A calibration method, system, device and medium for assembling frameless door glass

Abstract

The present application discloses a calibration method, system, device, and medium for assembling frameless door glass, primarily relating to the field of vehicle manufacturing technology. The method calculates the relative position of an assembly device and a measuring device based on the coordinate values of a fixed-point target ball in the assembly device's base coordinate system and the coordinate values of the fixed-point target ball in the measuring device's instrument coordinate system; calculates the relative position of a scanning device and a measuring device based on shooting data, flange data, and the coordinate values of a random target ball in the measuring device's instrument coordinate system when the assembly device is displaced; and obtains the relative position of the assembly device and the scanning device based on the relative positions of the assembly device and the measuring device and the relative positions of the scanning device and the measuring device. This allows the coordinates of the current position of the glass measured by the scanning device to be unified in the assembly device's base coordinate system during glass assembly, facilitating the assembly device's movement of the glass from its current position to a theoretical assembly position, thereby improving the accuracy of frameless door glass assembly.

Description

Technical Field

[0001] The present application relates to the field of vehicle manufacturing technology, and in particular to a calibration method, system, device and medium for assembling frameless door glass. Background Art

[0002] With the continuous improvement of living standards in my country, vehicles featuring frameless door technology are gradually entering the consumer's field of vision. Frameless doors, with their elegant appearance, have gained popularity among consumers. Their production has gradually evolved from being limited to one or two models of high-end brands to becoming a standard feature on an increasing number of mid-range models. Because frameless doors lack a door frame, ensuring that the glass is aligned to a uniform height and fits within the sealing groove is crucial to ensuring the proper assembly of frameless door glass.

[0003] Currently, frameless door glass is mostly assembled manually, which makes it difficult to meet the precision requirements for assembling frameless door glass.

[0004] Therefore, how to improve the accuracy of assembling frameless door glass is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a calibration method, system, device and medium for assembling frameless door glass, which are used to improve the accuracy of assembling frameless door glass.

[0006] To solve the above technical problems, the present application provides a calibration system for assembling frameless door glass, comprising a scanning device, a measuring device, a control device, and a terminal device. The control device is connected to the assembly device and is used to control the movement of the assembly device. The terminal device is connected to the scanning device, the measuring device, and the control device. A fixed target ball of the measuring device is installed on the assembly device, and multiple random target balls are set within the shooting range of the scanning device.

[0007] The control device sends the coordinate value of the fixed target ball in the base coordinate system of the assembly device when the assembly device is displaced to the terminal device;

[0008] A measuring device is used to measure the coordinate values of the fixed target ball measuring device in the instrument coordinate system and the coordinate values of the random target ball in the instrument coordinate system of the measuring device when the assembly device is displaced, and send them to the terminal device;

[0009] A scanning device is used to shoot a random target ball and send the shooting data and flange data to the terminal device;

[0010] The terminal device is used to calculate the relative position of the assembly device and the measuring device based on the coordinate value of the fixed target ball in the base coordinate system of the assembly device when the assembly device is displaced and the coordinate value of the fixed target ball in the instrument coordinate system of the measuring device; calculate the relative position of the scanning device and the measuring device based on the shooting data, flange data and the coordinate value of the random target ball in the instrument coordinate system of the measuring device when the assembly device is displaced; and obtain the relative position of the assembly device and the scanning device through the relative position of the assembly device and the measuring device and the relative position of the scanning device and the measuring device.

[0011] Preferably, the measuring device comprises a laser tracker and a plurality of random target balls.

[0012] Preferably, the scanning device is a robot equipped with a 3D scanner.

[0013] Preferably, in order to solve the above technical problems, the present application further provides a calibration method for assembling frameless door glass, which is applied to a calibration system for assembling frameless door glass. The system includes a scanning device, a measuring device, a control device, and a terminal device. The control device is connected to the assembly device and is used to control the movement of the assembly device. The terminal device is connected to the scanning device, the measuring device, and the control device. A fixed target ball of the measuring device is installed on the assembly device, and multiple random target balls are set within the shooting range of the scanning device.

[0014] Methods include:

[0015] Receive the coordinate values of the fixed target ball in the base coordinate system of the assembly device when the assembly device is displaced, which are sent by the control device; the coordinate values of the fixed target ball in the instrument coordinate system of the measuring device when the assembly device is displaced, which are sent by the measuring device; and the coordinate values of the random target ball in the instrument coordinate system of the measuring device when the assembly device is displaced, and the shooting data and flange data sent by the scanning device;

[0016] Calculate the relative position of the assembly device and the measuring device according to the coordinate value of the fixed-point target ball in the base coordinate system of the assembly device and the coordinate value of the fixed-point target ball in the instrument coordinate system of the measuring device when the assembly device is displaced;

[0017] Calculate the relative position of the scanning device and the measuring device based on the shooting data, the flange data and the coordinate value of the random target ball in the instrument coordinate system of the measuring device when the assembly device is displaced;

[0018] The relative position of the assembling device and the scanning device is obtained through the relative position of the assembling device and the measuring device and the relative position of the scanning device and the measuring device.

