Method of installing modules

Abstract

An installation method includes the following steps: a first step (S1) of detecting vehicle body side error; a second step (S12) of detecting module side error; a third step (S22) of correcting the position of module (M) in the XYZ directions and the angles (W, P, R) around each axis based on the vehicle body side error and the module side error; a fourth step (S3) of detecting the vehicle body center (Bc) by using the vehicle body side error and measuring the left and right sides of the vehicle body (B); a fifth step (S16) of detecting the module center (Mc) by using the vehicle body side error and measuring the left and right sides of module (M); and a sixth step (S24) of correcting the position of module (M) based on the vehicle body center (Bc) and the module center (Mc), thereby correcting the position error even when there is a position error between the vehicle body (B) and the module (M) to achieve sufficient centering accuracy.

Description

Technical Field

[0001] This invention relates to a method for installing various modules, such as instrument panels, on a vehicle body that has been moved to a designated location on a vehicle production line. Background Technology

[0002] Conventionally, for example, there is a method described in Patent Document 1 for installing such a module. The installation method described in Patent Document 1 involves assembling an instrument panel (hereinafter referred to as "instrument panel") inside the vehicle's passenger compartment. This installation method measures the width-direction positions of a pair of left and right side measuring reference sections at symmetrical positions within the vehicle, and also measures the width-direction positions of the pair of left and right instrument panel side measuring reference sections at symmetrical positions on the instrument panel before it is installed inside the passenger compartment.

[0003] Then, the above installation method calculates the center difference between the vehicle's top-view width direction center position and the dashboard's top-view width direction position obtained through the above measurements. Based on this center difference, the width direction position of the dashboard moved into the passenger compartment is adjusted. After that, the dashboard is assembled to the vehicle body and fixed.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent No. 5302797 Summary of the Invention

[0007] The problem the invention aims to solve

[0008] However, the aforementioned conventional installation methods do not take into account the positional errors of the vehicle when stopped at the designated position, or the positional errors of the dashboard held by the robot. Therefore, the conventional installation methods suffer from problems such as difficulty in achieving sufficient centering accuracy when the vehicle is stopped at the designated position and the dashboard held by the robot is tilted. Solving this problem is a challenge.

[0009] This invention addresses the aforementioned problems and aims to provide a module installation method that can correct positional errors to achieve sufficient centering accuracy, even when the module is held by a work robot and the vehicle body is stopped at a specified position.

[0010] Solution for solving the problem

[0011] Regarding the module installation method involved in this invention, when installing the module held by the work robot on the vehicle body stopped at a specified position, the front-to-back direction of the vehicle body is set as the X direction, the left-to-right direction of the vehicle body is set as the Y direction, and the up-to-down direction of the vehicle body is set as the Z direction. The vehicle body has a side joint on the left and right, and the module has a side joint on the left and right. The side joints of the vehicle body and the side joints of the module face each other in the X direction.

[0012] The above installation method includes: a first step, for the vehicle body, measuring the positions of the left and right vehicle body side joints in the X, Y, and Z directions and their angles around the X, Y, and Z axes, and detecting the difference between the measured values ​​and the reference position of the vehicle body, i.e., the vehicle body side error (correction value); a second step, for the module held by the work robot, measuring the positions of the left and right module side joints in the X, Y, and Z directions and their angles around the X, Y, and Z axes, and detecting the difference between the measured values ​​and the reference position of the module, i.e., the module side error (correction value); and a third step, moving the module into the vehicle body so that the vehicle body side joints and the module side joints face each other, and correcting (correcting) the position of the module in the X, Y, and Z directions and its angles around the X, Y, and Z axes based on the vehicle body side error and the module side error.

[0013] Furthermore, the aforementioned installation method is characterized by including the following steps: a fourth step, after the third step, using vehicle side error and measuring the positions of the left and right sides of the vehicle body in the Y direction to detect the vehicle body center in the Y direction; a fifth step, after the third step, using vehicle side error and measuring the positions of the left and right sides of the module in the Y direction to detect the module center in the Y direction; and a sixth step, correcting the module position so that the module center detected in the fifth step is consistent with the vehicle body center detected in the fourth step. In addition, the measured values ​​of the angles around the X, Y, and Z axes also include values ​​calculated using the positions in the X, Y, and Z directions.

[0014] The effects of the invention

[0015] The module installation method of the present invention, by adopting the above structure, can correct the positional error to obtain sufficient centering accuracy even when there is a positional error in the vehicle body stopped at the specified position and the module held by the working robot. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the first embodiment of the installation method of the module involved in the present invention.

