Vehicle awning glass positioning and mounting method, device, medium and equipment

Abstract

The invention belongs to the technical field of vehicle assembly, and provides a vehicle awning glass positioning and mounting method, device, medium and equipment.The vehicle awning glass positioning and mounting method comprises the steps that in response to an awning glass in-place instruction, an X-direction movable flange column and a Y-direction centering limiting column on a positioning tool are controlled, awning glass is driven to move in the X direction and the Y direction, and the awning glass in-place instruction is obtained; after the sunscreen glass is in place in the X direction and is centered in the Y direction on the positioning tool, the manipulator is controlled to grab the sunscreen glass on the positioning tool; the method comprises the following steps: in response to a vehicle body in-place instruction, acquiring a space point cloud of a vehicle body with a positioning point, performing feature extraction on the space point cloud, performing clustering based on features of all points to obtain a plurality of clusters, performing statistics on the number of points in each cluster, deleting the clusters of which the number of points is not in a set range, classifying the reserved clusters, and performing in-place positioning on the vehicle body. Extracting contours and positions of clusters belonging to the positioning point categories; and calculating an assembly position based on the identified contour and position of the positioning point, and mounting the awning glass on the vehicle body. And the assembly precision and speed are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle assembly, and in particular relates to a method, device, medium and equipment for positioning and installing vehicle skylight glass. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] As cars become more and more popular, customers now have new demands for car quality, styling, intelligence and configuration. With the entry of new car-making forces, many new configurations have been applied to cars, for example, the application of skylight glass. Skylight glass can effectively reduce the sense of oppression of passengers sitting in the car, liberate the passengers' field of vision, and allow passengers to enjoy the beautiful sky scenery while sitting in the car. However, skylight glass is often large and heavy, and the accurate positioning of skylight glass and car body has become a difficult problem in the automotive industry, because skylight glass is assembled with glue, often need to be assembled in place at one time, and it is almost impossible to adjust after assembly, so it requires one-time precise positioning; to address this problem, various car companies have tried different strategies and methods, some use traditional models of precise positioning, some use power-assisted arm assembly positioning, and some use mechanical arm assembly positioning.

[0004] Now, there is a method of positioning and assembling using a visual assembly system. However, the current visual assembly system uses visual recognition for both the skylight glass and the car body, which has high requirements for the accuracy and speed of the recognition model. In addition, most of the current recognition models directly perform point cloud segmentation based on the spatial position of the point cloud, which has low accuracy and can easily identify parts in the car body as positioning points, affecting the assembly accuracy. Summary of the invention

[0005] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a method, device, medium and equipment for positioning and installing vehicle skylight glass, which adopts contour positioning on the positioning tooling for the skylight glass, and performs visual recognition on the installation positioning points of the vehicle body glass, thereby avoiding excessive reliance on the recognition model, and combining feature extraction, clustering, cluster screening and classification, thereby improving the recognition accuracy and speed of the positioning points, thereby improving the assembly accuracy and speed.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A first aspect of the present invention provides a method for positioning and installing vehicle skylight glass.

[0008] A method for positioning and installing a vehicle skylight glass, comprising:

[0009] In response to the skylight glass in place instruction, the X-direction movable retaining column and the Y-direction centering limit column on the positioning tooling are controlled to drive the skylight glass to move in the X-direction and the Y-direction upward direction. After the skylight glass is in place on the positioning tooling in the X-direction and centered in the Y-direction, the manipulator is controlled to grab the skylight glass on the positioning tooling;

[0010] In response to the vehicle body arrival instruction, a spatial point cloud of the vehicle body with positioning points is obtained, and after feature extraction of the spatial point cloud, clustering is performed based on the features of all points to obtain several clusters, and the number of points in each cluster is counted, and clusters whose number of points is not within the set range are deleted. After classifying the retained clusters, the outline and position of the cluster belonging to the positioning point category are extracted;

[0011] Based on the outline and position of the identified positioning points, the assembly position is calculated, and the robot is controlled to move to the assembly position to install the skylight glass on the vehicle body.

[0012] Furthermore, it also includes: after controlling the robot to grab the skylight glass on the positioning tooling, controlling the robot to grab the skylight glass to the glue coating machine position to coat the glue.