[0019] Preferably, the relative position of the scanning device and the measuring device is calculated based on the shooting data, the flange data, and the coordinate value of the random target ball in the instrument coordinate system of the measuring device when the assembly device is displaced, including:

[0020] Obtain coordinate values of multiple random target balls in the camera coordinate system according to the shooting data, and calculate the relative position of the 3D scanner and the scanning device through the coordinate values of the multiple random target balls in the camera coordinate system and the flange data;

[0021] Obtaining coordinate values of the plurality of random target balls in a base coordinate system of the scanning device based on the coordinate values of the plurality of random target balls in the camera coordinate system and the relative positions of the 3D scanner and the scanning device;

[0022] The relative positions of the scanning device and the measuring device are obtained according to the coordinate values of the multiple random target balls in the base coordinate system of the scanning device and the coordinate values of the multiple random target balls in the instrument coordinate system of the measuring device.

[0023] Preferably, after obtaining the relative positions of the assembly device and the scanning device, the method further comprises:

[0024] receiving the current position of the glass in the base coordinate system of the scanning device sent by the scanning device;

[0025] Calculating the current position of the glass in the base coordinate system of the assembly device according to the current position of the glass in the base coordinate system of the scanning device and the relative position of the assembly device and the scanning device, and calculating the offset of the glass according to the current position of the glass in the base coordinate system of the assembly device and the theoretical assembly position;

[0026] The offset of the glass is sent to the control unit.

[0027] To solve the above technical problems, the present application also provides a calibration device for assembling frameless door glass, comprising:

[0028] The receiving module is used to receive the coordinate values of the fixed target ball in the base coordinate system of the assembly device when the assembly device is displaced, the coordinate values of the fixed target ball in the instrument coordinate system of the measurement device when the assembly device is displaced, and the coordinate values of the random target ball in the instrument coordinate system of the measurement device when the assembly device is displaced, and the shooting data and flange data sent by the scanning device.

[0029] a first calculation module, configured to calculate the relative position of the assembly device and the measuring device based on the coordinate value of the fixed-point target ball in the base coordinate system of the assembly device and the coordinate value of the fixed-point target ball in the instrument coordinate system of the measuring device when the assembly device is displaced;

[0030] The second calculation module is used to calculate the relative position of the scanning device and the measuring device based on the shooting data, the flange data and the coordinate value of the random target ball in the instrument coordinate system of the measuring device when the assembly device is displaced;

[0031] The obtaining module is used to obtain the relative position of the assembling device and the scanning device through the relative position of the assembling device and the measuring device and the relative position of the scanning device and the measuring device.

[0032] To solve the above technical problems, the present application also provides a calibration device for assembling frameless door glass, comprising:

[0033] memory for storing computer programs;

[0034] The processor is used to implement the steps of the above-mentioned calibration method for assembling frameless door glass when executing the computer program.

[0035] In order to solve the above technical problems, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a terminal device, the steps of the above-mentioned calibration method for assembling frameless door glass are implemented.

[0036] The present application provides a calibration system for assembling frameless door glass. A terminal device calculates the relative position of an assembly device and a measuring device based on the coordinate value of a fixed target ball in the base coordinate system of the assembly device when the assembly device is displaced and the coordinate value of the fixed target ball in the instrument coordinate system of the measuring device; calculates the relative position of a scanning device and a measuring device based on shooting data, flange data and the coordinate value of a random target ball in the instrument coordinate system of the measuring device when the assembly device is displaced; and obtains the relative position of the assembly device and the scanning device through the relative position of the assembly device and the measuring device and the relative position of the scanning device and the measuring device. When assembling the glass, the coordinates of the current position of the glass measured by the scanning device can be unified in the base coordinate system of the assembly device, which facilitates the assembly device to move the glass from its current position to the theoretical assembly position. The accuracy of assembling frameless door glass is improved through coordinate system calibration.

