Vehicle door hanger visual positioning method, device and computer readable storage medium

Abstract

The application provides a vehicle door hanger visual positioning method, device and computer readable storage medium. The vehicle door hanger visual positioning method comprises the following steps: acquiring first image information of a pin shaft; determining the position of the pin shaft according to the first image information; clamping an embedded block at the position of the pin shaft, the embedded block being used to guide a locking rod to be clamped on the pin shaft; controlling the door panel to be closed, acquiring second image information of the pin shaft; and determining whether the locking rod is clamped on the pin shaft according to the second image information. The technical scheme of the application enables the embedded block to be accurately placed at the position of the locking member by detecting the positions of the pin shaft and the locking rod, thereby assisting the automatic opening and closing of the vehicle door hanger, improving the overall automation degree, and ensuring the opening and closing precision of the vehicle door hanger.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle manufacturing, in particular to a vehicle door lifting appliance visual positioning method, device and computer readable storage medium. BACKGROUND

[0002] With the rising labor cost year by year, the labor cost reduction of various manufacturers is on the agenda, and the use of intelligent collaborative robots and automatic devices to replace manual work to complete part of the work has become a way to reduce labor costs.

[0003] In the prior art, a lifting appliance is needed to carry or transfer a vehicle door to other processes, however, manual opening or closing of the lifting appliance is usually adopted at present, and the vehicle door is placed in the lifting appliance, and manual operation is needed for opening or closing of the lifting appliance, which has low automation degree, and the manual operation mode cannot guarantee the opening and closing of the lifting appliance to be in place, and the precision is poor. SUMMARY

[0004] The main purpose of the present application is to provide a vehicle door lifting appliance visual positioning method, device and computer readable storage medium, which aims to solve the technical problems of low automation degree of manual operation of the lifting appliance in the prior art and safety hazards in the operation process.

[0005] To achieve the above-mentioned purpose, the present application provides a vehicle door lifting appliance visual positioning method, a vehicle door lifting appliance comprising a clamping plate and a door plate hinged to the clamping plate, the clamping plate has a pin shaft, the door plate is provided with a locking rod, and the vehicle door lifting appliance visual positioning method comprises:

[0006] obtaining first image information of the pin shaft;

[0007] determining the position of the pin shaft according to the first image information;

[0008] providing an embedding block for guiding the locking rod to the pin shaft, and clamping the embedding block at the position of the pin shaft;

[0009] controlling the door plate to be closed, and obtaining second image information of the pin shaft;

[0010] determining whether the locking rod is clamped on the pin shaft according to the second image information.

[0011] Optionally, the step of determining the position of the pin shaft according to the first image information comprises:

[0012] obtaining a color category in the first image information;

[0013] obtaining color information of the pin shaft;

[0014] judging whether the color information is the same as the color category.

[0015] determining the position of the pin shaft according to the judgment result.

[0016] Optionally, the step of determining the position of the pin shaft according to the judgment result comprises:

[0017] when there is only one color category that is the same as the color information, taking the position of the color category as the position of the pin shaft;

[0018] when there are multiple color categories that are the same as the color information, obtaining a shape category of the color category, and obtaining shape information of the pin shaft;

[0019] judging whether the shape information is the same as the shape category;

[0020] when the color information is the same as the color category and the shape information is the same as the shape category, taking the position of the corresponding color category as the position of the pin shaft.

[0021] Optionally, the step of determining whether the locking rod is clamped on the pin shaft according to the second image information comprises:

[0022] determining the position of the locking rod according to the second image information;

[0023] judging whether the locking rod is clamped on the pin shaft according to the position of the pin shaft and the position of the locking rod.

[0024] In addition, to solve the above problems, the present application further provides a vehicle door hanger visual positioning device, which comprises a clamping plate and a door plate hinged to the clamping plate, the clamping plate is provided with a pin shaft, the door plate is provided with a locking rod, and the vehicle door hanger visual positioning device is used for the above-mentioned vehicle door hanger visual positioning method, and comprises:

[0025] a visual positioning mechanism, which is used for obtaining first image information of the pin shaft;

[0026] a mechanical arm;

[0027] a positioning plate, which is arranged on the mechanical arm;

[0028] an embedded block, which is arranged on an end of the positioning plate away from the mechanical arm, and is used for guiding the locking rod to the pin shaft, and the mechanical arm is used for clamping the embedded block at the position of the pin shaft;

[0029] A controller, which is electrically connected with the visual positioning mechanism and the block assembly respectively, is used for determining the position of the pin shaft according to the first image information, controlling the block assembly to be clamped at the position of the pin shaft, and controlling the door plate to be closed and the visual positioning mechanism to acquire second image information of the pin shaft; and the controller is further used for determining whether the locking rod is clamped on the pin shaft according to the second image information.