[0013] Furthermore, a plurality of Z-direction support blocks are provided on the positioning fixture to position and support the skylight glass in the Z direction on the positioning fixture.

[0014] Furthermore, the positioning tool is provided with an X-direction fixed side column, and the X-direction movable side column moves in the X direction to push the skylight glass to move in the X direction, so that the skylight glass is zero-contact with the X-direction fixed side column.

[0015] Furthermore, there are multiple X-direction movable side guard columns, which are driven by the same cylinder.

[0016] Furthermore, there are two Y-direction centering limit posts, and the two Y-direction centering limit posts are driven by the same cylinder, and the two Y-direction centering limit posts move in opposite directions along the Y-direction guide rail.

[0017] Further, the positioning points include a Y-direction positioning point on the left side of the front of the vehicle body, a Y-direction positioning point on the right side of the front of the vehicle body, a Y-direction positioning point on the left side of the rear of the vehicle body, a Y-direction positioning point on the right side of the rear of the vehicle body, an X-direction positioning point on the left side of the front of the vehicle body, and an X-direction positioning point on the right side of the front of the vehicle body.

[0018] A second aspect of the present invention provides a vehicle skylight glass positioning and installation device.

[0019] A vehicle skylight glass positioning and installation device, comprising:

[0020] The awning glass positioning module is configured to: in response to the awning glass in place instruction, control the X-direction movable retaining column and the Y-direction centering limit column on the positioning tooling to drive the awning glass to move in the X-direction and the Y-direction, so that the awning glass is in place in the X-direction and centered in the Y-direction on the positioning tooling, and then control the manipulator to grab the awning glass on the positioning tooling;

[0021] The vehicle body positioning module is configured to: in response to a vehicle body in place instruction, obtain a spatial point cloud of the vehicle body with positioning points, perform feature extraction on the spatial point cloud, perform clustering based on the features of all points to obtain a number of clusters, count the number of points in each cluster, delete clusters whose number of points is not within a set range, classify the retained clusters, and extract the outline and position of the cluster belonging to the positioning point category;

[0022] The assembly module is configured to calculate the assembly position based on the outline and position of the identified positioning points, control the robot to move to the assembly position, and install the skylight glass on the vehicle body.

[0023] A third aspect of the present invention provides a computer-readable storage medium.

[0024] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps in a method for positioning and installing vehicle skylight glass as described in the first aspect above.

[0025] A fourth aspect of the present invention provides a computer device.

[0026] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the method for positioning and installing vehicle skylight glass as described in the first aspect above are implemented.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The present invention adopts contour positioning for the skylight glass on the positioning tooling and performs visual recognition on the installation positioning points of the vehicle body glass, thereby avoiding excessive reliance on the recognition model and combining feature extraction, clustering, cluster screening and classification to improve the recognition accuracy and speed of the positioning points, thereby improving the assembly accuracy and speed.

[0029] The present invention realizes one-time reference positioning and ensures the quality requirement of assembly consistency, thereby solving the problem that the assembly positioning accuracy of the skylight glass on the whole vehicle is poor, resulting in poor matching accuracy with the surrounding environment parts, affecting the texture of the whole vehicle and causing complaints from customers. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 is a schematic diagram of installation positioning points shown in the first embodiment of the present invention;

[0032] Figure 2 It is a schematic diagram of contour positioning of the skylight glass on the positioning tool shown in the first embodiment of the present invention;

[0033] Figure 3 Schematic diagram of the awning glass positioning tooling shown in the first embodiment of the present invention;

[0034] Figure 4 is a schematic diagram of the skylight glass after assembly shown in the first embodiment of the present invention;

[0035] Figure 5 It is a structural diagram of a computer device shown in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0037] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0038] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0039] It should be noted that the flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the methods and devices according to various embodiments of the present invention. It should be noted that each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the module, the program segment, or a part of the code may include one or more executable instructions for implementing the logical functions specified in the various embodiments. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, or they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the flowchart and / or block diagram, and the combination of boxes in the flowchart and / or block diagram can be implemented using a dedicated hardware-based device that performs a specified function or operation, or can be implemented using a combination of dedicated hardware and computer instructions.

[0040] Embodiment 1

[0041] This embodiment provides a method for positioning and installing a vehicle skylight glass.