[0037] In addition, the calibration device and medium for assembling frameless door glass provided in this application correspond to the calibration method for assembling frameless door glass, and the effects are the same as above. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0039] Figure 1 A structural diagram of a calibration system for assembling frameless door glass provided in this application;

[0040] Figure 2 A flow chart of a calibration method for assembling frameless door glass provided in this application;

[0041] Figure 3 A structural diagram of a calibration device for assembling frameless door glass provided in this application;

[0042] Figure 4 This is a structural diagram of another calibration device for assembling frameless door glass provided in this application. DETAILED DESCRIPTION

[0043] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0044] The core of this application is to provide a calibration method, system, device and medium for assembling frameless door glass, which are used to improve the accuracy of assembling frameless door glass.

[0045] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0046] Figure 1 This is a structural diagram of a calibration system for assembling frameless door glass provided in this application. Figure 1 The calibration system shown is for a vehicle equipped with frameless door glass.

[0047] The calibration system for assembling frameless door glass includes a control device 1, a measuring device 2, a scanning device 3, and a terminal device 4. The control device 1 is connected to the assembly device and is used to control the movement of the assembly device. The terminal device 4 is connected to the scanning device 3, the measuring device 2, and the control device 1. The fixed target ball of the measuring device 2 is installed on the assembly device, and multiple random target balls are set within the shooting range of the scanning device 3.

[0048] The control device 1 sends the coordinate value of the fixed target ball in the base coordinate system of the assembly device when the assembly device is displaced to the terminal device 4;

[0049] The measuring device 2 is used to measure the coordinate values of the fixed target ball in the instrument coordinate system of the measuring device 2 and the coordinate values of the random target ball in the instrument coordinate system of the measuring device 2 when the assembly device is displaced, and send them to the terminal device 4;

[0050] Scanning device 3, used to shoot random target balls and send shooting data and flange data to terminal device 4;

[0051] The terminal device 4 is used to calculate the relative position of the assembly device and the measuring device 2 based on the coordinate value of the fixed target ball in the base coordinate system of the assembly device when the assembly device is displaced and the coordinate value of the fixed target ball in the instrument coordinate system of the measuring device 2, calculate the relative position of the scanning device 3 and the measuring device 2 based on the shooting data, flange data and the coordinate value of the random target ball in the instrument coordinate system of the measuring device 2 when the assembly device is displaced, and obtain the relative position of the assembly device and the scanning device 3 through the relative position of the assembly device and the measuring device 2 and the relative position of the scanning device 3 and the measuring device 2.

[0052] The assembly device is used to clamp the glass and adjust the position of the glass. In order to improve the accuracy of assembling frameless door glass and reduce labor costs, the assembly device can use a robot equipped with a glass clamp.

[0053] The control device 1 is a controller of the assembly device, and in specific implementation, a robot controller may be used.

[0054] Measuring device 2 can be a laser tracker or a three-dimensional coordinate measuring machine. This embodiment does not limit the type of measuring device 2. It should be noted that to ensure the accuracy of the calibration system for assembling frameless door glass, the accuracy of measuring device 2 should not be too low. For example, a laser tracker with a measurement accuracy of 0.02 mm can be used. The fixed target mentioned in this embodiment is the device used by measuring device 2 to measure the spatial position of the target and is installed on the assembly device. For example, if measuring device 2 is a laser tracker, the operating principle of the laser tracker is as follows: the laser tracker can measure the distance to the target point and the horizontal and vertical deflection angles. The basic principle is to place a reflector at the target location. The laser light emitted by the laser tracking head hits the reflector and is reflected back to the tracking head. As the target moves, the tracking head adjusts the beam direction to align with the target. Simultaneously, the return beam is received by the detection system (laser tracker) and used to measure the target's spatial position. In short, the laser tracker determines the target's spatial coordinates by measuring the position of a reflector placed at the target point. The tracking head mentioned here is the fixed target ball mentioned in this embodiment, and the target is the assembly device mentioned in this embodiment.

[0055] The scanning device 3 should be equipped with a 3D scanner, which can shoot the random target ball through the 3D scanner to measure the coordinates of the random target ball in the camera coordinate system.

[0056] The terminal device 4 can be a computer or a smart phone. This embodiment does not limit the type of the terminal device 4.