[0017] Figure 2 This is a top view showing the measurements of the side joint of the vehicle body.

[0018] Figure 3 This is a top view showing the measurements of the module side joint.

[0019] Figure 4 It is a top view showing the measurements of the left and right sides of the vehicle body and modules.

[0020] Figure 5 This is a top view showing measurements of the module-side joint taken by a contact sensor.

[0021] Figure 6 It is a top view showing the final stages of module installation.

[0022] Figure 7 This is an explanatory diagram showing the measurement of the side of the vehicle body and the module in a second embodiment of the module installation method according to the present invention.

[0023] Figure 8 This is a flowchart illustrating the second embodiment. Detailed Implementation

[0024] <First Implementation>

[0025] Figures 1-6 This diagram illustrates one embodiment of the module installation method according to the present invention. The module installation method involves installing a module M, held by a work robot, onto a vehicle body B stopped at a designated position on a vehicle production line. In this embodiment, an example is shown where a cockpit module (hereinafter referred to simply as "module") M, including an instrument panel, is installed on the vehicle body B.

[0026] In the module installation method of this invention, the front-to-back direction of the vehicle body B is defined as the X direction, the left-to-right direction of the vehicle body B is defined as the Y direction, and the up-to-down direction of the vehicle body B is defined as the Z direction. The angles around the X, Y, and Z axes are defined as W, P, and R, respectively. Furthermore, the vehicle body B has vehicle side joints Ba and Ba at symmetrical left-to-right positions, and the module M has module side joints Ma and Ma at symmetrical left-to-right positions. The vehicle side joints Ba and Ba and the module side joints Ma and Ma face each other in the X direction.

[0027] Furthermore, in the module installation method of this invention, a first working robot R1 holding the module M and a second working robot R2 and a third working robot R3 are disposed on the left and right sides of the vehicle body B. The first working robot R1 has a gripping mechanism for holding / releasing the module M in its hand. The second working robot R2 and the third working robot R3 have various sensors, bolt tightening machines, and other tools, which will be described later, in their hands. Each working robot R1 to R3 is a well-known multi-axis controlled robot, capable of controlling its hand in the X, Y, and Z directions and around each axis (angles W, P, R).

[0028] like Figure 1 As shown, the above-described installation method includes a first step S1, in which, for the vehicle body B, the positions of the left and right side joints Ba in the X, Y, and Z directions, and the angles W, P, and R around the X, Y, and Z axes are measured, and the difference between the measured values ​​and the reference position of the vehicle body B is detected, i.e., the vehicle body side error (correction value). At this time, the reference position of the vehicle body B is pre-measured using the main model of the vehicle body B. Furthermore, the "first" in the first step S1 is a number used to distinguish it from other steps, not indicating the order of the steps. This numbering will also be used in the following description.

[0029] like Figure 2 As shown, in the first process S1, a second working robot R2 and a third working robot R3 are positioned on the left and right sides of the vehicle body B, along with non-contact distance sensors mounted on their hands. The distance sensors are a combination of a two-dimensional image sensor (camera) A1 and a laser-based distance sensor A2. The two-dimensional image sensor A1 can primarily detect the position of the vehicle body side joint Ba in the Y and Z directions based on its image. The distance sensor A2 can primarily detect the position of the vehicle body side joint Ma in the X direction based on its measured values.

[0030] Furthermore, the ranging sensors, along with the working robots R2 and R3, are positioned on the left and right sides of the vehicle body B. Therefore, the angles W, P, and R of the vehicle body side joint Ba around each axis can be calculated based on data from both sides. The vehicle body side joint Ba has a locating pin 1 protruding towards the rear of the vehicle body. When a vehicle body side error is detected in the first process S1, in... Figure 1 In step S21 shown, the fastening position of bolt 3 is calculated.

[0031] Next, in the above installation method, in Figure 1 In step S11, module M is held. Furthermore, the installation method includes a second step S12, in which the positions of the left and right module-side joints Ma in the X, Y, and Z directions, and the angles W, P, and R around each axis are measured. The difference between these measured values ​​and the reference position of module M is then detected, i.e., the module-side error (correction value). At this time, the reference position of module M is pre-measured using the main model of module M.

