A method, device, medium, and equipment for positioning and installing vehicle sunroof glass.

Abstract

This invention belongs to the field of vehicle assembly technology and provides a method, device, medium, and equipment for positioning and installing a vehicle sunroof glass. The method includes: responding to a sunroof glass positioning command, controlling the X-axis movable edge post and the Y-axis centering limit post on the positioning fixture to move the sunroof glass in the X and Y directions, so that the sunroof glass is positioned in the X direction and centered in the Y direction on the positioning fixture; then controlling a robotic arm to grab the sunroof glass from the positioning fixture; responding to a vehicle body positioning command, acquiring a spatial point cloud of the vehicle body with positioning points; extracting features from the spatial point cloud; clustering based on the features of all points to obtain several clusters; counting the number of points in each cluster; deleting clusters with a number of points outside a set range; classifying the remaining clusters; and extracting the contours and positions of clusters belonging to the positioning point category; and calculating the assembly position based on the identified contours and positions of the positioning points, and installing the sunroof glass onto the vehicle body. This improves assembly accuracy and speed.

Description

Technical Field

[0001] This invention belongs to the field of vehicle assembly technology, and in particular relates to a method, device, medium and equipment for positioning and installing vehicle sunroof glass. Background Technology

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

[0003] As cars become increasingly popular, customers now have new demands for quality, styling, intelligence, and features. With the entry of new car manufacturers, many innovative features have been applied to automobiles, such as panoramic sunroofs. Panoramic sunroofs can effectively reduce the feeling of confinement for passengers and liberate their view, allowing them to enjoy beautiful sky views. However, panoramic sunroofs are often large and heavy, making accurate positioning between the sunroof and the car body a challenge for the automotive industry. Because panoramic sunroofs are assembled with adhesive, they often need to be assembled in one go, and once assembled, they are almost impossible to adjust. Therefore, precise positioning is required from the outset. To address this challenge, various car manufacturers have tried different strategies and methods, some using traditional precision positioning, some using assisted arm assembly positioning, and some using robotic arms for assembly positioning.

[0004] Currently, vision assembly systems have emerged for positioning and assembly. However, current vision assembly systems use visual recognition for both the sunroof glass and the vehicle body, which requires high accuracy and speed from the recognition model. Moreover, most current recognition models are based on point cloud spatial location for point cloud segmentation, resulting in low accuracy. This can easily lead to the identification of vehicle body parts as positioning points, affecting assembly accuracy. Summary of the Invention

[0005] To address the technical problems mentioned above, this invention provides a method, apparatus, medium, and equipment for positioning and installing vehicle sunroof glass. The sunroof glass is positioned using contour positioning on the positioning fixture, and the installation positioning points of the vehicle body glass are visually identified. This avoids excessive reliance on recognition models and combines feature extraction, clustering, cluster filtering, and classification, thereby improving the accuracy and speed of positioning point recognition, and thus improving assembly accuracy and speed.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

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

[0008] A method for positioning and installing a vehicle sunroof glass includes:

[0009] In response to the command for the canopy glass to be in place, the X-axis movable edge post and Y-axis centering limit post on the positioning fixture are controlled to move the canopy glass in the X and Y directions. After the canopy glass is in place in the X direction and centered in the Y direction on the positioning fixture, the robot arm is controlled to grab the canopy glass on the positioning fixture.

[0010] In response to the vehicle body positioning command, the spatial point cloud of the vehicle body with positioning points is acquired. After feature extraction of the spatial point cloud, clustering is performed based on the features of all points to obtain several clusters. The number of points in each cluster is counted, and clusters with a number of points outside the set range are deleted. After classifying the remaining clusters, the outline and position of the clusters belonging to the positioning point category are extracted.

[0011] Based on the identified contours and positions of the positioning points, the assembly position is calculated, the robotic arm is controlled to move to the assembly position, and the panoramic glass is installed onto the vehicle body.

[0012] Furthermore, it also includes: after controlling the robotic arm to grab the canopy glass onto the positioning fixture, controlling the robotic arm to hold the canopy glass to the glue applicator position to apply glue.

[0013] Furthermore, the positioning fixture is provided with several Z-axis support blocks to position and support the canopy glass in the Z-axis direction on the positioning fixture.