[0057] In a specific implementation, a fixed target ball of the measuring device 2 can be installed at the end of the assembly device, and the control device 1 controls the assembly device to move randomly in the working space of the assembly device. The measuring device 2 measures each displacement point of the assembly device, and the coordinate value of the fixed target ball on the assembly device at each displacement point in the instrument coordinate system of the measuring device 2 can be obtained. At this time, the measuring device 2 will send the coordinate value of the fixed target ball in the instrument coordinate system of the measuring device when the assembly device is displaced to the terminal device 4; in addition, the control device 1 can obtain the coordinate value of the fixed target ball on the assembly device through information such as the joint angle of each displacement point of the assembly device. The coordinate values in the base coordinate system of the assembly device are obtained and sent to the terminal device 4; the terminal device 4 calculates the relative position of the assembly device and the measuring device 2 according to the coordinate values of the fixed-point target ball in the base coordinate system of the assembly device and the coordinate values of the fixed-point target ball in the instrument coordinate system of the measuring device 2 when the assembly device is displaced. Specifically, the coordinate transformation matrix of the assembly device and the measuring device 2, that is, the relative position of the assembly device and the measuring device 2, can be solved according to the robot calibration algorithm. The formula of the robot calibration algorithm is shown in formula (1), that is, the hand-eye calibration algorithm (eye-in-hand):

[0058] AX=XB (1)

[0059] Among them, A, B, and X are all matrices.

[0060] In this application, a fixed-point target ball of a measuring device is installed at the end of the assembly device, that is, the relative positional relationship between the assembly device and the fixed-point target ball remains unchanged. The data recorded during the displacement of the assembly device, that is, the coordinate values of each displacement point of the assembly device in the base coordinate system of the assembly device, and the corresponding coordinate values of the fixed-point target ball at each displacement point in the instrument coordinate system of the measuring device 2, and any two sets of data at the same time are selected, A represents the relative positional relationship between the coordinate values of the displacement points at two moments in the base coordinate system of the assembly device, A = A2A1 -1 , A1 and A2 represent the coordinate values of the two displacement points in the base coordinate system of the assembly device; B represents the relative position relationship of the coordinate values of the fixed target ball in the instrument coordinate system of the measuring device 2 at two moments, B = B2B1 -1 , B1 and B2 represent the coordinate values of the two fixed-point target balls in the instrument coordinate system of the measuring device 2; X represents the relative position relationship between the measuring device 2 and the assembly device, and the equation AX=XB holds.

[0061] After calculating the coordinate transformation matrix X between the measuring device 2 and the assembly device, the workpiece coordinate system of the assembly device can be established according to the relative positions of the measuring device 2 and the assembly device, so that the base coordinate system of the assembly device is transferred to the instrument coordinate system of the measuring device 2.

[0062] In addition, multiple random target balls of the measuring devices 2 can be installed within the field of view of the scanning device 3. The scanning device 3 obtains multiple sets of shooting data by taking multiple photos in different postures. The center position of the random target ball at each shooting position can be calculated based on the shooting data.

[0063] According to the above method for calculating the relative position relationship between the measuring device 2 and the assembly device, similarly, the relative position relationship between the flange and the scanning device remains unchanged. The relative position between the flange and the scanning device 3 can be calculated by using the hand-eye calibration algorithm (Eye In Hand) using the flange data of the scanning device 3 taken each time and the center data of multiple random target balls in the camera coordinate system each time;

[0064] According to the relative position relationship between the flange and the scanning device 3, combined with the coordinate value of the random target ball in the instrument coordinate system of the measuring device 2, the relative position relationship between the scanning device 3 and the measuring device 2 is obtained;

[0065] Furthermore, the relative position of the assembling device and the scanning device 3 can be obtained according to the relative position of the assembling device and the measuring device 2 and the relative position of the scanning device 3 and the measuring device 2 .

[0066] It should be noted that all data in this embodiment are transmitted to the terminal device 4 via a wireless network, and no data cables are required between the devices, which simplifies the system structure while effectively ensuring the data transmission rate.

[0067] This embodiment provides a calibration system for assembling frameless door glass, including a control device 1, a measuring device 2, a scanning device 3 and a terminal device 4. The system can realize the coordinate calibration of the assembly device and the scanning device 3, so that when assembling the glass, the coordinates of the current position of the glass measured by the scanning device 3 can be unified under the base coordinate system of the assembly device, which facilitates the assembly device to move the glass from its current position to the theoretical assembly position. The accuracy of assembling frameless door glass is improved through coordinate system calibration.

[0068] Based on the above embodiment, this embodiment provides a supplementary explanation of the structure of the measuring device 2. In this embodiment, the measuring device 2 includes a laser tracker and a plurality of random target balls.

[0069] In practice, a laser tracker can measure the distance to a target point, as well as its horizontal and vertical deflection angles. By measuring the position of a reflector placed at the target point, the spatial coordinates of the target point can be determined. Specifically, a reflector, such as a mirror, can be placed at the target location. Laser light from a laser tracking head hits the reflector and returns to the tracking head. As the target moves, the tracking head adjusts the beam's direction to align with the target. Simultaneously, the return beam is received by the laser tracker and used to measure the target's spatial position.