[0030] Optionally, the visual positioning mechanism comprises:

[0031] A camera assembly is arranged on the mechanical arm, and a shooting direction of the camera assembly is towards the pin shaft.

[0032] Optionally, the camera assembly comprises:

[0033] An installation plate is arranged on the mechanical arm.

[0034] A camera is arranged on the installation plate.

[0035] A lens is arranged on the camera.

[0036] A light source is arranged on the installation plate and located on a side of the lens away from the camera.

[0037] Optionally, the light source is a surface light source.

[0038] Optionally, the block comprises a connecting portion and a guide portion connected with the connecting portion, the connecting portion is connected with the positioning plate, the guide portion is provided with a limiting groove and a guide wall, an opening of the limiting groove is towards a side away from the connecting portion, one end of the guide wall is connected with an edge of the limiting groove, and the other end extends to the connecting portion.

[0039] In addition, to solve the above problems, the application further provides a computer readable storage medium, wherein the computer readable storage medium stores a vehicle door sling visual positioning program, and the vehicle door sling visual positioning program is executed by a processor to realize the steps of the vehicle door sling visual positioning method.

[0040] The technical scheme of the application can detect the positions of the pin shaft and the locking rod, accurately place the block at the position of the locking member, assist the automatic opening and closing of the vehicle door sling, improve the overall automation degree, and ensure the opening and closing precision of the vehicle door sling. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to make the technical solutions in the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description only show some embodiments of the present application, and for those skilled in the art, other drawings can be obtained from the structures shown in the drawings without any creative effort.

[0042] Figure 1 Flowchart of the first embodiment of the vehicle door sling visual positioning method of the present application;

[0043] Figure 2 Flowchart of the second embodiment of the vehicle door sling visual positioning method of the present application;

[0044] Figure 3 Flowchart of the third embodiment of the vehicle door sling visual positioning method of the present application;

[0045] Figure 4 Flowchart of the fourth embodiment of the vehicle door sling visual positioning method of the present application;

[0046] Figure 5 Front view of the vehicle door sling visual positioning device of the present application;

[0047] Figure 6 Side view of the vehicle door sling visual positioning device of the present application;

[0048] Figure 7 Structure diagram of the embedded block assembly in the vehicle door sling visual positioning device of the present application;

[0049] Figure 8 Structure diagram of the embedded block in the vehicle door sling visual positioning device of the present application;

[0050] Figure 9 Structure diagram of the vehicle door sling in the vehicle door sling visual positioning device of the present application.

[0051] Explanation of the reference signs:

[0052] Reference Name Reference Name 10 Visual positioning mechanism 11 Camera assembly 111 Camera 112 Lens 113 Light source 114 Mounting plate 12 Mechanical arm 20 Block assembly 21 Positioning plate 22 Block 221 Connecting portion 222 Guide portion 223 Limiting groove 224 Guide wall 31 Clamp plate 32 Door plate 33 Pin shaft 34 Locking rod

[0053] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0054] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0055] It should be noted that all the direction indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative position relationship, motion condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the direction indications also change accordingly.

[0056] In addition, the descriptions such as “first”, “second” and the like in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as “first”, “second” can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of “plurality” is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0057] In the present application, unless otherwise specifically defined and limited, the terms “connection”, “fixation” and the like should be understood in a broad sense, for example, “fixation” can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically defined. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0058] In addition, the technical solutions of each embodiment of the present application can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection required by the present application.

[0059] The present application proposes a vehicle door sling visual positioning method, please refer to Figure 1 , Figure 1 The present application proposes a vehicle door sling visual positioning method, please refer to

[0060] Step S10: acquiring first image information of the pin shaft 33;

[0061] Step S20: determining the position of the pin shaft 33 according to the first image information;

[0062] Step S30: insert a block at the position of the pin shaft 33, the block being used to guide the locking rod 34 to be inserted on the pin shaft 33;

[0063] Step S40: control the door plate 32 to be closed, and obtain second image information of the pin shaft 33;

[0064] Step S50: determine whether the locking rod 34 is inserted on the pin shaft 33 according to the second image information.

