Method and system for assembling a vehicle door cover

Abstract

The application relates to the technical field of automobile assembly, and provides an automobile door cover assembly method and an assembly system, which comprises the following steps: controlling a first robot to grab a door cover and moving the door cover to a first preset assembly position close to a vehicle body; obtaining a deviation data set based on a first camera and a first distance measuring sensor; obtaining each compensation data according to each deviation data and a corresponding preset standard value; and moving the door cover to a second preset assembly position according to each compensation data; and controlling a second robot to fasten a hinge at the connection between the door cover and the vehicle body; the application obtains each compensation data for controlling the door cover to move and an optimal assembly position by collecting the deviation data set of the door cover and the vehicle body, for example, the gap and the surface difference of each group of feature points, so that the gap and the surface difference between the door cover and the vehicle body after assembly are within the preset standard value, thereby effectively improving the qualified rate of the automobile door cover assembly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile assembly, in particular to an automobile door cover assembly method and system. BACKGROUND

[0002] At present, the body-in-white welding workshop assembly line of an automobile manufacturer is mainly used for the butt joint assembly of the automobile door, engine cover and rear cover with the automobile body. The traditional assembly method takes the rear cover as an example and mainly adopts the following steps: firstly, the pre-assembled rear cover and hinge are respectively installed on a positioning mechanism such as a positioning tool clamp, so that the hinge and the rear cover are in a pre-assembled state; secondly, the positioning tool clamp is moved and positioned on the automobile body, so that the rear cover and the hinge are in a pre-assembled state with the automobile body; and finally, the two ends of the hinge are tightened to realize the butt joint assembly of the rear cover and the automobile body.

[0003] Among them, in the automobile body-in-white assembly process, the symmetry of the whole vehicle is extremely important. For example, the gap and the surface difference between the automobile body and the rear cover are important indicators for evaluating the symmetry and appearance of a vehicle, and also determine the production quality, efficiency and stability of the product.

[0004] However, in the above assembly process, due to the uncertainty of manual assembly combined with tooling, the stress deformation of the rear cover during the tightening of the hinge and other factors, the gap and the surface difference between the rear cover and the automobile body exceed the preset standard value, and the assembly of the door and the automobile body is similar to the above process, thereby greatly reducing the qualified rate of the automobile door cover assembly. SUMMARY

[0005] The problem solved by the present application is how to effectively improve the qualified rate of automobile door cover assembly.

[0006] To solve the above problem, the present application provides an automobile door cover assembly method applied to an automobile door cover assembly system, which comprises a first robot, a second robot, and a first camera and a first distance measuring sensor arranged on the first robot; the automobile door cover assembly method comprises:

[0007] controlling the first robot to grab the door cover and move it to a first preset assembly position adjacent to the automobile body;

[0008] obtaining a deviation data set based on the control of the first camera and the first distance measuring sensor; wherein the deviation data set comprises deviation data of a plurality of selected feature points collected on the door cover and the automobile body;

[0009] According to each of the deviation data and a corresponding preset standard value, each compensation data is obtained; and according to each of the compensation data, the first robot is controlled to drive the door cover to move to a second preset assembly position; wherein the preset standard value is standard data of each of the feature points when the door cover and the vehicle body reach an optimal assembly state;

[0010] The second robot is controlled to fasten the hinge at a connection between the door cover and the vehicle body.

[0011] Optionally, before the first robot is controlled to grab the door cover, the method further comprises:

[0012] An automobile model is set on simulation software, and each group of first feature points is selected from a simulated door cover and a simulated vehicle body of the automobile model; and according to each group of the first feature points, a layout mode of a simulated camera and a simulated distance measuring sensor on the simulation software is determined.

[0013] Optionally, after the layout mode of the simulated camera and the simulated distance measuring sensor on the simulation software is determined, the method further comprises:

[0014] According to each group of the first feature points and the layout mode of the simulated camera and the simulated distance measuring sensor, the first robot is designed and manufactured;

[0015] According to the layout mode of the simulated camera and the simulated distance measuring sensor, the first camera and the first distance measuring sensor are installed on the first robot.