[0070] In addition, the instrument coordinate system of the laser tracker is defined as follows: the center of the tracking head is the origin, the 0 reading direction on the degree disk is the X-axis, the upward direction of the normal of the degree disk plane is the Z-axis, and the Y-axis is determined by the right-hand coordinate system rule.

[0071] In this embodiment, the measuring device 2 includes a laser tracker and a plurality of random target balls. The laser tracker can measure the coordinate values of the assembly device and the random target balls in the instrument coordinate system of the measuring device 2, so as to calculate the relative position of the assembly device and the measuring device 2 and the relative position of the scanning device 3 and the measuring device 2.

[0072] On the basis of the above embodiment, in order to improve the accuracy of coordinate calibration, in this embodiment, the scanning device 3 is set to be a robot equipped with a 3D scanner.

[0073] It should be noted that, in a specific implementation, the scanning device 3 should also include a 2D scanner and a tightening gun. The 2D scanner is used to scan the feature points of the car door and glass to determine the grabbing position of the glass, the displacement adjustment amount of the glass, and the positioning of the fixing screws of the glass on the car door. The tightening gun is used to tighten the fixing screws of the glass, thereby realizing the automated assembly of the frameless car door.

[0074] In this embodiment, the scanning device 3 is a robot equipped with a 3D scanner, which can take photos of random target balls to obtain shooting data so as to calculate the relative position of the scanning device 3 and the measuring device 2.

[0075] Figure 2 This is a flow chart of a calibration method for assembling frameless door glass provided in this application. The method is applied to the calibration system for assembling frameless door glass in the above embodiment, including:

[0076] S1: receiving the coordinate values of the fixed target sphere in the base coordinate system of the assembly device when the assembly device is displaced, sent by the control device; the coordinate values of the fixed target sphere in the instrument coordinate system of the measurement device when the assembly device is displaced, and the coordinate values of the random target sphere in the instrument coordinate system of the measurement device when the assembly device is displaced, sent by the measuring device; and the shooting data and flange data sent by the scanning device;

[0077] S2: Calculating the relative position of the assembly device and the measuring device according to the coordinate value of the fixed-point target ball in the base coordinate system of the assembly device and the coordinate value of the fixed-point target ball in the instrument coordinate system of the measuring device when the assembly device is displaced;

[0078] S3: Calculating the relative position of the scanning device and the measuring device based on the shooting data, the flange data, and the coordinate value of the random target ball in the instrument coordinate system of the measuring device when the assembly device is displaced;

[0079] S4: Obtain the relative position of the assembling device and the scanning device through the relative position of the assembling device and the measuring device and the relative position of the scanning device and the measuring device.

[0080] Specifically, the coordinate transformation matrix of the assembly device and the measuring device, that is, the relative position of the assembly device and the measuring device, can be calculated using formula (1) according to the coordinate value of the fixed target ball in the base coordinate system of the assembly device when the assembly device is displaced and the coordinate value of the fixed target ball in the instrument coordinate system of the measuring device; then, the relative position of the scanning device and the measuring device can be calculated according to the shooting data, flange data and the coordinate value of the random target ball in the instrument coordinate system of the measuring device when the assembly device is displaced; thus, the relative position of the assembly device and the scanning device can be obtained according to the relative position of the assembly device and the measuring device and the relative position of the scanning device and the measuring device, thereby realizing the coordinate calibration of the assembly device and the scanning device.

[0081] This embodiment provides a calibration method for assembling frameless door glass. Through this method, the relative positions of the assembly device and the scanning device can be obtained, so that when assembling the glass, the coordinates of the current position of the glass measured by the scanning device can be unified under the base coordinate system of the assembly device, which facilitates the assembly device to move the glass from its current position to the theoretical assembly position. The accuracy of assembling frameless door glass is improved through coordinate system calibration.

[0082] Based on the above embodiment, to ensure the accuracy of the relative position of the scanning device and the measuring device, this embodiment calculates the coordinate values of multiple random target balls in the base coordinate system of the scanning device and the coordinate values of the random target balls in the instrument coordinate system of the measuring device, thereby obtaining the relative position of the scanning device and the measuring device. This step includes:

[0083] Obtain coordinate values of multiple random target balls in the camera coordinate system according to the shooting data, and calculate the relative position of the 3D scanner and the scanning device through the coordinate values of the multiple random target balls in the camera coordinate system and the flange data;

[0084] Obtaining coordinate values of the plurality of random target balls in a base coordinate system of the scanning device based on the coordinate values of the plurality of random target balls in the camera coordinate system and the relative positions of the 3D scanner and the scanning device;

[0085] The relative positions of the scanning device and the measuring device are obtained according to the coordinate values of the multiple random target balls in the base coordinate system of the scanning device and the coordinate values of the multiple random target balls in the instrument coordinate system of the measuring device.