[0014] Furthermore, the positioning fixture is provided with an X-direction fixed edge post, and the X-direction movable edge post moves in the X direction, pushing the skylight glass to move in the X direction, so that the skylight glass is in zero contact with the X-direction fixed edge post.

[0015] Furthermore, there are multiple X-direction movable side posts, all driven by the same cylinder.

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

[0017] Furthermore, 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 sunroof glass positioning and mounting device.

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

[0020] The skylight glass positioning module is configured to: respond to the skylight glass positioning command, control the X-direction movable edge post and the Y-direction centering limit post on the positioning fixture, drive the skylight glass to move in the X and Y directions, so that the skylight glass is in the X direction and centered in the Y direction on the positioning fixture, and then control the robot arm to grab the skylight glass on the positioning fixture.

[0021] The vehicle positioning module is configured to: in response to the vehicle positioning command, acquire the spatial point cloud of the vehicle with positioning points, extract features from the spatial point cloud, cluster based on the features of all points to obtain several clusters, count the number of points in each cluster, delete clusters with a number of points that are not within the set range, classify the remaining clusters, and extract the outline and position of the clusters belonging to the positioning point category.

[0022] The assembly module is configured to: calculate the assembly position based on the contour and position of the identified positioning points, control the robotic arm to move to the assembly position, and install the panoramic glass onto the vehicle body.

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

[0024] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a vehicle sunroof glass positioning and installation method as described in the first aspect above.

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

[0026] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of a vehicle sunroof glass positioning and installation method as described in the first aspect above.

[0027] Compared with the prior art, the beneficial effects of the present invention are:

[0028] This invention employs contour positioning in the positioning fixture for the panoramic glass and performs visual recognition of the installation positioning points of the vehicle body glass, avoiding excessive reliance on recognition models. Furthermore, it combines feature extraction, clustering, cluster filtering, and classification to improve the recognition accuracy and speed of positioning points, thereby improving assembly accuracy and speed.

[0029] This invention achieves one-time benchmark positioning and ensures the quality requirement of assembly consistency, thereby solving the problem of poor assembly positioning accuracy of the panoramic glass on the whole vehicle, resulting in poor matching accuracy with surrounding components, affecting the overall quality of the vehicle and causing customer complaints. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the installation positioning point shown in Embodiment 1 of the present invention;

[0032] Figure 2 This is a schematic diagram of contour positioning of the canopy glass on the positioning fixture, as shown in Embodiment 1 of the present invention;

[0033] Figure 3 This is a schematic diagram of the canopy glass positioning fixture shown in Embodiment 1 of the present invention;

[0034] Figure 4 This is a schematic diagram of the assembled canopy glass shown in Embodiment 1 of the present invention;

[0035] Figure 5 This is a schematic diagram of the structure of a computer device shown in Embodiment 4 of the present invention. Detailed Implementation

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

[0037] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0038] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate 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 architecture, functionality, and operation of possible implementations of methods and apparatuses according to various embodiments of the present invention. It should be noted that each block in a flowchart or block diagram may represent a module, segment, or portion of code, which 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 blocks may occur in a different order than that shown in the drawings. For example, two consecutively represented blocks may actually be executed substantially in parallel, or they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, may be implemented using dedicated hardware-based apparatus that performs the specified functions or operations, or may be implemented using a combination of dedicated hardware and computer instructions.

[0040] Example 1

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

[0042] This embodiment provides a method for positioning and installing a vehicle sunroof glass. It uses a vision assembly system to position and assemble the automotive sunroof glass, thereby achieving one-time benchmark positioning and ensuring the quality requirements of assembly consistency. This solves the problem of poor assembly positioning accuracy of the sunroof glass on the whole vehicle, which causes poor matching accuracy with surrounding components, affects the overall quality of the vehicle, and leads to customer complaints.