[0016] Optionally, the obtaining of the deviation data set based on the control of the first camera and the first distance measuring sensor comprises:

[0017] According to each group of the first feature points, each group of second feature points corresponding to each group of the first feature points is selected on the vehicle body and the door cover; wherein each group of the second feature points comprises a feature hole group composed of a first feature hole on the door cover and a second feature hole on the vehicle body, a gap between the door cover and a side wall outer plate of the vehicle, and a surface difference between two planes of the door cover and the side wall outer plate;

[0018] Based on the control of the first camera, a photo including the first feature hole and the second feature hole is obtained, and a first directional deviation amount of the feature hole group is obtained according to the first feature hole and the second feature hole in the photo;

[0019] Based on the control of the first distance measuring sensor, a first gap value between the door cover and the side wall outer plate is collected and represented by a second directional deviation amount, and a first surface difference value between two planes of the door cover and the side wall outer plate is collected and represented by a third directional deviation amount;

[0020] According to each of the deviation data and the corresponding each preset standard value, to obtain each compensation data includes: the first direction deviation amount, the second direction deviation amount and the third direction deviation amount, respectively, with the corresponding each of the preset standard value is calculated, to obtain each of the compensation data.

[0021] Optionally, the deviation data set is obtained based on controlling the first camera and the first distance sensor further includes:

[0022] The first gap value and the first face difference value collected at different positions of the door cover and the side outer plate are respectively analyzed by weight matching to determine whether the collected first gap value and the first face difference value are valid.

[0023] Optionally, the deviation data set is obtained based on controlling the first camera and the first distance sensor further includes:

[0024] The offset amount of the door cover in the fastening process of the hinge with the door cover and the vehicle body is collected;

[0025] According to each of the deviation data and the corresponding each preset standard value, to obtain each compensation data includes: according to the offset amount and the first direction deviation amount, the second direction deviation amount and the third direction deviation amount respectively with the comparison difference value of each of the preset standard value, to obtain each of the compensation data.

[0026] Optionally, after controlling the second robot to fasten the hinge at the connection between the door cover and the vehicle body, further comprising:

[0027] Based on controlling the first distance sensor, the gap between the door cover and the side outer plate and the face difference between the two planes are collected again to obtain second gap value and second face difference value respectively;

[0028] The second gap value and the second face difference value are uploaded to the upper computer.

[0029] Optionally, after determining the arrangement of the simulation camera and the simulation distance sensor on the simulation software, further comprising:

[0030] The hinge is positioned and installed on the first robot, and one end of the hinge is in a connected and fastened state with the door cover.

[0031] Compared with the prior art, the door cover in the application includes four doors, an engine cover and a rear cover, the application is used for assembling the doors, the engine cover and the rear cover with the vehicle body respectively, when the door cover is assembled with the vehicle body, first, a first robot is controlled to grab the door cover, such as a certain door, the engine cover or the rear cover, and move it to a first preset assembly position close to the vehicle body, at this time, the first preset assembly position is equivalent to the starting point of movement of the door cover relative to the vehicle body in the subsequent steps; then, through the cooperation of a first camera and a first distance measuring sensor, deviation data of multiple groups of feature points selected on the door cover and the vehicle body is collected, and the multiple groups of deviation data constitute a deviation data set, at this time, the multiple groups of deviation data indicate the relative coordinate parameters of the door cover relative to the vehicle body at the first preset assembly position; then, according to the above deviation data and corresponding preset standard values, each compensation data can be obtained, in other words, each compensation data indicates the movement amount of the door cover from the first preset assembly position when the door cover and the vehicle body reach the best assembly state, after obtaining each compensation data, the first robot is controlled to move the door cover to a second preset assembly position, at this time, the second preset assembly position is the position of the door cover and the vehicle body reaching the best assembly state; through controlling a second robot to fasten the hinge at the connection between the door cover and the vehicle body, the door cover is fastened on the vehicle body; in other words, compared with the problem of low automobile assembly qualification rate caused by manually assembling the door cover on the vehicle body in the prior art, the camera and the distance measuring sensor are cooperated to collect the deviation data set of the door cover and the vehicle body, such as the gap and the surface difference of each group of feature points, to calculate each compensation data for controlling the movement of the door cover and the best assembly position, so that the gap and the surface difference of the door cover and the vehicle body after assembly are within the preset standard value, thereby effectively improving the qualification rate of automobile door cover assembly.

[0032] The application further provides an automobile door cover assembly system, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, and when the processor executes the program, the automobile door cover assembly method as described above is realized.

[0033] Therefore, the automobile door cover assembly system is used to realize the automobile door cover assembly method as described above, so the automobile door cover assembly system at least has all the technical effects of the automobile door cover assembly method, which will not be described here.