[0086] Specifically, the random target sphere can be photographed by the 3D scanner in the scanning device, and the coordinate value of the random target sphere in the camera coordinate system can be calculated based on multiple sets of shooting data, so that the relative position of the 3D scanner and the scanning device can be calculated based on the coordinate value of the random target sphere in the camera coordinate system and the flange data of the scanning device; then, the coordinate value of the random target sphere in the base coordinate system of the scanning device can be calculated based on the coordinate value of the random target sphere in the camera coordinate system and the relative position of the 3D scanner and the scanning device, and then the coordinate transformation matrix of the scanning device and the measuring device, that is, the relative position of the scanning device and the measuring device, can be calculated based on the coordinate value of the random target sphere in the base coordinate system of the scanning device and the coordinate value of the random target sphere in the instrument coordinate system of the measuring device using a robot calibration algorithm.

[0087] This embodiment calculates the coordinate values of the random target sphere in the base coordinate system of the scanning device and the coordinate values of the random target sphere in the instrument coordinate system of the measuring device, and then obtains the relative position of the scanning device and the measuring device through the robot calibration algorithm, thereby effectively ensuring the accuracy of the relative position of the scanning device and the measuring device.

[0088] Based on the above embodiment, to achieve automated assembly of a frameless vehicle door, after determining the relative positions of the assembly device and the scanning device, it is necessary to adjust the position of the glass according to the relative positions of the assembly device and the scanning device to adjust the glass to the theoretical assembly position. This step includes:

[0089] receiving the current position of the glass in the base coordinate system of the scanning device sent by the scanning device;

[0090] Calculating the current position of the glass in the base coordinate system of the assembly device according to the current position of the glass in the base coordinate system of the scanning device and the relative position of the assembly device and the scanning device, and calculating the offset of the glass according to the current position of the glass in the base coordinate system of the assembly device and the theoretical assembly position;

[0091] The offset of the glass is sent to the control unit.

[0092] Specifically, the glass can be scanned for feature points using a 2D scanner in the scanning device to obtain the current position of the glass in the base coordinate system of the scanning device. The current position of the glass in the base coordinate system of the assembly device can then be calculated based on the relative positions of the assembly device and the scanning device. The offset amount that needs to be adjusted for the glass can then be calculated based on the theoretical assembly position of the glass in the base coordinate system of the assembly device and the current position of the glass. The offset amount is then sent to the control device, which controls the assembly device to perform the offset, thereby moving the glass from its current position to the theoretical assembly position.

[0093] This embodiment adjusts the position of the glass according to the relative positions of the assembly device and the scanning device, so that the glass moves from its current position to the theoretical assembly position, thereby realizing the automated assembly of the frameless door glass.

[0094] In the above embodiments, a calibration method for assembling frameless door glass is described in detail. This application also provides corresponding embodiments of a calibration device for assembling frameless door glass. It should be noted that this application describes the embodiments of the device from two perspectives: one from a functional module perspective and the other from a hardware perspective.

[0095] Figure 3 This is a structural diagram of a calibration device for assembling frameless door glass provided in this application, such as Figure 3 As shown, the device includes:

[0096] The receiving module 10 is used to receive the coordinate values of the fixed target ball in the base coordinate system of the assembly device when the assembly device is displaced, which are sent by the control device; the coordinate values of the fixed target ball in the instrument coordinate system of the measuring device when the assembly device is displaced, which are sent by the measuring device; and the coordinate values of the random target ball in the instrument coordinate system of the measuring device when the assembly device is displaced, and the shooting data and flange data sent by the scanning device.

[0097] A first calculation module 11 is used to calculate the relative position of the assembly device and the measuring device based on the coordinate value of the fixed-point target ball in the base coordinate system of the assembly device and the coordinate value of the fixed-point target ball in the instrument coordinate system of the measuring device when the assembly device is displaced;

[0098] A second calculation module 12 is used to calculate the relative position of the scanning device and the measuring device based on the shooting data, the flange data and the coordinate value of the random target ball in the instrument coordinate system of the measuring device when the assembly device is displaced;

[0099] The obtaining module 13 is used to obtain the relative position of the assembling device and the scanning device through the relative position of the assembling device and the measuring device and the relative position of the scanning device and the measuring device.

[0100] Since the embodiments of the apparatus part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the apparatus part, and they will not be repeated here.