[0042] The present embodiment provides a method for positioning and installing a vehicle sunroof glass, which adopts a visual assembly system to position and assemble the vehicle sunroof glass, thereby achieving a one-time reference positioning and ensuring the quality requirements of assembly consistency, thereby solving the problem of poor assembly positioning accuracy of the sunroof glass on the whole vehicle, resulting in poor matching accuracy with the surrounding environment parts, affecting the texture of the whole vehicle and customer complaints.

[0043] A vehicle skylight glass positioning and installation method provided in this embodiment is mainly used to solve the problem of accurate positioning of the skylight glass on the whole vehicle, which requires that the skylight glass itself has very high precision, and that the skylight glass has a good positioning system as well as dimensional tolerance and form and position tolerance requirements; secondly, the skylight glass needs to be accurately positioned using a visual assembly system, which requires that the skylight glass assembly station is equipped with glass positioning tooling, so that the mechanical arm of the visual assembly system can accurately find and grab the glass; finally, the part of the vehicle body that is to be laser scanned by the visual assembly scanning system needs to be designed in advance, and precision design requirements and subsequent physical inspection and control of parts need to be made for the scanning part, and furthermore, the vehicle body needs to accurately reach the skylight assembly station and be accurately positioned, so that the skylight glass visual assembly system is synchronized with the vehicle body station, so that the visual assembly system equipment and the vehicle body parking station can be accurately associated, thereby ensuring the accuracy and stability of the assembly.

[0044] The present embodiment provides a method for positioning and installing a vehicle skylight glass, comprising the following steps:

[0045] Step 1: The vehicle body without skylight glass is transferred to the skylight glass assembly station and positioned.

[0046] The sled transports the car body without skylight glass to the skylight glass assembly station. When the sled is in place, the sensor gives a positioning pin signal, and the positioning pin rises and positions itself into the positioning hole of the sled, so that the car body on the sled reaches the station and is accurately positioned.

[0047] Step 2: Employees assemble the skylight glass onto the positioning tooling, and the skylight glass is positioned using contours on the positioning tooling.

[0048] Employees put the skylight glass onto the conveyor belt, and the conveyor belt transports the skylight glass to the positioning tooling.

[0049] like Figure 2 As shown, the positioning tool adopts glass contour positioning, and specifically includes: a base plate, 5 Z-axis support blocks, two X-axis fixed side guard columns, two X-axis movable side guard columns, and two Y-axis centering limit columns.

[0050] like Figure 2 and Figure 3 As shown, five Z-direction support blocks (first Z-direction support block 107, second Z-direction support block 108, third Z-direction support block 109, fourth Z-direction support block 110 and fifth Z-direction support block 111) are used to position and support the canopy glass in the Z direction on the positioning fixture. Specifically, the five Z-direction support blocks are evenly fixed on the bottom plate, and the area enclosed by them is smaller than the area of ​​the canopy glass. The five Z-direction support blocks have the same height to ensure that the canopy glass is horizontal in the Z direction.

[0051] like Figure 2 and Figure 3 As shown, two X-direction fixed side columns (a first X-direction fixed side column 112 and a second X-direction fixed side column 113) and two X-direction movable side columns (a first X-direction movable side column 114 and a second X-direction movable side column 115) are used. The first X-direction fixed side column 112 and the second X-direction fixed side column 113 are used to locate the X-direction position of the skylight glass on the positioning tooling, and the first X-direction movable side column 114 and the second X-direction movable side column 115 are used to push the skylight glass to move in the X-direction, so that the skylight glass is zero-contact with the first X-direction fixed side column 112 and the second X-direction fixed side column 113.

[0052] Specifically, the first X-direction fixed side guard column 112 and the second X-direction fixed side guard column 113 are fixed on the bottom plate, the first X-direction movable side guard column 114 and the second X-direction movable side guard column 115 are both provided with a slide groove at the bottom, two parallel X-direction slide rails are fixedly provided on the floor, and the slide grooves of the first X-direction movable side guard column 114 and the second X-direction movable side guard column 115 are matched with the two X-direction slide rails respectively. The first X-direction movable side guard column 114 and the second X-direction movable side guard column are driven by a cylinder, so that the two side guard columns can be ensured to move synchronously. Specifically, the first X-direction movable side guard column 114 and the second X-direction movable side guard column 115 are arranged at both ends of the first connecting rod, and the first cylinder is arranged at the center of the first connecting rod, and the distance to the first X-direction movable side guard column 114 and the second X-direction movable side guard column 115 is equal; the first cylinder can have only one output shaft, and the first cylinder pushes the first X-direction movable side guard column 114 and the second X-direction movable side guard column 115 to move in the X direction, thereby pushing the skylight glass to move in the X direction, so that the skylight glass is zero-contact with the first X-direction fixed side guard column 112 and the second X-direction fixed side guard column 113.