[0034] Optionally, the automobile door cover assembly system further comprises a first robot, a second robot and a first camera and a first distance measuring sensor arranged on the first robot, and the first robot, the second robot, the first camera and the first distance measuring sensor are respectively signal connected with the processor. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1One of the step flow charts of the assembling method of the automobile door cover in the embodiment of the present application;

[0036] Figure 2 One of the step flow charts of the assembling method of the automobile door cover in the embodiment of the present application;

[0037] Figure 3 The structural principle diagram of the assembling system of the automobile door cover in the embodiment of the present application;

[0038] Figure 4 The schematic diagram of the selected second feature points of the automobile rear cover and the automobile body in the embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0040] It should be noted that the terms "first", "second", and the like in the description of the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0041] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected; it can be directly connected, or indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0042] In the description of the present application, the description of the terms "embodiment", "one embodiment" and "one implementation" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or implementation are included in at least one embodiment or implementation of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or implementation. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or implementations in a suitable manner.

[0043] To solve the above technical problems, in combination with Figure 1As shown, the embodiment of the present application provides an assembling method of a car door cover, which is applied to an assembling system of the car door cover, the assembling system of the car door cover comprising a first robot, a second robot, and a first camera and a first distance measuring sensor arranged on the first robot; the assembling method of the car door cover comprising:

[0044] S1, controlling the first robot to grab the door cover and move it to a first preset assembling position adjacent to a car body;

[0045] S2, obtaining a deviation data set based on the control of the first camera and the first distance measuring sensor; wherein the deviation data set comprises deviation data of a plurality of selected feature points collected on the door cover and the car body;

[0046] S3, obtaining each compensation data according to each deviation data and a corresponding preset standard value, and controlling the first robot to move the door cover to a second preset assembling position according to each compensation data; wherein the preset standard value is a standard data of each feature point when the door cover and the car body reach an optimal assembling state;

[0047] S4, controlling the second robot to fasten the hinge at the connection between the door cover and the car body.

[0048] It should be noted that the second robot is used to connect the hinge with the door cover and fasten the hinge at the connection between the door cover and the car body. The first robot is used to install the first camera and the first distance measuring sensor and grab the door cover, and when the first robot moves the door cover to the position adjacent to the car body, the detection end of the first camera and the first distance measuring sensor is towards each feature point on the car body and the door cover, so as to collect the corresponding feature point data.

[0049] In combination Figure 3 As shown, the entire assembling system of the car door cover comprises a processor, a memory, and a first robot, a second robot, and a first camera and a first distance measuring sensor arranged on the first robot, wherein the memory can store related data by using a database, or can store by using a register not connected to a network, the processor comprises a PLC system, a visual analysis system, a visual guidance system, a first controller and a second controller, and the specific connection relationship is shown in Figure 3 ; the visual analysis system can use Best Fit VisionAnalyser, Best Fit refers to the best fitting algorithm, and VisionAnalyser is a visual analysis software system.

[0050] The visual guidance system can adopt the Best Fit VisionGuide, which refers to a visual guidance software system loaded with the Best Fit, wherein the visual guidance task is as follows: 1. Information transmission: extracting a file in the Quirl format from the Best Fit database to the first robot controller and the second robot controller through the Profinet network TCP / IP and implementing it. 2. Display and data storage: visualization of the measurement process and results; data storage in the Best Fit database; displaying errors and forwarding to the first robot / PLC system, logging system message windows and log files. 3. Control flow: running the first robot command, measuring the work; error monitoring, plausibility check.

[0051] The memory and the visual guidance system can be integrated in the host computer or independent of the host computer, and the visual analysis system is integrated in the host computer.

[0052] In the step S1, the first robot can be controlled by the first controller to first grasp the door cover, for example, any one of a certain door, a front hood and a rear cover, and then move the door cover to a first preset assembly position which is a certain position close to the vehicle body. In the step S2, the first camera and the first distance sensor can be controlled by the PLC system to take pictures and measure distances of the selected feature points on the door cover and the vehicle body, so as to transmit the obtained picture information and distance information to the visual analysis system. The visual analysis system analyzes and processes the picture information and the distance information to obtain a plurality of sets of deviation data of the feature points, and the deviation data of the plurality of sets of feature points constitute a deviation data set.