[0101] The calibration device for assembling frameless door glass provided in this embodiment receives the coordinate values of the fixed target ball in the base coordinate system of the assembly device when the assembly device is displaced, the coordinate values of the fixed target ball in the instrument coordinate system of the measuring device and the coordinate values of the random target ball in the instrument coordinate system of the measuring device when the assembly device is displaced, and the shooting data and flange data sent by the scanning device; calculates the relative position of the assembly device and the measuring device according to the coordinate values of the fixed target ball in the base coordinate system of the assembly device and the coordinate values of the fixed target ball in the instrument coordinate system of the measuring device when the assembly device is displaced by a first calculation module; calculates the relative position of the scanning device and the measuring device according to the shooting data, flange data, and the coordinate values of the random target ball in the instrument coordinate system of the measuring device when the assembly device is displaced by a second calculation module; and obtains the relative position of the assembly device and the scanning device based on the relative position of the assembly device and the measuring device and the relative position of the scanning device and the measuring device by the obtaining module. It can be seen that the device can unify the coordinates of the current position of the glass measured by the scanning device in the base coordinate system of the assembly device through the relative position of the assembly device and the measuring device when assembling the glass, so as to facilitate the assembly device to move the glass from its current position to the theoretical assembly position, and improve the accuracy of assembling frameless door glass through coordinate system calibration.

[0102] Figure 4 This is a structural diagram of another calibration device for assembling frameless door glass provided by this application, such as Figure 4 As shown, the device includes:

[0103] Memory 20, for storing computer programs;

[0104] The processor 21 is configured to implement the steps of the calibration method for assembling frameless door glass as mentioned in the above embodiment when executing the computer program.

[0105] The calibration device for assembling frameless door glass provided in this embodiment may include but is not limited to a smart phone, a tablet computer, a laptop computer, or a desktop computer.

[0106] Among them, the processor 21 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. The processor 21 can be implemented in at least one hardware form of a digital signal processor (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0107] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory, and non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used to store the following computer program 201, wherein, after the computer program is loaded and executed by the processor 21, it can implement the relevant steps of the calibration method for assembling frameless door glass disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include but is not limited to data involved in implementing the above-mentioned calibration method for assembling frameless door glass.

[0108] In some embodiments, the calibration device for frameless door glass may further include a display screen 22 , an input / output interface 23 , a communication interface 24 , a power supply 25 , and a communication bus 26 .

[0109] Those skilled in the art will understand that Figure 4 The structure shown in the figure does not constitute a limitation on the calibration device equipped with frameless door glass, and may include more or fewer components than shown in the figure.

[0110] The calibration device for assembling frameless door glass provided in this embodiment includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the above-mentioned calibration method for assembling frameless door glass, and the effect is the same as above.

[0111] Finally, the present application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the calibration method for assembling frameless door glass as described in the above method embodiment.

[0112] It is understandable that if the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and executes all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0113] The computer-readable storage medium provided in this embodiment includes the above-mentioned calibration method for assembling frameless door glass, and the effect is the same as above.

[0114] The above is a detailed introduction to the calibration method, system, device and medium for assembling frameless door glass provided by the present application. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of this application.

[0115] It should also be noted that, in this specification, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

Claims

1. A calibration method for assembling frameless door glass, characterized in that: A calibration system for assembling frameless door glass comprises a scanning device, a measuring device, a control device, and a terminal device. The control device is connected to the assembly device and is used to control the movement of the assembly device. The terminal device is connected to the scanning device, the measuring device, and the control device. The assembly device is mounted with a fixed target ball of the measuring device, and multiple random target balls are set within the shooting range of the scanning device. The relative positional relationship between the flange and the scanning device remains unchanged; The method comprises: receiving the coordinate values of the fixed target sphere in the base coordinate system of the assembly device when the assembly device is displaced, which are sent by the control device; the coordinate values of the fixed target sphere in the instrument coordinate system of the measurement device when the assembly device is displaced, which are sent by the measuring device; and the coordinate values of the random target sphere in the instrument coordinate system of the measurement device when the assembly device is displaced, and the shooting data and flange data sent by the scanning device; Calculating the relative position of the assembly device and the measuring device based on the coordinate value of the fixed target ball in the base coordinate system of the assembly device and the coordinate value of the fixed target ball in the instrument coordinate system of the measuring device when the assembly device is displaced; Calculating the relative position of the scanning device and the measuring device according to the shooting data, the flange data, and the coordinate value of the random target sphere in the instrument coordinate system of the measuring device when the assembly device is displaced; Obtaining the relative position of the assembling device and the scanning device through the relative position of the assembling device and the measuring device and the relative position of the scanning device and the measuring device; receiving the current position of the glass in the base coordinate system of the scanning device sent by the scanning device; Calculating the current position of the glass in the base coordinate system of the assembly device according to the current position of the glass in the base coordinate system of the scanning device and the relative position of the assembly device and the scanning device, and calculating the offset of the glass according to the current position of the glass in the base coordinate system of the assembly device and a theoretical assembly position; The deflection of the glass is sent to the control device.