[0053] like Figure 2 and Figure 3 As shown, two Y-direction centering limit posts (a first Y-direction centering limit post 116 and a second Y-direction centering limit post 117) simultaneously pull the skylight glass in the Y0 direction to center the skylight glass in the Y direction.

[0054] Specifically, a Y-guide rail 119 is fixed on the bottom plate, and the bottoms of the first Y-direction centering limit column 116 and the second Y-direction centering limit column 117 are provided with sliding grooves, and both are adapted to the Y-guide rail; a second cylinder is fixed on the bottom plate, and the second cylinder has two output shafts, and the two output shafts move synchronously in opposite directions. The two output shafts of the second cylinder are respectively connected to the first Y-direction centering limit column 116 and the second Y-direction centering limit column 117, so that the first Y-direction centering limit column 116 and the second Y-direction centering limit column 117 move in the opposite direction along the Y-guide rail (clamp or open toward the center), so that the skylight glass is centered in the Y direction.

[0055] As an embodiment, it also includes a support plate, an X-direction guide rail is also provided in the middle of the bottom plate, and a slide groove is provided at the bottom of the support plate, and the slide groove at the bottom of the support plate is adapted to the X-direction guide rail in the middle of the bottom plate. The above-mentioned Y-direction guide rail and the second cylinder are not directly fixed on the bottom plate, but directly fixed on the support plate. Thus, when the first X-direction movable side guard column 114 and the second X-direction movable side guard column 115 push the skylight glass to move in the X direction, they drive the first Y-direction centering limit column 116 and the second Y-direction centering limit column 117 to move synchronously, thereby avoiding misalignment in the Y direction during the X-direction movement.

[0056] When the skylight glass is transferred to the positioning tooling, the glass is first fitted with the first X-direction fixed side guard column 112 and the second X-direction fixed side guard column 113 of the tooling; secondly, the first Y-direction centering limit column 116 and the second Y-direction centering limit column 117 move synchronously in opposite directions and clamped to center the skylight glass in the Y direction on the positioning tooling; finally, the first X-direction movable side guard column 114 and the second X-direction movable side guard column 115 are used to put the skylight glass in place in the X direction.

[0057] Step 3: The robotic arm grabs the skylight glass from the positioning tooling, and then takes the skylight glass to the gluing machine for gluing.

[0058] Step 4: The robot with a laser scanner scans the installation positioning points of the car body glass.

[0059] It should be noted that when programming, the laser scanner will design several fixed scanning positions on the vehicle body data, which are the glass installation positioning points.

[0060] The visual assembly system first scans the Y-axis opening size of the car body twice, once for the front opening of the car body and once for the rear opening of the car body; it scans twice in the X-axis, with two positioning scanning surfaces reserved at the front end of the car body.

[0061] Specifically, the scanning design of the visual assembly system on the car body: when the car body without skylight glass is transferred to the skylight glass assembly station and positioned, the visual assembly system scans the car body glass installation positioning points through a laser scanner, first scans the Y-direction opening size of the front of the car body, scans the first positioning point (the Y-direction positioning point on the left side of the front of the car body) 101 and the second positioning point (the Y-direction positioning point on the right side of the front of the car body) 102, obtains the outline and position of the first positioning point and the second positioning point, and determines the front opening size of the skylight glass on the car body; then scans the third positioning point at the rear of the car body The third and fourth positioning points (Y-direction positioning point on the left side of the rear of the vehicle body) 103 and the fourth positioning point (Y-direction positioning point on the right side of the rear of the vehicle body) 104 are scanned to obtain the contours and positions of the third and fourth positioning points, and to determine the rear opening size of the skylight glass on the vehicle body; the X-direction positioning point on the left side of the front of the vehicle body, i.e., the fifth positioning point 105, is scanned again to obtain the contour and position of the fifth positioning point, and to determine the X-direction position of the skylight glass on the vehicle body; finally, the X-direction positioning point on the right side of the front of the vehicle body, i.e., the sixth positioning point 106, is scanned to obtain the contour and position of the sixth positioning point, and to determine that the glass will not rotate after assembly.