[0053] In the step S3, according to the certain operation logic, each compensation data can be obtained by the visual analysis system according to each of the deviation data and each of the preset standard values. Then, the visual analysis system transmits each of the compensation data to the first controller, and the first controller controls the first robot to move the door cover to a second preset assembly position, wherein the second preset assembly position can be the best assembly position of the door cover and the vehicle body, and the preset standard value is the standard data of each set of feature points on the vehicle body and the door cover when the door cover and the vehicle body reach the best assembly state. In the step S4, the tightening data of the visual analysis system can be obtained from the PLC system by the second controller at the same time, so as to determine the position of the hinge and fasten the hinge at the connection between the vehicle body and the door cover, thereby accurately installing the door cover on the vehicle body.

[0054] The door cover in the embodiment includes four doors, an engine cover and a rear cover, and the application is used for assembling the doors, the engine cover and the rear cover with the vehicle body respectively, when the door cover is assembled with the vehicle body, first, the first robot is controlled to grab the door cover such as a certain door, an engine cover or a rear cover and move it to a first preset assembly position close to the vehicle body, at this time, the first preset assembly position is equivalent to the movement starting point of the door cover relative to the vehicle body in the subsequent steps; then, the first camera and the first ranging sensor are cooperated to collect deviation data of multiple groups of feature points selected on the door cover and the vehicle body, and the multiple groups of deviation data constitute a deviation data set, at this time, the multiple groups of deviation data indicate the relative coordinate parameters of the door cover relative to the vehicle body at the first preset assembly position; then, according to the above deviation data and corresponding preset standard values, each compensation data can be obtained, in other words, each compensation data indicates the movement amount of the door cover from the first preset assembly position when the door cover and the vehicle body reach the best assembly state, after obtaining each compensation data, the first robot is controlled to move the door cover to a second preset assembly position, at this time, the second preset assembly position is the position of the door cover and the vehicle body reaching the best assembly state; the second robot is controlled to fasten the hinge at the connection between the door cover and the vehicle body, so as to realize fastening the door cover on the vehicle body; in other words, compared with the problem of low automobile assembly qualification rate caused by manually assembling the door cover on the vehicle body combined with tooling in the prior art, the camera and the ranging sensor are cooperated to collect the deviation data set of the door cover and the vehicle body such as the gap and the surface difference of each group of feature points, so as to calculate each compensation data for controlling the movement of the door cover and the best assembly position, so that the gap and the surface difference of the door cover and the vehicle body after assembly are within the preset standard value, thereby effectively improving the qualification rate of automobile door cover assembly.

[0055] In an embodiment of the application, before the first robot is controlled to grab the door cover, further comprising:

[0056] S01, set an automobile model on simulation software, and select each group of first feature points from the simulated door cover and the simulated vehicle body of the automobile model; according to each group of the first feature points, determine the arrangement mode of the simulated camera and the simulated ranging sensor on the simulation software.

[0057] It should be noted that in the above step S01, first, a car model same as the to-be-assembled vehicle model is set on the simulation software, for example, the car model includes a simulated door cover and a simulated vehicle body, then each group of first feature points is selected from the simulated door cover and the simulated vehicle body on the simulation software, the each group of first feature points is a theoretical first feature point, thereby providing feature data reference for each group of second feature points selected on the door cover and the vehicle body of the car in the subsequent step in the field workshop, then the arrangement mode of the simulation camera and the simulation distance measuring sensor on the simulation software is determined according to each group of first feature points and each parameter on the car model, thereby providing reference and convenience for the installation and arrangement of the first camera and the first distance measuring sensor in the field workshop, so that there is an installation basis when the first camera and the first distance measuring sensor are installed in the field, not only the installation efficiency of the first camera and the first distance measuring sensor is improved, but also the accuracy of the first camera and the first distance measuring sensor installed in place at one time is greatly improved, wherein the arrangement mode of the simulation camera and the simulation distance measuring sensor includes but is not limited to the number and arrangement mode of the simulation camera and the simulation distance measuring sensor.

[0058] In an embodiment of the present application, S01, after determining the arrangement mode of the simulation camera and the simulation distance measuring sensor on the simulation software, further comprising:

[0059] S02, designing and manufacturing the first robot according to each group of first feature points and the arrangement mode of the simulation camera and the simulation distance measuring sensor;

[0060] S03, installing the first camera and the first distance measuring sensor on the first robot according to the arrangement mode of the simulation camera and the simulation distance measuring sensor.