[0032] In the second process S12, as Figure 3As shown, a non-contact ranging sensor is used for module M held by the work robot R1, positioned at a fixed location facing the module-side joint Ma. Similar to the ranging sensors installed on the second work robot R2 and the third work robot R3, the ranging sensor is a combination of a two-dimensional image sensor A1 and a distance sensor A2. It can detect the position of the module-side joint Ma in the X, Y, and Z directions and calculate the angles W, P, and R of the module-side joint Ma about each axis based on their data. Furthermore, the module-side joint Ma in the example figure is a flange facing the vehicle body-side joint Ba, with a through hole (not shown) for the locating pin 1.

[0033] Next, the above installation method also includes a third step S22, in which... Figure 1 In step S13, after moving module M into the vehicle body B, the vehicle body side joint Ba and the module side joint Ma are aligned, and the module's position in the X, Y, and Z directions and its angles W, P, and R around each axis are corrected based on the vehicle body side error and the module side error. In this third step 22, the vehicle body side error and the module side error are used as correction values ​​to calculate the module mounting position, and the result of this calculation is used as the action command for the first working robot R1.

[0034] Furthermore, in the above-described installation method, for at least one of the left and right body-side joints Ba of the vehicle body B, a contact sensor A3, which abuts against the at least one body-side joint Ba from the X direction, detects the position of the body-side joint Ba in the X direction before centering the module M relative to the vehicle body. The contact sensor A3 also detects the position of the module-side joint Ma of the module M, which has moved into the vehicle body B, in the X direction. In this embodiment, in Figure 1 In step S2 shown, the position of the vehicle body side joint Ba in the X direction is detected by contact sensor A3. Then, in... Figure 1 In step S17 shown, the position of the module-side joint Ma in the X direction is detected by contact sensor A3.

[0035] In the above installation method, such as Figure 4 As shown, a contact sensor A3 is installed on the hand of the second working robot R2. The measurement using the contact sensor A3 can also be performed using the second working robot R2 and the third working robot R3 to measure the left and right vehicle body side joints Ba, Ba. However, since the first working robot R1 holds the module M in a cantilevered state, it is sufficient to measure only the stable vehicle body side joint Ba on the side closest to the hand.

[0036] Next, the above-described installation method further includes a fourth step S3 as a centering step. In this fourth step S3, after the third step S22, the vehicle side error calculated in the first step S1 is used, and the positions of the left and right sides of the vehicle body B in the Y direction are measured to detect the vehicle center Bc in the Y direction. Additionally, the centering step includes a fifth step S16. In this fifth step S16, after the third step S22, the vehicle side error calculated in the first step S1 is used, and the positions of the left and right sides of the module M in the Y direction are measured to detect the module center Mc in the Y direction. Furthermore, the centering step includes a sixth step S24. In this sixth step S24, the position of the module M is corrected so that the module center Mc detected in the fifth step S16 is consistent with the vehicle center Bc detected in the fourth step S3.

[0037] In the fourth process S3, such as Figure 4 As shown, the second working robot R2, the third working robot R3, and the distance measuring sensors (A1, A2) installed on their respective hands are used to measure the left and right sides of the vehicle body B. At this time, the position of the vehicle body B includes the vehicle body side error measured in the first step S1. Therefore, in the fourth step S3, the vehicle body center Bc is detected using the vehicle body side error as a correction value.

[0038] Additionally, in the fifth process S16, such as Figure 4 As shown, the same ranging sensors (A1, A2) are used to measure the left and right sides of the vehicle body B. At this time, the position of module M was corrected in the third step S22, but this correction was specifically for vehicle body B, which includes side errors. Therefore, in the fifth step S16, the same vehicle body side error detection module center Mc as the correction value is used as in the fourth step S3.

[0039] Furthermore, the measured parts of the vehicle body B and module M are not particularly limited, but it is desirable to use easily identifiable parts such as concave and convex parts or holes that are symmetrical on the left and right sides. Specifically, if the positioning holes formed on the outer panel of the vehicle body or module M are used, accurate measurements can be performed without being affected by surrounding equipment.

[0040] In the sixth process S24, such as Figure 4 As shown, the difference D between the vehicle body center Bc and the module center Mc, measured through the fourth process S3 and the fifth process S16, is calculated, and an action command is output to the first working robot R1 to eliminate the difference D, i.e. Figure 5 As shown, this makes the module center Mc aligned with the vehicle body center Bc.

[0041] Furthermore, in the above installation method, corresponding to the X-direction position detection of the vehicle body side joint Ba in the previous step S2, in Figure 1In step S17, contact sensor A3 is used to detect the position of the module-side joint Ma of module M, which has moved into the vehicle body B, in the X direction. Then, in step S25, the distance in the X direction (mounting position in the X direction) from the position of the vehicle body-side joint Ba to the module-side joint Ma is calculated, and an action command is output to the first working robot R1.

