±0.3mm.

[0112] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0113] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A method for precise matching and adjustment of vehicle doors and vehicle body sides based on scanning measurement, characterized in that: include: Obtain the initial position of the hinge in the virtual matching environment; When the characteristic information is acquired, optimizing the characteristic information according to a first predetermined method; When the feature information is optimized, a position adjustment amount is calculated based on the initial position to match the hinge; The first reservation method is: ； in, Match the coordinate transformation matrix for the car door; m is the number of key points on the door and side panels; is the measurement value of the i-th key point; is the theoretical value of the i-th key point; is the weight of the i-th key point; for Normal vector of for The height prohibition constraint is that the left rear door is higher than the left rear door at the matching position with the side panel, and the left front door is higher than the left front door at the matching position with the left rear door. The tolerance of the face difference constraint is , the remaining constraint tolerances are specified as ; f ( M ) represents the function with the face difference and gap of key points as the optimization target.

2. The method for precise matching and adjustment of a vehicle door and a vehicle body side based on scanning measurement according to claim 1, characterized in that: Before obtaining the initial position of the hinge in the virtual matching environment, the following steps are also included: Scan and measure the door and body side shapes to be installed to obtain the door measurement point cloud data and body side measurement point cloud data.

3. The method for precise matching and adjustment of a vehicle door and a vehicle body side based on scanning measurement according to claim 2, characterized in that: Obtaining the initial position of the hinge in the virtual matching environment specifically includes: Performing door RPS alignment processing on the measured point cloud data of the door and the door theoretical model matching the door; Aligning the point cloud data of the vehicle body side with the vehicle body side theoretical model matching the vehicle body side to form the virtual matching environment; In the current virtual matching environment, the hinge theoretical model is matched and set on the measured point cloud data of the door and body side; The hinge initial position is formed according to the hinge theoretical model.

4. The method for precise matching and adjustment of a vehicle door and a vehicle body side based on scanning measurement according to claim 3, characterized in that: Optimizing the feature information according to the first predetermined method after the feature information is acquired specifically includes: When the vehicle door is installed, generating characteristic information based on position information of the vehicle door; The feature information is optimized according to a first predetermined method to form a matching coordinate transformation matrix.

5. The method for precise matching and adjustment of a vehicle door and a vehicle body side based on scanning measurement according to claim 4, characterized in that: When the feature information is optimized, calculating the position adjustment amount to match the hinge according to the initial position specifically includes: Obtaining a set of coaxial reference points for each hinge according to the initial position; When the feature information is optimized, the coaxial reference point of each hinge is adjusted so that the coaxial reference points of all hinges are coaxial, and a position adjustment amount matching the current hinge is formed according to the adjustment value of each hinge.

6. The method for precise matching and adjustment of a vehicle door and a vehicle body side based on scanning measurement according to claim 5, characterized in that: Adjusting the coaxial reference point of each hinge so that the coaxial reference points of all hinges are coaxial when the feature information is optimized, and forming a position adjustment amount that matches the current hinge according to the adjustment value of each hinge specifically includes: forming a hinge center matrix according to the coaxial reference point of each hinge, and performing matrix transformation on the hinge center matrix to form a hinge center transformation matrix; Forming the basic coordinates of the coaxial reference point of each hinge according to the hinge center transformation matrix, and performing straight line fitting processing on the basic coordinates to form a fitting central axis; Projecting the basic coordinates onto the YOZ plane to form a first axis distance, a first marker midpoint, a first marker distance, and a first marker rotation angle; A translation adjustment amount in the X, Y, and Z directions of each hinge in the YOZ plane formed according to the first axis distance, the first mark midpoint, the first mark distance, and the first mark rotation angle; Projecting the basic coordinates onto the XOZ plane to form a second axis distance, a second marker midpoint, a second marker distance, and a second marker rotation angle; A translation adjustment amount in the X, Y, and Z directions of each hinge in the XOZ plane formed according to the second axis distance, the second mark midpoint, the second mark distance, and the second mark rotation angle; Iterative modulation is performed according to the translation adjustment amount of each hinge in the X, Y, and Z directions in the YOZ plane and the translation adjustment amount of each hinge in the X, Y, and Z directions in the XOZ plane until the coaxial reference points of all hinges are coaxial.

7. The method for precise matching and adjustment of a vehicle door and a vehicle body side based on scanning measurement according to claim 6, characterized in that: Projecting the basic coordinates onto the YOZ plane to form the first axis distance, the first marker midpoint, the first marker distance, and the first marker rotation angle specifically includes: Projecting the basic coordinate value onto the YOZ plane to form a first projection coordinate point, and calculating the first axis distance between the first projection coordinate point and the central axis; Take the two first projection coordinate points of any hinge to form the first marking point coordinates and the second marking point coordinates, and calculate the first marking midpoint, the first marking distance, and the first marking rotation angle of the first marking point coordinates around the first marking midpoint along the X-axis direction based on the first marking point coordinates and the second marking point coordinates.

8. The method for precise matching and adjustment of a vehicle door and a vehicle body side based on scanning measurement according to claim 7, characterized in that: The specific method for adjusting the translation of each hinge in the X, Y, and Z directions in the YOZ plane based on the first axis distance, the first mark midpoint, the first mark distance, and the first mark rotation angle is as follows: ； ； in, is the translation adjustment amount of the coaxial reference point represented by the coordinates of the first marking point in the xyz direction; is the translation adjustment amount of the coaxial reference point represented by the coordinates of the second marking point in the xyz direction; The first axis distance corresponding to the coordinates of the first marking point; is the first marking distance; is the first marker rotation angle.

9. The method for precise matching and adjustment of a vehicle door and a vehicle body side based on scanning measurement according to claim 1, characterized in that: The method for accurately matching and adjusting a vehicle door and a vehicle body side based on scanning measurement mentioned above further includes: The hinge is adjusted according to the position adjustment amount so that the hinge is fixed at a target position of the vehicle door and / or vehicle body.

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