[0062] As an implementation method, the outline of each glass installation positioning point is obtained through a point cloud segmentation algorithm: three-dimensional laser scanning technology is used to obtain spatial point cloud data of the vehicle body with positioning points; a convolutional neural network is used to extract features of the spatial point cloud data to obtain the features of each point; clustering is performed based on the features of all points to obtain several clusters, the number of points contained in each cluster is counted, and clusters whose number of points is not within a set range are deleted; for the retained clusters, a classifier is input to obtain the category of each cluster, and the cluster belonging to the positioning point is obtained, and then the outline of the positioning point is obtained.

[0063] Step 5: Calculate the assembly position based on the identified glass installation positioning points, combined with the front opening size and the rear opening size, and control the robot to move to the assembly position. The robot installs the glue-coated skylight glass onto the vehicle body, and the robot releases the glass and returns to the origin.

[0064] Due to the manufacturing tolerance of the car body, the size of the car body opening will fluctuate within the range of ±1.5mm. The status of each car will change. If you want to align the skylight glass with the car body opening, you need to scan and calculate the size of the car body opening (front opening size, rear opening size) and find the center point to achieve the centered assembly of the glass.

[0065] The use of a visual assembly system to assemble the skylight glass can effectively control the one-time assembly pass rate of the skylight glass on the vehicle body. Figure 4 As shown, the matching gap, surface difference, uniformity and left-right symmetry accuracy requirements between the skylight glass 1 and the laser radar cover 2, the rear windshield 3 and the side panel 4 can be controlled. Because the vision assembly system first scans the vehicle body opening size and the skylight glass positioning point size before assembly, the vision assembly system accurately locates the glass assembly position after calculation, thereby achieving one-time accurate positioning and assembly of the skylight glass, and can ensure the assembly consistency of each vehicle.

[0066] Embodiment 2

[0067] This embodiment provides a vehicle skylight glass positioning and installation device.

[0068] A vehicle skylight glass positioning and installation device, comprising:

[0069] The awning glass positioning module is configured to: in response to the awning glass in place instruction, control the X-direction movable retaining column and the Y-direction centering limit column on the positioning tooling to drive the awning glass to move in the X-direction and the Y-direction, so that the awning glass is in place in the X-direction and centered in the Y-direction on the positioning tooling, and then control the manipulator to grab the awning glass on the positioning tooling;

[0070] The vehicle body positioning module is configured to: in response to a vehicle body in place instruction, obtain a spatial point cloud of the vehicle body with positioning points, perform feature extraction on the spatial point cloud, perform clustering based on the features of all points to obtain a number of clusters, count the number of points in each cluster, delete clusters whose number of points is not within a set range, classify the retained clusters, and extract the outline and position of the cluster belonging to the positioning point category;

[0071] The assembly module is configured to calculate the assembly position based on the outline and position of the identified positioning points, control the robot to move to the assembly position, and install the skylight glass on the vehicle body.

[0072] It should be noted that the vehicle sunroof glass positioning and installation device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the electronic device can be divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle sunroof glass positioning and installation device provided in the above embodiment and the vehicle sunroof glass positioning and installation method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0073] Embodiment 3

[0074] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps in the vehicle skylight glass positioning and installation method described in the above-mentioned embodiment 1 are implemented.

[0075] Embodiment 4

[0076] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps in the vehicle skylight glass positioning and installation method described in the above-mentioned embodiment 1 are implemented.

[0077] Figure 5 The schematic diagram of the structure of a computer device provided by an exemplary embodiment of the present application is shown. The computer device includes: a processor and a memory.