[0061] It should be noted that after determining the arrangement mode of the simulation camera and the simulation distance measuring sensor on the simulation software, in step S02, at this time, the staff can first design a first robot model on the design software according to each first feature point selected from the simulated door cover and the simulated vehicle body on the simulation software and the arrangement mode of the simulation camera and the simulation distance measuring sensor, and then manufacture a first robot physical object according to the first machine model, at this time, the first robot can meet the corresponding requirements of grabbing the door cover of the car and installing the first camera and the first distance measuring sensor. In step S03, then the staff can install the first camera and the first distance measuring sensor more accurately at the corresponding position of the first robot according to the arrangement mode of the simulation camera and the simulation distance measuring sensor, as a reference or basis.

[0062] In an embodiment of the present application, S2, the obtaining of the deviation data set based on controlling the first camera and the first distance measuring sensor includes:

[0063] S21, selecting, according to each group of the first feature points, each group of second feature points corresponding to each group of the first feature points on the door cover and the vehicle body; wherein each group of the second feature points comprises a feature hole group composed of a first feature hole on the door cover and a second feature hole on the vehicle body, a gap between the door cover and the side outer plate of the vehicle, and a surface difference between the door cover and the two planes of the side outer plate;

[0064] S22, based on controlling the first camera to obtain a photo including the first feature hole and the second feature hole, and according to the first feature hole and the second feature hole in the photo, obtaining a first directional deviation amount of the feature hole group;

[0065] S23, based on controlling the first ranging sensor to collect a first gap value between the door cover and the side outer plate and express it with a second directional deviation amount, and collect a first surface difference value between the door cover and the two planes of the side outer plate and express it with a third directional deviation amount;

[0066] S3, according to each of the deviation data and each corresponding preset standard value, obtaining each compensation data comprises: calculating the first directional deviation amount, the second directional deviation amount and the third directional deviation amount respectively with each corresponding preset standard value to obtain each compensation data.

[0067] It should be noted that in the above step S21, the workers can select each group of second feature points corresponding to each group of first feature points on the door cover and the vehicle body according to each group of first feature points on the simulation software; wherein the simulation software can use cinema4d, cinema4d (abbreviation C4D) is a high-level three-dimensional animation software developed by Germany Maxon company, it is mainly used for making complex three-dimensional animation and model, it is a multifunctional 3D modeling software, it can let the user easily create any shape object in the real world, also can quickly render the real picture. C4D provides users with powerful creative tools, which can be used to create animation, games, building visualization, special effects, exhibits, flat images and other content. Combined with Figure 4 the above-mentioned, Figure 4 the display is the assembly state diagram of the rear cover and the side outer plate of the vehicle body, in order to Figure 4The left side of the rear cover is taken as an example for illustration. The second feature points include a left feature hole group composed of a first feature hole S1 on the door cover, for example, the rear cover, and a second feature hole S3 on the vehicle body. The number of feature hole groups is not limited to one group. As long as the combination of at least one first feature hole on the rear cover and at least one second feature hole on the corresponding mounting position of the vehicle body is satisfied, the gap between the left side of the door cover, for example, the rear cover, and the side outer panel of the vehicle and the difference between the two planes can be selected as at least two feature point regions. For example, one feature point region is selected as S5 and the other feature point region is selected as S7. Since at least two feature point regions, for example, S5 and S7, are selected between the left side of the rear cover and the corresponding side outer panel, the gap and the difference between the two planes are selected, and in combination with the feature hole group arranged on the rear cover and the vehicle body, more sufficient and powerful basis is provided for the compensation data of the movement of the rear cover in the subsequent steps. In other words, it can be ensured that the assembly of the rear cover and the side outer panel is more accurate. In step S22, the first camera is controlled by the PLC system to take a photo of the first feature hole S1 and the second feature hole S3 on the vehicle body to obtain a photo containing the first feature hole and the second feature hole. Then, the first feature hole S1 and the second feature hole S3 in the photo are calculated by the visual analysis system to obtain the relative position deviation of the first feature hole S1 and the second feature hole S3 in the feature hole group, that is, the first direction deviation, for example, the Z-direction deviation (see symbol Z in Figure 4 ).