[0043] This embodiment provides a method for positioning and installing a vehicle sunroof glass. The main purpose is to solve the problem of accurate positioning of the sunroof glass on the vehicle. This requires high precision from the sunroof glass itself, necessitating a good positioning system and strict requirements for dimensional and geometric tolerances. Secondly, the sunroof glass needs to be accurately positioned using a vision assembly system. This requires equipping the sunroof glass assembly station with glass positioning fixtures so that the robotic arm of the vision assembly system can accurately locate and grasp the glass. Finally, the areas on the vehicle body for laser scanning by the vision assembly scanning system need to be pre-designed, with precision design requirements for these scanning areas and subsequent physical inspection and control of the parts. Furthermore, the vehicle body needs to accurately reach and position itself at the sunroof assembly station, synchronizing the sunroof glass vision assembly system with the vehicle body station. This ensures accurate association between the vision assembly system equipment and the vehicle parking position, thereby guaranteeing the accuracy and stability of the assembly.

[0044] This embodiment provides a method for positioning and installing a vehicle sunroof glass, including the following steps:

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

[0046] The skid transports the vehicle body without the panoramic sunroof to the panoramic sunroof assembly station. Once the skid is in place, the sensor sends a signal to the positioning pin, which rises and positions itself into the positioning hole of the skid, thus enabling the vehicle body on the skid to reach the station and be accurately positioned.

[0047] Step 2: Employees assemble the canopy glass onto the positioning fixture, where the canopy glass is positioned using contour positioning.

[0048] Employees place the canopy glass onto the conveyor belt, which then transports it to the positioning fixture.

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

[0050] like Figure 2 and Figure 3 As shown, five Z-axis support blocks (first Z-axis support block 107, second Z-axis support block 108, third Z-axis support block 109, fourth Z-axis support block 110, and fifth Z-axis support block 111) position and support the skylight glass in the Z-axis direction on the positioning fixture. Specifically, the five Z-axis support blocks are evenly fixed on the base plate, and the area they enclose is smaller than the area of ​​the skylight glass. The height of the five Z-axis support blocks is consistent to ensure that the skylight glass is horizontal in the Z-axis direction.

[0051] like Figure 2 and Figure 3 As shown, two fixed X-axis edge posts (first fixed X-axis edge post 112 and second fixed X-axis edge post 113) and two movable X-axis edge posts (first movable X-axis edge post 114 and second movable X-axis edge post 115) are used to position the canopy glass in the X-axis direction on the positioning fixture. The first fixed X-axis edge post 112 and the second fixed X-axis edge post 113 are used to position the canopy glass in the X-axis direction. The first movable X-axis edge post 114 and the second movable X-axis edge post 115 are used to push the canopy glass to move in the X-axis direction, so that the canopy glass is in zero contact with the first fixed X-axis edge post 112 and the second fixed X-axis edge post 113.

[0052] Specifically, the first X-direction fixed edge post 112 and the second X-direction fixed edge post 113 are fixed to the base plate. The bottoms of the first X-direction movable edge post 114 and the second X-direction movable edge post 115 are each provided with a sliding groove. Two parallel X-direction slide rails are fixedly installed on the floor, and the sliding grooves of the first X-direction movable edge post 114 and the second X-direction movable edge post 115 are respectively matched with the two X-direction slide rails. The first X-direction movable edge post 114 and the second X-direction movable edge post are driven by a single cylinder, thus ensuring synchronous movement of the two edge posts. Specifically, the first X-direction movable edge post 114 and the second X-direction movable edge post 115 are located at both ends of the first connecting rod, and the first cylinder is located at the center of the first connecting rod, with equal distances to the first X-direction movable edge post 114 and the second X-direction movable edge post 115. The first cylinder may have only one output shaft. The first cylinder pushes the first X-direction movable edge post 114 and the second X-direction movable edge post 115 to move in the X direction, thereby pushing the skylight glass to move in the X direction, so that the skylight glass is in zero contact with the first X-direction fixed edge post 112 and the second X-direction fixed edge post 113.

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

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

[0055] In one implementation, a support plate is also included. An X-axis guide rail is provided in the middle of the base plate, and a groove is formed at the bottom of the support plate, which matches the X-axis guide rail in the middle of the base plate. The aforementioned Y-axis guide rail and second cylinder are not directly fixed to the base plate, but directly fixed to the support plate. This ensures that when the first X-axis movable edge post 114 and the second X-axis movable edge post 115 push the skylight glass to move in the X direction, they simultaneously drive the first Y-axis centering limit post 116 and the second Y-axis centering limit post 117 to move synchronously, preventing misalignment in the Y direction during X-axis movement.