[0042] Therefore, in Figure 1 In steps S4 and S5, as shown, module M is finally mounted and secured relative to the vehicle body B. Specifically, in the above installation method, as... Figure 5 As shown, at the point when the centering of module M is completed, module M, which has been inserted into the vehicle body B, moves to a position where the vehicle body side joint Ba and the module side joint Ma are separated by a specified distance.

[0043] Therefore, in the above installation methods, such as Figure 5 As shown, the position of the module-side joint Ma in the X direction is measured by the contact sensor A3 (step S17), thereby calculating the distance from the position of the vehicle-side joint Ba (pre-measured in step S2) to the position of the module-side joint Ma in the X direction (step S25).

[0044] Then, in the installation method described above, such as Figure 6 As shown, this represents the distance that module M moves forward along the X direction. This forward movement is achieved by the first working robot R1, which holds module M in place.

[0045] In the installation method of this embodiment, when... Figure 6 When module M is moved forward as shown in the first paragraph (topmost paragraph), as... Figure 6 As shown in the second paragraph, the sealing component 2, fixed to module M, abuts against vehicle body B. Next, as... Figure 6 As shown in the third paragraph, at the point when the module-side joint Ma and the vehicle-side joint Ba are in seamless contact, the sealing member 2 is compressed, causing the forward movement of the module M to stop. Consequently, the module-side joint Ma abuts against the vehicle-side joint Ba, and the locating pin 1 of the vehicle-side joint Ba becomes a through hole (not shown) penetrating the module-side joint Ma.

[0046] Then, in the above installation method, such as Figure 6 As shown in the fourth section (bottom section), bolt 3, which passes through the module-side joint Ma, is screwed onto the vehicle-side joint Ba, thus completing the fixing of module M (step S5). The bolt 3 is screwed on using a bolt tightening machine mounted on the hand of the second work robot R2. Afterwards, the vehicle body B is moved to the next process.

[0047] In the module installation method described in the above embodiments, by going through the first process S1, the second process S12, the third process S22, the fourth process S3, the fifth process S16 and the sixth process S24, even if there is an initial position error in the vehicle body B stopped at the specified position and the module M held by the work robot R1, high-precision measurement can be performed regardless of the deviation of the error, and the position error can be corrected to obtain sufficient centering accuracy.

[0048] That is, in the above installation method, the positional accuracy of module M relative to vehicle body B can be ensured to a certain extent through the first process S1 to the third process S22. Then, the same vehicle body side error (correction value) is used in the fourth process S3 and the fifth process S16 to detect the vehicle body center Bc and module center Mc, and then the process is transferred to the sixth process S24. In this way, the influence of the deflection of the robotic arm is eliminated to achieve more accurate centering.

[0049] Here, in vehicle body B, door trim panels are arranged on the left and right sides of the aforementioned module (cockpit module) M. However, even when module M is installed manually, it is difficult to ensure that the spacing (gap) and height between module M and the left and right door trim panels are uniform. In contrast, the module installation method described above achieves high centering accuracy. Therefore, automatic assembly can ensure that the spacing between module M and each door trim panel is uniform with no height difference, which contributes to improving vehicle quality.

[0050] Furthermore, in the above installation method, the control accuracy of the work robots R2 and R3 and the measurement accuracy of the distance sensors (A1 and A2) are measured under the same environmental / conditions for both the vehicle body B and module M. Therefore, high-precision measurements can be performed, and high-precision centering can always be achieved without being affected by slight residual error deviations.

[0051] Furthermore, in the above installation method, a combination of two-dimensional image sensor A1 and distance sensor A2 is used as a pair of left and right distance measuring sensors. Therefore, it is possible to measure (calculate) the position in the X, Y, and Z directions and the angles W, P, and R around each axis. It can also easily handle mixed-flow production where multiple models are manufactured on one production line.

[0052] Furthermore, in the above-described installation method, for at least one of the left and right body-side joints Ba of the vehicle body B, a contact sensor A3, which abuts against the at least one body-side joint Ba from the X direction, detects the position of the body-side joint Ba in the X direction and the position of the module-side joint Ma within the vehicle body B in the X direction using the same contact sensor A3. Therefore, the above-described installation method can accurately position and join the joints Ba and Ma without applying invalid external forces to the body-side joints Ba and module-side joint Ma during final assembly.