[0068] In step S23, the first gap value between the door cover and the side outer panel at the feature point region S5 is collected by the PLC system controlling the first distance sensor and represented by the second direction deviation, which is the Y-direction deviation (see symbol dy in Figure 4 ). The first difference value between the two planes of the door cover and the side outer panel at the feature point region S5 is collected and represented by the third direction deviation. Since the plane of the feature point region S5 is a vertical plane, the third direction deviation is the X-direction deviation (see symbol dx in Figure 4 ). The gap and the difference of the feature point region S6 on the right side of the rear cover are collected in the same way as the feature point region S5 on the left side of the rear cover. The first gap value between the door cover and the side outer panel at the feature point region S7 is collected by the PLC system controlling the first distance sensor and represented by the second direction deviation, which is the Y-direction deviation (see symbol dy in Figure 4 ). The first difference value between the two planes of the door cover and the side outer panel at the feature point region S7 is collected and represented by the third direction deviation. Since the plane of the feature point region S7 is an inclined plane, the third direction deviation is the Z-direction deviation (see symbol Z in Figure 4The gap and surface difference collection method of the feature point area S8 on the right side of the back cover is the same as that of the feature point area S7 on the left side of the back cover. The second direction deviation amount is perpendicular to the third direction deviation amount. The Y direction refers to the front-to-back driving direction of the automobile, and the X direction refers to the horizontal direction perpendicular to the driving direction of the automobile, for example, the left-to-right direction. The first direction deviation amount, the second direction deviation amount and the third direction deviation amount are deviation data of the back cover relative to the feature points on the automobile body when the back cover is in the first preset assembly position. The deviation amount refers to the relative position of the feature point on the door cover, for example, the back cover, relative to the corresponding feature point on the automobile body, which is represented by the deviation amount.

[0069] In step S3, the first direction deviation amount, the second direction deviation amount and the third direction deviation amount are compared with the preset standard values in the visual analysis system, for example, the FFT visual analysis system, respectively, so as to obtain compensation data of the feature points, which can be understood as the movement amount of the feature points when the door cover, for example, the back cover, is moved from the first preset assembly position to the optimal assembly position, for example, the second preset assembly position. In other words, according to the compensation data, the door cover, for example, the back cover, can be accurately moved to the second preset assembly position after a small number of movements, for example, once. Since the back cover is a left-right symmetrical structure, the selection and collection method of the second feature points on the back side of the back cover is the same as that of the second feature points on the left side of the back cover, which will not be described here. The above is the method for obtaining the deviation data set of the back cover during the assembly process with the automobile body. The deviation data set obtained during the assembly process of the engine cover with the automobile body and the assembly process of other doors with the automobile body is the same as the above method, which will not be described here.

[0070] In an embodiment of the present application, the method for obtaining the deviation data set based on the control of the first camera and the first distance sensor further comprises:

[0071] S24, the first gap value and the first surface difference value collected at different positions of the door cover and the side outer panel are respectively analyzed by weight matching to determine whether the collected first gap value and the first surface difference value are effective.

[0072] It should be noted that the first distance sensor will transmit the multiple first gap values and the multiple first surface difference values collected by the door cover and the side outer plate at different position regions to the visual guidance system in sequence through the PLC system and the visual analysis system, and the visual guidance system will weight and proportion the above values, because the feature point region S5 and the feature point region S7 are different position regions where the door cover and the side outer plate are connected, for example, the gap between the two planes of the rear cover and the side outer plate collected at the feature point region S5 is represented by the first Y-direction deviation amount and the surface difference between the two planes is represented by the first X-direction deviation amount, and the gap between the two planes of the rear cover and the side outer plate collected at the feature point region S7 is represented by the second Y-direction deviation amount and the surface difference between the two planes is represented by the second X-direction deviation amount, if the surface difference between the two planes in the X-direction exists at the feature point region S5 and S7, or the gap between the two planes exists in the Y-direction, assuming that the surface difference between the two planes at the feature point region S5, that is, the first X-direction deviation amount, exists in the X positive direction, and the surface difference between the two planes at the feature point region S7, that is, the second X-direction deviation amount, exists in the X negative direction; or, the gap between the two planes at the feature point region S5, that is, the first Y-direction deviation amount, exists in the Y positive direction, and the gap between the two planes at the feature point region S7, that is, the second Y-direction deviation amount, exists in the Y negative direction, at this time, no matter how the first robot is controlled to adjust, it is impossible to make the door cover reach the qualified position, therefore, by weighting and proportioning the gap and the surface difference between the door cover and the side outer plate at different positions, it can be judged whether the collected first gap value and the first surface difference value are effective, if not, at this time, the weight proportioning of each group of feature points needs to be combined with the vehicle body size chain and the on-site debugging to ensure that the visual analysis system can calculate and transmit the corresponding specific compensation value to make the door cover piece reach the best fitting position; if effective, the next step is performed, and then on the basis of effective deviation data, corresponding effective compensation data is obtained to make the assembly of the door cover and the vehicle body more accurate and fast.

