A 3D vision guidance based method and system for installing a car rear emblem

Abstract

The application relates to the technical field of automobile accessory installation, and discloses a 3D vision guiding-based automobile tail sign installation method and system, which effectively solves the problem of affecting the production process of vehicles when manually installing vehicle tail signs. The 3D vision guiding-based automobile tail sign installation method provided by the application comprises the following steps: a robot obtains position information of a material frame where a vehicle tail sign corresponding to a vehicle model is located based on the vehicle model; a first position deviation is obtained by scanning the vehicle tail sign; the robot sucks the tail sign based on the first position deviation; the vehicle tail sign is moved to the tail of the vehicle; a second position deviation of the vehicle tail sign is obtained; and the vehicle tail sign is attached based on the second position deviation, so that the effectiveness of vehicle tail sign installation is improved.

Description

Technical Field

[0001] This invention relates to the field of automotive parts installation technology, specifically to a method and system for installing automotive tail badges based on 3D vision guidance. Background Technology

[0002] Vehicle rear badges, also known as nameplates at the rear of a vehicle, generally represent the advanced technologies equipped on the vehicle, such as engine technology or chassis technology. Currently, the installation of vehicle rear badges in automobile factories is done manually, which is a waste of human resources. Moreover, each vehicle model corresponds to a different rear badge, resulting in too many types of rear badges and making it easy for installation errors to occur. Workers also need to peel off the protective film and align the position of the badges, which inevitably leads to problems such as badge tilting and incorrect installation, causing problems such as the installation of vehicle rear badges to affect the vehicle production process. Summary of the Invention

[0003] (a) Technical problems to be solved

[0004] To address the shortcomings of existing technologies, this invention provides a method and system for installing car tail badges based on 3D vision guidance.

[0005] (II) Technical Solution

[0006] To address the above problems, the present invention provides the following technical solution: a method for installing car tail badges based on 3D vision guidance, the installation method comprising:

[0007] The robot obtains the location information of the material box containing the vehicle's tail logo based on the vehicle model.

[0008] The robot scans the vehicle's tail logo to obtain the first positional deviation, and then uses the tail logo to pick up the tail logo based on the first positional deviation.

[0009] Move the vehicle emblem to the rear of the vehicle, obtain the second positional deviation of the vehicle emblem, and then attach the vehicle emblem based on the second positional deviation.

[0010] The present invention also provides a 3D vision-guided vehicle tail badge installation system, the installation system comprising:

[0011] The acquisition module is used to obtain the location information of the material frame where the vehicle tail logo corresponding to the vehicle model is located based on the vehicle model.

[0012] The suction module is used to scan the vehicle's tail mark to obtain the first positional deviation, and the robot sucks up the tail mark based on the first positional deviation.

[0013] The bonding module is used to move the vehicle emblem to the rear of the vehicle, obtain the second positional deviation of the vehicle emblem, and bond the vehicle emblem based on the second positional deviation.

[0014] (III) Beneficial Effects

[0015] Compared with existing technologies, the present invention provides a method and system for installing car tail badges based on 3D vision guidance, which has the following beneficial effects:

[0016] 1. This method and system for installing car rear emblems obtains the position of the vehicle's rear emblem, picks it up, and controls an AGV (Automated Guided Vehicle) to move to the rear of the car to install the emblem. This achieves automation and mechanization of production, avoiding the inevitable problems of emblem tilting, misinstallation, and installation errors that occur with manual emblem installation.

[0017] 2. The vehicle tail badge installation method and system uses two 3D cameras to scan the position of the material frame, thereby capturing the vehicle tail badge within the frame. It also scans the rear of the vehicle to obtain position information and the actual position of the tail badge, and performs calculations to achieve the installation of the vehicle tail badge without tilting or errors, improving the effectiveness of the vehicle tail badge installation and avoiding affecting the vehicle production process. Attached Figure Description

[0018] Figure 1 A location diagram provided for this invention;

[0019] Figure 2 A flowchart of the installation method provided by the present invention;

[0020] Figure 3 This is a schematic diagram of the installation system provided by the present invention. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Please see Figures 1-2 This invention provides a new technical solution: a method for installing car tail badges based on 3D vision guidance, the method comprising:

[0023] S1. The robot obtains the location information of the material box where the vehicle tail mark corresponding to the vehicle model is located based on the vehicle model.