[0056] When the skylight glass is transferred to the positioning fixture, the glass is first fitted with the first X-direction fixed edge post 112 and the second X-direction fixed edge post 113 of the fixture; then the first Y-direction centering limit post 116 and the second Y-direction centering limit post 117 move in opposite directions simultaneously to clamp it, so that the skylight glass is centered in the Y direction on the positioning fixture; finally, the first X-direction movable edge post 114 and the second X-direction movable edge post 115 are used to make the skylight glass reach the X-direction position.

[0057] Step 3: The robotic arm picks up the canopy glass from the positioning fixture and then moves it to the glue applicator to apply glue.

[0058] Step 4: A robotic arm equipped with a laser scanner scans the mounting and positioning points of the vehicle's 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 vision assembly system first scans the Y-axis opening size of the vehicle body twice, once at the front opening and once at the rear opening; it also scans the X-axis twice, at two pre-reserved positioning scanning surfaces at the front of the vehicle body.

[0061] Specifically, the visual assembly system's scanning design on the vehicle body: After the vehicle body without a sunroof is transferred to the sunroof assembly station and positioned, the visual assembly system scans the vehicle body's glass installation positioning points using a laser scanner. First, it scans the Y-axis opening size at the front of the vehicle body, then scans the first positioning point (Y-axis positioning point on the left side of the front of the vehicle body) 101 and the second positioning point (Y-axis positioning point on the right side of the front of the vehicle body) 102, obtaining the outlines and positions of the first and second positioning points, thus determining the front opening size of the sunroof on the vehicle body; then it scans the third positioning point at the rear of the vehicle body... By scanning point 103 (left rear Y-axis positioning point) and point 104 (right rear Y-axis positioning point) on the vehicle body, the outline and position of the third and fourth positioning points are obtained, and the size of the rear opening of the sunroof glass on the vehicle body is determined. Then, the left front X-axis positioning point of the vehicle body, i.e., the fifth positioning point 105, is scanned again to obtain the outline and position of the fifth positioning point, and the X-axis position of the sunroof glass on the vehicle body is determined. Finally, the right front X-axis positioning point of the vehicle body, i.e., the sixth positioning point 106, is scanned to obtain the outline and position of the sixth positioning point, and to ensure that the glass will not rotate after assembly.

[0062] As one implementation method, the contours of each glass mounting positioning point are obtained through a point cloud segmentation algorithm: spatial point cloud data of the vehicle body with positioning points is acquired using 3D laser scanning technology; features of the spatial point cloud data are extracted using a convolutional neural network 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 with a number of points outside the set range are deleted; for the retained clusters, the data is input into a classifier to obtain the category of each cluster, thus obtaining the clusters belonging to the positioning points, and finally obtaining the contours of the positioning points.

[0063] Step 5: Based on the identified glass installation positioning points, combined with the front opening size and the rear opening size, calculate the assembly position, control the robot arm to move to the assembly position, the robot arm installs the sunroof glass after applying adhesive onto the vehicle body, and the robot arm releases the glass and returns to the origin.

[0064] Due to manufacturing tolerances, the size of the body openings will fluctuate within ±1.5mm. The condition of each vehicle is different. If the sunroof glass is to be installed in a centered position with the body openings, it is necessary to scan and calculate the body opening dimensions (front opening dimensions and rear opening dimensions) and find the center point to achieve centered glass installation.

[0065] Using a vision-based assembly system to assemble the panoramic sunroof glass can effectively control the first-time assembly pass rate of the panoramic sunroof glass on the vehicle body, such as... Figure 4 As shown, the system can control the matching gap, surface difference, uniformity, and left-right symmetry accuracy requirements between the panoramic glass 1 and the lidar cover 2, rear windshield 3, and side panel 4. Before assembly, the vision assembly system scans the vehicle body opening size and panoramic glass positioning point size, and then calculates and accurately positions the glass assembly position, thereby achieving accurate one-time positioning and assembly of the panoramic glass and ensuring the assembly consistency of each vehicle.