[0073] In an embodiment of the present application, S2, the first camera and the first distance sensor are controlled to obtain a set of deviation data, which further comprises:

[0074] S25, collecting the offset amount of the door cover in the fastening process of the hinge with the door cover and the vehicle body;

[0075] S3, obtaining each compensation data according to each deviation data and each corresponding preset standard value, which comprises: obtaining each compensation data according to the comparison difference between the offset amount and the first direction deviation amount, the second direction deviation amount and the third direction deviation amount and each preset standard value.

[0076] It should be noted that, generally, when the hinge is fastened at the connection between the door cover, for example, the rear cover, and the vehicle body, the rear cover can be deviated due to excessive stress during the tightening process, and the deviation can cause the door cover to deviate from the optimal assembly position relative to the vehicle body. Therefore, in step S25, the offset of the door cover during the fastening process of the hinge with the door cover and the vehicle body is collected, and the offset can be used as one of the adjustment parameters for correcting the optimal assembly position of the door cover and the vehicle body. In step S3, the visual analysis system can calculate the offset, and compare the first direction deviation, the second direction deviation, and the third direction deviation with the corresponding preset standard values, in other words, after calculating the comparison difference between the first direction deviation, the second direction deviation, and the third direction deviation and the corresponding preset standard values, the offset of the door cover during the fastening process is also calculated to obtain more accurate compensation data, in other words, by using the reverse optimization compensation amount technical means, after the first controller controls the first robot to move to the second preset assembly position according to the above compensation data, the second controller controls the second robot to fasten the hinge at the connection between the door cover and the vehicle body, even if the door cover is deviated during the fastening process, the door cover and the vehicle body are just in the optimal assembly position after the hinge is fastened, and then the door cover is fastened and installed on the vehicle body once, without the need for subsequent multiple adjustments, so that the gap and the surface difference between the assembled door cover and the corresponding part of the vehicle are within the allowable deviation, greatly improving the assembly efficiency and quality of the automobile door cover.

[0077] In an embodiment of the present application, S4, after controlling the second robot to fasten the hinge at the connection between the door cover and the vehicle body, further comprises:

[0078] S5, based on controlling the first distance measuring sensor, collecting the gap between the door cover and the side outer panel and the surface difference between the two planes again to obtain second gap value and second surface difference value, respectively;

[0079] S6, uploading the second gap value and the second surface difference value to the upper computer.

[0080] It should be noted that after the hinge is fastened at the connection between the door cover and the vehicle body, the relevant data of the door cover and the vehicle body are detected for quality, so as to finally judge the assembly effect of the automobile door cover; wherein in step S5, the first distance sensor is controlled by the PLC system, the gap between the door cover and the side outer plate and the surface difference between the two planes are detected again, and are transmitted to the visual analysis system for operation, so as to obtain the second gap value and the second surface difference value; in step S6, the second gap value and the second surface difference value are uploaded to the database on the host computer by the visual analysis system, at this time, the relevant measurement results are recorded for later tracing.

[0081] In an embodiment of the present application, S01, after determining the arrangement of the simulation camera and the simulation distance sensor on the simulation software, further comprises:

[0082] S04, positioning and installing the hinge on the first robot, and connecting and fastening one end of the hinge with the door cover.

[0083] It should be noted that in the above step S04, the middle part of the hinge is first positioned and installed on the first robot or positioning tool by artificial or other mechanical hand, so as to provide an installation basis for the installation of the hinge, and the connection of one end of the hinge with the door cover is in a connected and fastened state, thereby facilitating the fastening of the hinge to the connection between the door cover and the vehicle body by the second robot in the subsequent step.

[0084] Another embodiment of the present application provides an automobile door cover assembly system, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, when the processor executes the program, the method for assembling the automobile door cover as described in any of the above embodiments is realized.

[0085] In an embodiment of the present application, the automobile door cover assembly system further comprises a first robot, a second robot and a first camera and a first distance sensor arranged on the first robot, and the first robot, the second robot, the first camera and the first distance sensor are respectively connected with the processor.

[0086] It should be noted that the first robot can be a combination of a mechanical arm and an integrated gripper, as long as different structures of robots capable of realizing the functions of the above first robot are suitable for the present technical solution, which will not be described here; the automobile door cover assembly system in the present embodiment has similar technical effects to the above automobile door cover assembly method, which will not be described here.