[0065] In the production process of a vehicle, the door needs to be first disassembled and then sent to a door assembly line for assembling components on the door, and after the overall assembly of the door is completed, the door is reassembled on the vehicle. Therefore, the disassembled door needs to be transferred to the door assembly line by a door lifting device.

[0066] The structure of the door lifting device is shown in Figure 9 The door lifting device is divided into two layers, i.e. a clamping plate 31 and a door plate 32. The clamping plate 31 is fixed, and the door plate 32 rotates relative to the clamping plate 31, so as to realize the opening and closing of the door lifting device. When closed, the disassembled door is clamped by the clamping plate 31 and the door plate 32.

[0067] The clamping plate 31 has a pin shaft 33, and the door plate 32 has a locking rod 34. The middle part of the locking rod 34 is hinged to the door plate 32. The end of the locking rod 34 towards the pin shaft 33 has a slot-shaped structure for being inserted on the pin shaft 33, and the other end has a rod-shaped structure for abutting against the unlocking mechanism or the locking mechanism.

[0068] The embodiment also includes a door lifting device visual positioning apparatus, which is described in detail in Figures 5-6 The door lifting device visual positioning apparatus applies the door lifting device visual positioning method. The door lifting device visual positioning apparatus includes a visual positioning mechanism 10, a block assembly 20, and a controller. The visual positioning mechanism 10 is used to obtain first image information of the pin shaft 33. The block assembly 20 is used to insert a block at the position of the pin shaft 33, and the block is used to guide the locking rod 34 to be inserted on the pin shaft 33. The controller is electrically connected to the visual positioning mechanism 10 and the block assembly 20, respectively. The controller is used to determine the position of the pin shaft 33 according to the first image information, and is also used to control the block assembly 20 to insert a block at the position of the pin shaft 33. The controller is also used to control the door plate 32 to be closed, and control the visual positioning mechanism 10 to obtain second image information of the pin shaft 33. The controller is also used to determine whether the locking rod 34 is inserted on the pin shaft 33 according to the second image information.

[0069] The visual positioning mechanism 10 is used to shoot the first image information of the pin shaft 33 and send the first image information to the controller. The controller can determine the position of the pin shaft 33 according to the first image information.

[0070] Specifically, the visual positioning mechanism 10 comprises a mechanical arm 12 and a camera assembly 11, the camera assembly 11 is arranged on the mechanical arm 12, the shooting direction of the camera assembly 11 is towards the locking piece, and the mechanical arm 12 is used to drive the camera assembly 11 to move.

[0071] The mechanical arm 12 can be a six-axis mechanical arm 12 or other types of mechanical arms 12, etc., so as to drive the camera assembly 11 to move on a three-dimensional coordinate system. The convenience of moving the camera assembly 11 is improved, the camera assembly 11 can be shot from more different angles, and the accuracy of the vehicle door hanger visual positioning device is further improved.

[0072] Please refer to Figure 7 , the camera assembly 11 comprises a mounting plate 114, a camera 111, a lens 112 and a light source 113, the mounting plate 114 is arranged on the mechanical arm 12, the camera 111 is arranged on the mounting plate 114, the lens 112 is arranged on the camera 111, and the light source 113 is arranged on the mounting plate 114 and located on the side of the lens 112 away from the camera 111.

[0073] The light source 113 adopts a surface light source 113 to improve the definition of the camera 111 shooting. The camera 111, the lens 112 and the light source 113 are located on the same light path. The mounting position of the embedded block can also be arranged on the shooting light path of the camera 111 to ensure that the shooting direction of the camera 111 is towards the pin shaft 33 and the embedded block.

[0074] Specifically, the embedded block assembly 20 comprises a positioning plate 21 and an embedded block, the positioning plate 21 is arranged on the mechanical arm 12, and the embedded block is arranged on the end of the positioning plate 21 away from the mechanical arm 12.

[0075] The positioning plate 21 and the mounting plate 114 can be installed on the same plane of the mechanical arm 12, so as to keep the embedded block and the camera 111 arranged oppositely, and make the camera 111 can stably shoot the embedded block.

[0076] Please refer to Figure 8The insert block comprises a connecting portion 221 connected with the grabbing member and a guiding portion 222 connected with the connecting portion 221, the guiding portion 222 is provided with a limiting groove 223 and a guiding wall 224, the opening of the limiting groove 223 faces away from the connecting portion 221, one end of the guiding wall 224 is connected with the edge of the limiting groove 223, and the other end extends to the connecting portion 221.

[0077] The controller controls the insert block assembly 20 to move to the position of the pin shaft 33, so as to place the insert block at the position of the pin shaft 33 and be clamped with the pin shaft 33.