[0024] Specifically, the robot is a six-axis collaborative robot fixed on an AGV (Automated Guided Vehicle). The AGV moves, driving the robot to move as well. The robot has a robotic arm that can perform actions such as gripping and suction. The robot has pre-set position information of the material frame containing the car tail logo corresponding to the vehicle model. After obtaining the vehicle model to be installed, the robot retrieves the position information of the material frame containing the car tail logo based on the vehicle model, thereby enabling the AGV to move the robot to the position information of the material frame containing the car tail logo corresponding to the vehicle model, thus allowing the robot to grip the tail logo. The AGV also has functions such as automatic obstacle avoidance.

[0025] Furthermore, the step of obtaining the location information of the material frame corresponding to the vehicle model based on the vehicle model includes:

[0026] After receiving the installation instruction, the robot retrieves the location information of the material frame where the vehicle tail label corresponding to the vehicle model is located. The installation instruction includes the vehicle model of the tail label to be installed and the corresponding vehicle tail label to be installed, and confirms the vehicle tail label.

[0027] Specifically, after receiving the installation instruction from the server, the robot reads the instruction, which includes the vehicle model of the tail tag to be installed and the corresponding tail tag. The robot then retrieves the preset position information of the material box containing the tail tag corresponding to the vehicle model based on the vehicle signal, and sends the position information to the AGV. The AGV then moves the robot to the position of the material box containing the tail tag based on the position signal, and confirms the picked-up tail tag to ensure the correctness of the picked-up tail tag and prevent installation errors.

[0028] S2. Scan the vehicle's tail mark to obtain the first position deviation, and the robot absorbs the tail mark based on the first position deviation.

[0029] Specifically, due to lane lines or movement patterns, the AGV vehicle's position may have an error of ±10mm compared to the position of the material frame containing the vehicle's tail label. Therefore, the tail label is scanned to obtain the first actual position information of the tail label. Based on the actual position information and the position information of the material frame, a first position deviation is obtained. The robot picks up the tail label based on the first position deviation and works with another robotic arm of the robot to tear off the film on the tail label. The film can also be torn off manually.

[0030] Furthermore, the first positional deviation obtained by scanning the vehicle's tail mark includes:

[0031] The first 3D camera on the robot's manipulator scans the vehicle's tail logo to obtain its actual position information, thus obtaining the first position deviation of the vehicle's tail logo.

[0032] Specifically, the robot uses a first 3D camera on its robotic arm to scan the car tail logo in the material box to obtain the first actual position information of the car tail logo. This first actual position information is the location of the car tail logo. The first actual position information is compared and subtracted from the position information to obtain the first position deviation. This first position deviation is the distance that the robotic arm needs to move from the position information of the material box to the actual position information of the car tail logo. In this way, the robot's robotic arm is moved from the position information of the material box to the first position information of the tail logo and picks up the tail logo.

[0033] S3. Move the vehicle tail logo to the rear of the vehicle, obtain the second position deviation of the vehicle tail logo, and attach the vehicle tail logo based on the second position deviation.

[0034] Specifically, after the robot picks up the vehicle tail tag, it needs to move from the material box where the tail tag is located to the rear of the vehicle to install the tail tag. The robot has preset the tail position information where the tail tag needs to be installed at the rear of the vehicle. However, due to the error caused by the movement of the AGV, a second position deviation needs to be obtained. Based on the second position deviation, the vehicle tail tag can be attached to the rear of the vehicle.

[0035] Furthermore, the acquisition of the second position deviation of the vehicle tail mark includes:

[0036] After the robot moves to the rear of the vehicle, it moves the vehicle's tail marker into the scanning range of the second 3D camera on the AGV where the robot is located, and scans and calculates the second position deviation of the vehicle.