[0078] The processor may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field Programmable Gate Array), and PLA (Programmable Logic Array). The processor may also include a main processor and a coprocessor. The main processor is a processor for processing data in an awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content that needs to be displayed on the display screen. In some embodiments, the processor may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0079] The memory may include one or more computer-readable storage media, which may be non-transitory. The memory may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory is used to store at least one computer program, which is used to be used by the processor to implement the vehicle occupant detection method provided in the method embodiment of the present application.

[0080] Those skilled in the art will appreciate that the illustrated structure does not constitute a limitation on the computer device, and may include more or fewer components than illustrated, or combine certain components, or adopt a different component arrangement.

[0081] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for positioning and installing vehicle skylight glass, characterized in that: include: In response to the skylight glass in place instruction, the X-direction movable retaining column and the Y-direction centering limit column on the positioning tooling are controlled to drive the skylight glass to move in the X-direction and the Y-direction upward direction. After the skylight glass is in place on the positioning tooling in the X-direction and centered in the Y-direction, the manipulator is controlled to grab the skylight glass on the positioning tooling; In response to the vehicle body arrival instruction, a spatial point cloud of the vehicle body with positioning points is obtained, and after feature extraction of the spatial point cloud, clustering is performed based on the features of all points to obtain several clusters, and the number of points in each cluster is counted, and clusters whose number of points is not within the set range are deleted. After classifying the retained clusters, the outline and position of the cluster belonging to the positioning point category are extracted; Based on the outline and position of the identified positioning points, the assembly position is calculated, and the robot is controlled to move to the assembly position to install the skylight glass on the vehicle body.

2. A method for positioning and installing vehicle skylight glass according to claim 1, characterized in that: Also includes: After controlling the robot to grab the skylight glass on the positioning tooling, control the robot to grab the skylight glass to the gluing machine to apply glue.

3. A method for positioning and installing vehicle skylight glass according to claim 1, characterized in that: The positioning fixture is provided with a plurality of Z-direction support blocks for positioning and supporting the skylight glass in the Z direction on the positioning fixture.

4. A method for positioning and installing vehicle skylight glass according to claim 1, characterized in that: The positioning fixture is provided with an X-direction fixed side guard column, and the X-direction movable side guard column moves in the X direction to push the skylight glass to move in the X direction, so that the skylight glass is zero-contact with the X-direction fixed side guard column.

5. The method for positioning and installing vehicle skylight glass according to claim 1, characterized in that: There are multiple X-direction movable side guard columns, which are driven by the same cylinder.

6. A method for positioning and installing vehicle skylight glass according to claim 1, characterized in that: There are two Y-axis centering limit posts, and the two Y-axis centering limit posts are driven by the same cylinder. The two Y-axis centering limit posts move in opposite directions along the Y-axis guide rail.

7. A method for positioning and installing vehicle skylight glass according to claim 1, characterized in that: The positioning points include a Y-direction positioning point on the left side of the front of the vehicle body, a Y-direction positioning point on the right side of the front of the vehicle body, a Y-direction positioning point on the left side of the rear of the vehicle body, a Y-direction positioning point on the right side of the rear of the vehicle body, an X-direction positioning point on the left side of the front of the vehicle body, and an X-direction positioning point on the right side of the front of the vehicle body.

8. A vehicle skylight glass positioning and installation device, characterized in that: include: The awning glass positioning module is configured to: in response to the awning glass in place instruction, control the X-direction movable retaining column and the Y-direction centering limit column on the positioning tooling to drive the awning glass to move in the X-direction and the Y-direction, so that the awning glass is in place in the X-direction and centered in the Y-direction on the positioning tooling, and then control the manipulator to grab the awning glass on the positioning tooling; The vehicle body positioning module is configured to: in response to a vehicle body in place instruction, obtain a spatial point cloud of the vehicle body with positioning points, perform feature extraction on the spatial point cloud, perform clustering based on the features of all points to obtain a number of clusters, count the number of points in each cluster, delete clusters whose number of points is not within a set range, classify the retained clusters, and extract the outline and position of the cluster belonging to the positioning point category; The assembly module is configured to calculate the assembly position based on the outline and position of the identified positioning points, control the robot to move to the assembly position, and install the skylight glass on the vehicle body.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps in a method for positioning and installing vehicle skylight glass as described in any one of claims 1 to 7 are implemented.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps in the vehicle skylight glass positioning and installation method as described in any one of claims 1-7 are implemented.

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