[0087] Although the present disclosure discloses as above, the protection scope of the present disclosure is not limited to this. The person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will fall within the protection scope of the present disclosure.

Claims

1. A method for assembling an automobile door cover, applied to an automobile door cover assembly system, characterized in that, The car door assembly system includes a first robot, a second robot, and a first camera and a first ranging sensor mounted on the first robot; the car door assembly method includes: Control the first robot to grab the door cover and move it to a first preset assembly position near the vehicle body; Based on controlling the first camera and the first ranging sensor, a set of deviation data is obtained; wherein, the set of deviation data includes deviation data of multiple sets of feature points selected on the door cover and the vehicle body; Based on the deviation data and the corresponding preset standard values, compensation data is obtained; and based on the compensation data, the first robot is controlled to move the door cover to the second preset assembly position; wherein, the preset standard values ​​are the standard data of each feature point when the door cover and the body reach the optimal assembly state; The second robot is controlled to fasten the hinge to the connection between the door cover and the vehicle body; The process includes, before controlling the first robot to grasp the door cover, the following: A car model is set up on the simulation software, and each group of first feature points is selected from the simulated door hood and simulated body of the car model; based on each group of first feature points, the arrangement of the simulated camera and simulated ranging sensor on the simulation software is determined. The deviation data set obtained based on controlling the first camera and the first ranging sensor includes: Based on the first feature points of each group, select the second feature points of each group corresponding to the first feature points of each group on the vehicle body and the door cover; wherein, each group of second feature points includes a feature hole group consisting of a first feature hole on the door cover and a second feature hole on the vehicle body, the gap between the door cover and the side panel of the vehicle, and the surface difference between the two planes of the door cover and the side panel. Based on controlling the first camera, an image including the first feature hole and the second feature hole is obtained, and based on the first feature hole and the second feature hole in the image, a first directional deviation of the feature hole group is obtained; Based on controlling the first ranging sensor, the system collects the first gap value between the door cover and the outer side panel and represents it with a second directional deviation value, and collects the first surface difference value between the two planes of the door cover and the outer side panel and represents it with a third directional deviation value. Obtaining each compensation data based on the aforementioned deviation data and the corresponding preset standard values ​​includes: calculating the first directional deviation, the second directional deviation, and the third directional deviation with the corresponding preset standard values ​​to obtain each compensation data.

2. The assembly method for an automobile door cover according to claim 1, characterized in that, After determining the arrangement of the simulated camera and simulated ranging sensor on the simulation software, the method further includes: The first robot is designed and manufactured based on the arrangement of the first feature points in each group and the simulated camera and the simulated ranging sensor. According to the arrangement of the simulated camera and the simulated ranging sensor, the first camera and the first ranging sensor are mounted on the first robot.

3. The assembly method for an automobile door cover according to claim 1, characterized in that, The method of obtaining the deviation data set based on controlling the first camera and the first ranging sensor further includes: Weighted analysis is performed on multiple first gap values ​​and multiple first surface difference values ​​collected at different positions of the door cover and the side panel to determine whether the collected first gap values ​​and first surface difference values ​​are valid.

4. The assembly method for an automobile door cover according to claim 1, characterized in that, The method of obtaining the deviation data set based on controlling the first camera and the first ranging sensor further includes: The offset of the door cover was collected during the fastening process of the hinge with the door cover and the vehicle body. The compensation data is obtained by comparing the offset, the first directional deviation, the second directional deviation and the third directional deviation with the preset standard values.

5. The assembly method for an automobile door cover according to claim 1, characterized in that, After controlling the second robot to fasten the hinge to the connection between the door cover and the vehicle body, the process further includes: Based on the control of the first ranging sensor, the gap between the door cover and the side panel and the surface difference between the two planes are collected again to obtain the second gap value and the second surface difference value respectively. The second gap value and the second surface difference value are uploaded to the host computer.

6. The assembly method for an automobile door cover according to claim 2, characterized in that, After determining the arrangement of the simulated camera and simulated ranging sensor on the simulation software, the method further includes: The hinge is positioned and installed on the first robot, and one end of the hinge is connected and secured to the door cover.

7. An assembly system for an automobile door cover, characterized in that, The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the method for assembling an automobile door cover as described in any one of claims 1-6.

8. The assembly system for an automobile door cover according to claim 7, characterized in that, It also includes a first robot, a second robot, and a first camera and a first ranging sensor mounted on the first robot. The first robot, the second robot, the first camera, and the first ranging sensor are respectively signal-connected to the processor.

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