[0037] Specifically, a second 3D camera is installed on the AGV. When the AGV moves to the rear of the car located on the constant speed belt, the vehicle tail mark captured by the robot is moved into the scanning range of the second 3D camera for scanning. The second position deviation of the vehicle is obtained by scanning and calculation.

[0038] Furthermore, the second 3D camera scans the vehicle's tail logo to obtain a first deviation, obtains a second positional deviation based on the first deviation, and then applies the vehicle's tail logo based on the second positional deviation.

[0039] Specifically, the second 3D camera scans the vehicle's tail mark and calculates the first deviation. The position of the second 3D camera during scanning, i.e., the position of the AGV, is the scanning position Pphoto. The actual position P10 obtained by the second 3D camera scanning the vehicle's tail mark captured by the robotic arm, and the preset standard position information P20 in the second 3D camera, are then transformed into the actual position P10 to obtain the transformation matrix deltaP1.

[0040] deltaP1=P20*(P10-1 );

[0041] The first deviation P1 of the tail mark on the robot arm is calculated based on the transformation matrix deltaP1. Then P1 = Pphoto * deltaP1. The first deviation P1 is output to the robot. The second position deviation is calculated and transformed based on the first deviation. This second position deviation is the position where the tail mark should be attached to the rear of the vehicle. The robot arm then attaches the tail mark to the final position of the tail mark based on the second position deviation.

[0042] Furthermore, obtaining the second positional deviation based on the first deviation includes:

[0043] The first 3D camera scans the standard rear position information of the car's rear end, and calculates the second position deviation based on the first deviation and the standard rear position information.

[0044] Specifically, the robot's manipulator's first 3D camera scans the rear of the car to obtain the position information Pplace of the AGV's tail marker placed at the standard car's rear after the AGV moves. The robot's internally preset installation position information P30 can be used to obtain the transformation matrix deltaFix using the method for obtaining the transformation matrix deltaP1.

[0045] deltaFix = P30 * (Pphoto) -1 ),

[0046] The first deviation P1 is then transformed into the standard rear position information Pplace, which requires the following process: Pplace = P1 * deltaFix. Following the transformation matrix deltaP1 method, the transformation matrix deltaP2 between the current rear position P50 and the standard rear position P40 can be calculated, where P50 is the car's position information and P40 is the AGV's position relative to the car. Based on the transformation matrix deltaP2, the second position deviation P2 is obtained. The robot's manipulator then attaches the vehicle's tail marker to the vehicle according to the second position deviation P2, where deltaP2 = P40 * (P50 * deltaFix). -1 ).

[0047] The second position deviation P2, position information Pplace, first deviation P1, standard position information P20, and actual position P10 mentioned above are all matrices, along with the current rear vehicle position P50 and the standard rear vehicle position P40. R1, R2, R3, R4, and R5 are 3x3 rotation matrices, and T1, T2, T3, T4, and T5 are 3x1 translation matrices.

[0048] The first 3D camera and the second 3D camera are of the same model and the 3D camera used can realize 3D vision function. This is just to indicate that they are not the same 3D camera.

[0049] This invention also provides a 3D vision-guided automotive tail badge installation system, such as... Figure 3 As shown, the installation system includes:

[0050] The acquisition module is used to obtain the location information of the material frame where the vehicle tail logo corresponding to the vehicle model is located based on the vehicle model.

[0051] The suction module is used to scan the vehicle's tail mark to obtain the first positional deviation, and the robot sucks up the tail mark based on the first positional deviation.

[0052] The bonding module is used to move the vehicle emblem to the rear of the vehicle, obtain the second positional deviation of the vehicle emblem, and bond the vehicle emblem based on the second positional deviation.

[0053] The acquisition module is further used for:

[0054] After receiving the installation instruction, the robot retrieves the location information of the material frame where the vehicle tail logo corresponding to the vehicle model is located. The installation instruction includes the vehicle model to be installed and the vehicle tail logo corresponding to the vehicle model, and confirms the vehicle tail logo.