[0078] The insert block plays a guiding role when the door plate 32 is closed.

[0079] The shape of the limiting groove 223 is matched with the shape of the pin shaft 33, and the pin shaft 33 is clamped in the limiting groove 223. After the door plate 32 is closed, the slot-shaped structure is lifted along the guiding wall 224 and finally reaches the position of the limiting groove 223. When the door plate 32 is continuously closed, the slot-shaped structure passes through the limiting groove 223 and finally falls down under the influence of gravity, and the clamping is completed. The insert block assembly 20 moves the insert block away.

[0080] It should be noted that the side of the locking rod 34 close to the slot-shaped structure has a avoiding protrusion matched with the shape of the insert block, so as to avoid the slot-shaped structure from being blocked when it falls through the limiting groove 223. Thus, the clamping of the door plate 32 is realized, the stability of the clamped door plate 32 is improved, and the overall automation degree is improved.

[0081] When the door plate 32 is closed, the visual positioning mechanism 10 takes a photo of the pin shaft 33 again, so as to obtain the second image information and send the second image information to the controller. The controller can determine whether the locking rod 34 is accurately hung on the pin shaft 33 according to the second image information, for example, by judging the shape and color in the second image.

[0082] The technical scheme of the present application can detect the positions of the pin shaft 33 and the locking rod 34, so as to accurately place the insert block at the position of the locking member, thereby assisting the automatic opening and closing of the vehicle door hanger, improving the overall automation degree, and ensuring the opening and closing precision of the vehicle door hanger.

[0083] Further, please refer to Figure 2 , Figure 2For the flowchart of the second embodiment of the vehicle door lifting appliance visual positioning method, step S20 includes:

[0084] Step S21: Obtain the color category in the first image information;

[0085] Step S22: Obtain the color information of the pin shaft 33;

[0086] Step S23: Determine whether the color information is the same as the color category;

[0087] Step S24: Determine the position of the pin shaft 33 according to the determination result.

[0088] The first image information is analyzed to obtain the color category in the first image, and the color information of the pin shaft 33 is pre-stored in the system, that is, the color information. The color category in the first image information is compared with the color information one by one, and when there is the same color, it indicates the position of the color category in the first image information, that is, the position of the pin shaft 33.

[0089] The controller can control the mechanical arm 12 to move the embedded block to the position of the pin shaft 33 to assist the locking rod 34 and the pin shaft 33 to be connected.

[0090] Further, please refer to Figure 3 , Figure 3 For the flowchart of the third embodiment of the vehicle door lifting appliance visual positioning method, step S24 includes:

[0091] Step S241: When there is one place where the color category is the same as the color information, the position of the color category is taken as the position of the pin shaft 33.

[0092] Step S242: When there are multiple places where the color category is the same as the color information, obtain the shape category of the color category, and obtain the shape information of the pin shaft 33;

[0093] Step S243: Determine whether the shape information is the same as the shape category;

[0094] Step S244: When the color information is the same as the color category and the shape information is the same as the shape category, the position of the corresponding color category is taken as the position of the pin shaft 33.

[0095] In order to ensure the accuracy of the visual positioning mechanism 10, the pin shaft 33 can be set to a single color category, so as to avoid misjudgment. Therefore, when there is one place where the color category is the same as the color information, the position of the color category is taken as the position of the pin shaft 33.

[0096] In actual application, there can be multiple color categories in the first image information that are the same as the color information. In order to further improve the recognition accuracy of the visual positioning mechanism 10, the shape information of the pin shaft 33, such as a circular shape, a rectangular shape, etc., is pre-stored. When there are multiple color categories that are the same as the color information, the shape category of the color category is additionally acquired, and is compared with the shape information. When the color information is the same as the color category and the shape information is the same as the shape category, the position of the corresponding color category is taken as the position of the pin shaft 33.

[0097] Further, please refer to Figure 4 , Figure 4 is a flowchart of the fourth embodiment of the visual positioning method of the vehicle door lifting appliance of the present application, and step S50 comprises:

[0098] Step S51: determining the position of the locking rod 34 according to the second image information.

[0099] Step S52: judging whether the locking rod 34 is clamped on the pin shaft 33 according to the position of the pin shaft 33 and the position of the locking rod 34.

[0100] In this embodiment, after the locking rod 34 is clamped on the pin shaft 33, the visual positioning mechanism 10 takes a photo of the pin shaft 33 again, so as to obtain the second image information, and sends the second image information to the controller.