2. A calibration system for assembling frameless door glass, characterized in that: The device comprises a scanning device, a measuring device, a control device and a terminal device. The control device is connected to the assembly device and is used to control the movement of the assembly device. The terminal device is connected to the scanning device, the measuring device and the control device. The fixed target ball of the measuring device is installed on the assembly device, and multiple random target balls are set within the shooting range of the scanning device. The relative position relationship between the flange and the scanning device remains unchanged. The control device sends the coordinate value of the fixed target ball in the base coordinate system of the assembly device when the assembly device is displaced to the terminal device; The measuring device is used to measure the coordinate values of the fixed target sphere and the random target sphere in the instrument coordinate system of the measuring device when the assembly device is displaced, and send the coordinate values to the terminal device; The scanning device is used to photograph the random target ball and send the photographed data and flange data to the terminal device; The terminal device is used to calculate the relative position of the assembly device and the measuring device based on the coordinate value of the fixed target ball in the base coordinate system of the assembly device when the assembly device is displaced and the coordinate value of the fixed target ball in the instrument coordinate system of the measuring device, calculate the relative position of the scanning device and the measuring device based on the shooting data, the flange data and the coordinate value of the random target ball in the instrument coordinate system of the measuring device when the assembly device is displaced, and obtain the relative position of the assembly device and the scanning device through the relative position of the assembly device and the measuring device and the relative position of the scanning device and the measuring device; the terminal device is also used to receive the current position of the glass in the base coordinate system of the scanning device sent by the scanning device; calculate the current position of the glass in the base coordinate system of the assembly device based on the current position of the glass in the base coordinate system of the scanning device and the relative position of the assembly device and the scanning device, and calculate the offset of the glass based on the current position of the glass in the base coordinate system of the assembly device and the theoretical assembly position; and send the offset of the glass to the control device.

3. The calibration system for assembling frameless door glass according to claim 2, characterized in that: The measuring device includes a laser tracker and a plurality of random target balls.

4. The calibration system for assembling frameless door glass according to claim 2, characterized in that: The scanning device is a robot equipped with a 3D scanner.

5. A calibration device for assembling frameless door glass, characterized in that: A calibration system for assembling frameless door glass comprises a scanning device, a measuring device, a control device, and a terminal device. The control device is connected to the assembly device and is used to control the movement of the assembly device. The terminal device is connected to the scanning device, the measuring device, and the control device. The assembly device is mounted with a fixed target ball of the measuring device, and multiple random target balls are set within the shooting range of the scanning device. The relative positional relationship between the flange and the scanning device remains unchanged; The device comprises: a receiving module, configured to receive the coordinate values of the fixed target sphere in the base coordinate system of the assembly device when the assembly device is displaced, which are sent by the control device; the coordinate values of the fixed target sphere in the instrument coordinate system of the measurement device, which are sent by the measuring device; and the coordinate values of the random target sphere in the instrument coordinate system of the measurement device when the assembly device is displaced, which are sent by the measuring device; and the shooting data and flange data sent by the scanning device; a first calculation module, configured to calculate the relative position of the assembly device and the measuring device based on the coordinate value of the fixed target ball in the base coordinate system of the assembly device and the coordinate value of the fixed target ball in the instrument coordinate system of the measuring device when the assembly device is displaced; a second calculation module, configured to calculate the relative position of the scanning device and the measuring device based on the shooting data, the flange data, and the coordinate value of the random target sphere in the instrument coordinate system of the measuring device when the assembly device is displaced; an obtaining module, configured to obtain the relative position of the assembling device and the scanning device through the relative position of the assembling device and the measuring device and the relative position of the scanning device and the measuring device; The method further includes: receiving a current position of the glass in a base coordinate system of the scanning device sent by the scanning device; Calculating the current position of the glass in the base coordinate system of the assembly device according to the current position of the glass in the base coordinate system of the scanning device and the relative position of the assembly device and the scanning device, and calculating the offset of the glass according to the current position of the glass in the base coordinate system of the assembly device and a theoretical assembly position; The deflection of the glass is sent to the control device.

6. A calibration device for assembling frameless door glass, characterized in that: include: memory for storing computer programs; A processor is configured to implement the steps of the calibration method for assembling frameless door glass as claimed in claim 1 when executing the computer program.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a terminal device, the steps of the calibration method for assembling frameless door glass as claimed in claim 1 are implemented.

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