[0053] <Second Implementation>

[0054] Figure 7 and Figure 8 This figure illustrates a second embodiment of the method for installing the module according to the present invention. Furthermore, in the second embodiment, the same reference numerals are used for the same structural parts as in the first embodiment, and detailed descriptions are omitted.

[0055] like Figure 7 As shown, the module installation method of this embodiment includes the same basic structure as the first embodiment, and vehicle-side target portions BT and module-side target portions MT that match during installation are respectively provided on the left and right sides of the vehicle body B and the left and right sides of the module. In this embodiment, the vehicle-side target portion BT is the positioning hole BTa and the flat portion BTb near the door mounting surface of the door side panel. On the other hand, the module-side target portion MT is the guard plate mounting hole near the matching portion of the door guard plate.

[0056] In the installation method of this embodiment, the first working robot R1 holds the module M in a cantilevered state. Therefore, in the above-described installation method, Figure 1 In step S14, the module-side joint Ma on the opposite side of the hand is measured. In step S23, the hand connection position is calculated. In step S15, the module M is held by another working robot (not shown) to support the first working robot R1. This eliminates the effects of arm deflection and other factors constituting the first working robot R1, achieving more accurate installation. Furthermore, steps S14, S23, and S15 can be omitted if the module M is stably held.

[0057] In the above installation method, such as Figure 8As shown, in step S3a of the fourth process S3, the center Bc of the vehicle body in the Y direction is detected, and in the following step S3b, the position (height) of the target part BT on the side of the vehicle body in the Z direction is measured. Additionally, in the installation method, in step S16a of the fifth process S16, the center Mc of the module M in the Y direction is detected, and in the following step S16b, the position (height) of the target part BT on the side of the module is detected in the Z direction.

[0058] In the above installation method, the distance sensor A2 of the ranging sensor measures the position of the flat portion BTb of the target part BT on the vehicle side and the position of the target part BT on the module side. Furthermore, especially for the vehicle body B, the position of the flat portion BTb can be measured by the distance sensor A2 after the position of the mounting hole BTa and the flat portion BTb of the target part BT on the vehicle side has been confirmed by the two-dimensional image sensor A1, thereby improving the measurement accuracy.

[0059] Furthermore, in the aforementioned installation method, in the sixth step S24, the vehicle body center Bc and the module center Mc are calculated, and an action command is output to the first working robot R1 to correct the left and right positions of the module, so that the module center Mc is consistent with the vehicle body center Bc. On the other hand, in the sixth step S24, the positions (heights) of the vehicle body side target part BT and the module side target part MT in the Z direction are calculated, and an action command is output to the first working robot R1 to correct the up and down positions of the module, so that the module side target part MT is consistent with the vehicle body side target part BT. At this time, in the aforementioned installation method, in order to perform alignment in the Z direction with higher precision, the measurement value obtained by the contact sensor A3 implemented in step S2 is input in the third step S22.

[0060] The installation method of the module in the second embodiment is the same as that in the first embodiment. Even if there is an initial position error in the vehicle body B that has stopped at the specified position and the module M held by the work robot R1, the position error can be corrected to obtain sufficient centering accuracy.

[0061] In addition, in the above installation method, besides the first embodiment, the position of the target part BT on the vehicle side in the Z direction is measured in the fourth step S3 (S3b), the position of the target part MT on the module side in the Z direction is detected in the fifth step S16 (S16b), and the vertical position of the module M is corrected in the sixth step S24 so that the target part MT on the module side is consistent with the target part BT on the vehicle side.

[0062] Therefore, the above installation method can further improve the centering accuracy in both the Y and Z directions. Furthermore, with the improved centering accuracy, the above installation method can eliminate the need for the locating pin mounted on vehicle body B. Figure 2 (See attached figure 1) to achieve reduction in working hours and manufacturing costs.

[0063] Furthermore, the installation method of the module involved in this invention is not limited to the above-described embodiments, and can be appropriately modified within the scope of the spirit of this invention. As a module, in addition to being applicable to the installation of the cockpit module described in each embodiment, it can also be applied to the installation of various modules and components such as the front-end module, tailgate module, headlights, combination taillights, and hood.

[0064] Explanation of reference numerals in the attached figures

[0065] A1: Two-dimensional image sensor (non-contact ranging sensor); A2: Distance sensor (non-contact ranging sensor); A3: Contact sensor; B: Vehicle body; Ba: Vehicle body side joint; Bc: Vehicle body center; BT: Vehicle body side target area; M: Module; Ma: Module side joint; Mc: Module center; MT: Module side target area; R1: First working robot; R2: Second working robot; R3: Third working robot.