[0055] The suction module is further used for:

[0056] The first 3D camera on the robot's manipulator scans the vehicle's tail mark to obtain a first model of the vehicle's tail mark, and obtains the first positional deviation of the vehicle's tail mark.

[0057] The bonding module is further used for:

[0058] After the robot moves to the rear of the vehicle, it moves the vehicle's tail marker into the scanning range of the second 3D camera on the AGV where the robot is located to obtain the vehicle's second position deviation.

[0059] The bonding module is further used for:

[0060] The second 3D camera scans the vehicle's tail logo to obtain a first deviation, obtains a second positional deviation based on the first deviation, and then attaches the vehicle's tail logo based on the second positional deviation.

[0061] The bonding module is further specifically used for:

[0062] The first 3D camera scans the standard rear position information of the car's rear end, and calculates the second position deviation based on the first deviation and the standard rear position information.

[0063] The 3D vision-guided car tail badge installation system provided in this application can realize all the processes of the above-described 3D vision-guided car tail badge installation method and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0064] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for installing car tail badges based on 3D vision guidance, characterized in that: The installation method comprises: The robot obtains position information of a vehicle tail mark corresponding to a vehicle model in a material frame based on the vehicle model; specifically, after receiving an installation instruction sent by the server, the robot reads the installation instruction, and the installation instruction contains a vehicle model of a tail mark to be installed and a vehicle tail mark corresponding to the vehicle model; the robot is a six-axis collaborative robot fixed on an AGV trolley, and the robot adjusts the position information of the vehicle tail mark corresponding to the vehicle model based on the vehicle model to send the position information to the AGV trolley, and then the AGV trolley moves the robot to the position of the material frame where the vehicle tail mark is located according to the position signal; The first position deviation is obtained by scanning the vehicle tail mark, and the robot sucks the tail mark based on the first position deviation; specifically, the first 3D camera on the mechanical hand of the robot scans the vehicle tail mark in the material frame to obtain the first actual position information of the vehicle tail mark, the first actual position information is compared and subtracted with the position information to obtain the first position deviation, and the robot adjusts the mechanical hand based on the first position deviation to move the mechanical hand to the first actual position information of the tail mark and suck the tail mark; The vehicle tail mark is moved to the vehicle tail, a second position deviation of the vehicle tail mark is obtained, and the vehicle tail mark is fitted based on the second position deviation; specifically: the AGV moves the robot sucking the tail mark to the tail of the vehicle on the uniform speed belt, moves the vehicle tail mark sucked by the robot to the scanning range of the second 3D camera installed on the AGV, the second 3D camera scans the vehicle tail mark and calculates a first deviation, the position of the second 3D camera when scanning is the position of the AGV, which is the scanning position Pphoto, the actual position P10 of the vehicle tail mark sucked by the mechanical hand is obtained by scanning the vehicle tail mark by the second 3D camera, the standard position information P20 is preset in the second 3D camera, and the standard position information P20 is converted into the actual position P10 to obtain the transformation matrix deltaP1: The first 3D camera of the mechanical hand of the robot scans the tail of the vehicle to obtain the position information Pplace of the tail mark placed at the standard vehicle tail after the AGV moves, the installation position information P30 preset in the robot is combined to obtain the transformation matrix deltaP1, and the method can obtain the transformation matrix deltaFix: The transformation matrix deltaP2 of the current vehicle tail position P50 and the standard vehicle tail position P40 is calculated: The mechanical hand of the robot fits the vehicle tail mark on the vehicle according to the second position deviation P2.

2. A 3D vision guided car badge installation system for implementing a 3D vision guided car badge installation method as claimed in claim 1, characterized in that: The installation system comprises: The acquisition module is configured to obtain position information of a vehicle tail mark corresponding to a vehicle model in a material frame based on the vehicle model; The suction module is configured to obtain a first position deviation by scanning the vehicle tail mark, and to suck the tail mark based on the first position deviation; The fitting module is configured to move the vehicle tail mark to the tail part of the vehicle, to obtain a second position deviation of the vehicle tail mark, and to fit the vehicle tail mark based on the second position deviation.

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