[0101] The controller analyzes the second image information. Similarly, the position of the locking rod 34 is determined by judging the color of the locking rod 34. When the pin shaft 33 is wrapped by the locking rod 34, it indicates that the locking rod 34 is clamped on the pin shaft 33 in place.

[0102] In addition, the position of the locking rod 34 can also be determined by the shape, so as to further improve the accuracy and reliability of the visual positioning method of the vehicle door lifting appliance of the present application.

[0103] The above description is only the preferred embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation, direct / indirect application in other related technical fields, etc. made under the concept of the present application, and the contents of the specification and drawings of the present application are included in the patent protection scope of the present application.

Claims

1. A method of visually positioning a vehicle door hanger, the method comprising: The vehicle door hanger includes a clamping plate and a door plate hinged to the clamping plate, the clamping plate has a pin shaft, the door plate is provided with a locking rod, the vehicle door hanger visual positioning method is applied to a vehicle door hanger visual positioning device, the vehicle door hanger visual positioning device includes a visual positioning mechanism, a mechanical arm, a positioning plate, and an embedded block, the visual positioning mechanism is used to obtain first image information of the pin shaft, the positioning plate is arranged on the mechanical arm, the embedded block is arranged on an end of the positioning plate away from the mechanical arm, the embedded block is used to guide the locking rod to the pin shaft, the mechanical arm is used to clamp the embedded block at the position of the pin shaft, the embedded block includes a connecting part and a guiding part connected to the connecting part, the connecting part is connected to the positioning plate, the guiding part is provided with a limiting groove and a guiding wall, an opening of the limiting groove faces away from the connecting part, one end of the guiding wall is connected to an edge of the limiting groove, and the other end extends to the connecting part, The vehicle door hanger visual positioning method includes: obtaining first image information of the pin shaft; determining the position of the pin shaft according to the first image information; providing an embedded block for guiding the locking rod to the pin shaft, and clamping the embedded block at the position of the pin shaft; controlling the door plate to close, and obtaining second image information of the pin shaft; determining whether the locking rod is clamped on the pin shaft according to the second image information; the step of determining the position of the pin shaft according to the first image information includes: obtaining a color category in the first image information; obtaining color information of the pin shaft; determining whether the color information is the same as the color category; determining the position of the pin shaft according to the determination result; the step of determining the position of the pin shaft according to the determination result includes: when there is only one place where the color category is the same as the color information, taking the position of the color category as the position of the pin shaft; when there are multiple places where the color category is the same as the color information, obtaining a shape category of the color category, and obtaining shape information of the pin shaft; determining whether the shape information is the same as the shape category; when the color information is the same as the color category and the shape information is the same as the shape category, taking the position of the corresponding color category as the position of the pin shaft.

2. The method of claim 1, wherein, the step of determining whether the locking rod is clamped on the pin shaft according to the second image information includes: determining the position of the locking rod according to the second image information; determining whether the locking rod is clamped on the pin shaft according to the position of the pin shaft and the position of the locking rod.

3. A vehicle door hanger visual positioning apparatus, characterized by, The vehicle door hanger includes a clamping plate and a door plate hinged to the clamping plate, the clamping plate has a pin shaft, the door plate is provided with a locking rod, the vehicle door hanger visual positioning device is used for the vehicle door hanger visual positioning method in any one of claims 1~2, and includes: A controller is electrically connected with the visual positioning mechanism and the block assembly respectively, and is configured to determine the position of the pin shaft according to the first image information, control the block assembly to be clamped at the position of the pin shaft, control the door panel to be closed, and control the visual positioning mechanism to acquire second image information of the pin shaft, and determine whether the locking rod is clamped on the pin shaft according to the second image information.

4. The vehicle door hanger visual positioning apparatus of claim 3, wherein, The visual positioning mechanism comprises: A camera assembly is arranged on the mechanical arm, and a shooting direction of the camera assembly is towards the pin shaft.

5. The vehicle door hanger visual positioning apparatus of claim 4, wherein, The camera assembly comprises: An installation plate is arranged on the mechanical arm; A camera is arranged on the installation plate; A lens is arranged on the camera; A light source is arranged on the installation plate and located on a side of the lens away from the camera.

6. The vehicle door hanger visual positioning apparatus of claim 5, wherein, The light source is a surface light source.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a vehicle door sling visual positioning program, and the vehicle door sling visual positioning program is executed by the processor to realize the steps of the vehicle door sling visual positioning method in any one of claims 1-2.

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