Claims

1. A method for installing a module, used to install a module held by a work robot on a vehicle body stopped at a designated position, characterized in that, The front-to-back direction of the vehicle body is defined as the X-direction, the left-to-right direction as the Y-direction, and the up-and-down direction as the Z-direction. The vehicle body has side joints on the left and right sides, and the module has module joints on the left and right sides. The side joints on the left side of the vehicle body and the module on the left side of the module face each other in the X-direction, and the side joints on the right side of the vehicle body and the module on the right side of the module face each other in the X-direction. The installation method of the module includes: The first step involves measuring the position of the left and right side joints of the vehicle body in the X, Y, and Z directions and the angles around the X, Y, and Z axes, and detecting the difference between the measured values ​​and the reference position of the vehicle body, i.e., the vehicle body side error. The reference position of the vehicle body includes the position in the X, Y, and Z directions and the angles around the X, Y, and Z axes. The second step involves measuring the position of the left and right module side joints in the X, Y, and Z directions and their angles around the X, Y, and Z axes for the module held by the robot, and detecting the difference between the measured value and the reference position of the module, i.e., the module side error. The reference position of the module includes the position in the X, Y, and Z directions and the angles around the X, Y, and Z axes. The third step involves moving the module into the vehicle body and aligning the vehicle body side joint with the module side joint. Based on the vehicle body side error and the module side error, the position of the module in the X, Y, and Z directions and its angle around the X, Y, and Z axes are corrected. The fourth step, after the third step, is to use the vehicle body side error and measure the positions of the left and right sides of the vehicle body in the Y direction to detect the vehicle body center in the Y direction. The fifth step, following the third step, involves using the vehicle body side error and measuring the positions of the left and right sides of the module in the Y direction to detect the module center in the Y direction; and The sixth step is to correct the position of the module so that the center of the module detected in the fifth step is consistent with the center of the vehicle body detected in the fourth step.

2. The module installation method according to claim 1, characterized in that, The system employs a non-contact fixed-side ranging sensor configured at a fixed location opposite to the module held by the work robot, a second work robot and a third work robot configured on the left and right sides of the vehicle body, and a non-contact movable-side ranging sensor located on the hands of the second work robot and the third work robot. The second step involves measuring the module-side joint using the fixed-side ranging sensor, and... The movable side ranging sensors of the second and third working robots are used to measure the side joint of the vehicle body in the first step, the left and right sides of the vehicle body in the fourth step, and the left and right sides of the module in the fifth step.

3. The module installation method according to claim 2, characterized in that, The movable-side ranging sensor and the fixed-side ranging sensor each have a two-dimensional image sensor and a distance sensor.

4. The method for installing the module according to any one of claims 1 to 3, characterized in that, For at least one of the body side joints on the left and right sides of the vehicle body, a contact sensor is used that abuts against the at least one body side joint from the X direction. Before centering the module relative to the vehicle body, the position of the vehicle body side joint in the X direction is detected by the contact sensor, and the position of the module side joint of the module that has moved into the vehicle body in the X direction is detected by the contact sensor.

5. The method for installing the module according to any one of claims 1 to 3, characterized in that, The left and right sides of the vehicle body and the left and right sides of the module are respectively set with matching target positions on the vehicle body side and the module side during installation. In the fourth step, the center of the vehicle body in the Y direction is detected, and the position of the target part on the side of the vehicle body in the Z direction is measured. In the fifth step, the center of the module in the Y direction is detected, and the position of the target part on the module side in the Z direction is measured. In the sixth step, the left and right positions of the module are corrected so that the center of the module is consistent with the center of the vehicle body, and the up and down positions of the module are corrected so that the target part on the side of the module is consistent with the target part on the side of the vehicle body.

6. The module installation method according to claim 4, characterized in that, The left and right sides of the vehicle body and the left and right sides of the module are respectively set with matching target positions on the vehicle body side and the module side during installation. In the fourth step, the center of the vehicle body in the Y direction is detected, and the position of the target part on the side of the vehicle body in the Z direction is measured. In the fifth step, the center of the module in the Y direction is detected, and the position of the target part on the module side in the Z direction is measured. In the sixth step, the left and right positions of the module are corrected so that the center of the module is consistent with the center of the vehicle body, and the up and down positions of the module are corrected so that the target part on the side of the module is consistent with the target part on the side of the vehicle body.

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