[0066] Example 2

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

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

[0069] The skylight glass positioning module is configured to: respond to the skylight glass positioning command, control the X-direction movable edge post and the Y-direction centering limit post on the positioning fixture, drive the skylight glass to move in the X and Y directions, so that the skylight glass is in the X direction and centered in the Y direction on the positioning fixture, and then control the robot arm to grab the skylight glass on the positioning fixture.

[0070] The vehicle positioning module is configured to: in response to the vehicle positioning command, acquire the spatial point cloud of the vehicle with positioning points, extract features from the spatial point cloud, cluster based on the features of all points to obtain several clusters, count the number of points in each cluster, delete clusters with a number of points that are not within the set range, classify the remaining clusters, and extract the outline and position of the clusters belonging to the positioning point category.

[0071] The assembly module is configured to: calculate the assembly position based on the contour and position of the identified positioning points, control the robotic arm to move to the assembly position, and install the panoramic glass onto the vehicle body.

[0072] It should be noted that the vehicle sunroof glass positioning and installation device provided in the above embodiments is only an example of the division of the above functional modules. In practical 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 and the vehicle sunroof glass positioning and installation method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0073] Example 3

[0074] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps in the vehicle sunroof glass positioning and installation method described in Embodiment 1 above.

[0075] Example 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, it implements the steps in the vehicle sunroof glass positioning and installation method described in Embodiment 1 above.

[0077] Figure 5 A schematic diagram of the structure of a computer device provided in an exemplary embodiment of this 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 quad-core processor or an octa-core processor. The processor may be implemented using at least one hardware form of DSP (Digital Signal Processing), FPGA (Field Programmable Gate Array), or PLA (Programmable Logic Array). The processor may also include a main processor and coprocessors. The main processor, also known as the CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the screen. In some embodiments, the processor may also include an AI (Artificial Intelligence) processor, which is used to handle computational 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 high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory are used to store at least one computer program, which is configured by a processor to implement the in-vehicle occupant detection method provided in the method embodiments of this application.

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

[0081] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for positioning and installing a vehicle sunroof glass, characterized in that, include: In response to the command for the canopy glass to be in place, the X-axis movable edge post and Y-axis centering limit post on the positioning fixture are controlled to move the canopy glass in the X and Y directions. After the canopy glass is in place in the X direction and centered in the Y direction on the positioning fixture, the robot arm is controlled to grab the canopy glass on the positioning fixture. In response to the vehicle body positioning command, the spatial point cloud of the vehicle body with positioning points is acquired. After feature extraction of the spatial point cloud, clustering is performed based on the features of all points to obtain several clusters. The number of points in each cluster is counted, and clusters with a number of points outside the set range are deleted. After classifying the remaining clusters, the outline and position of the clusters belonging to the positioning point category are extracted. Based on the identified contours and positions of the positioning points, the assembly position is calculated, the robotic arm is controlled to move to the assembly position, and the panoramic glass is installed onto the vehicle body. The positioning fixture is provided with several Z-axis support blocks to position and support the canopy glass in the Z-axis direction on the positioning fixture; the positioning fixture is provided with X-axis fixed edge posts, and the X-axis movable edge posts move in the X-axis direction to push the canopy glass to move in the X-axis direction so that the canopy glass is in zero contact with the X-axis fixed edge posts.

2. The method for positioning and installing a vehicle sunroof glass according to claim 1, characterized in that, Also includes: After the robotic arm is positioned on the positioning fixture to pick up the canopy glass, it is then guided to the glue applicator to apply glue.

3. The method for positioning and installing a vehicle sunroof glass according to claim 1, characterized in that, There are multiple X-direction movable side posts, and they are driven by the same cylinder.

4. The method for positioning and installing a vehicle sunroof 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.

5. The method for positioning and installing a vehicle sunroof glass according to claim 1, characterized in that, The positioning points include the left Y-axis positioning point at the front of the vehicle body, the right Y-axis positioning point at the front of the vehicle body, the left Y-axis positioning point at the rear of the vehicle body, the right Y-axis positioning point at the rear of the vehicle body, the left X-axis positioning point at the front of the vehicle body, and the right X-axis positioning point at the front of the vehicle body.

6. A vehicle sunroof glass positioning and installation device, characterized in that, include: The skylight glass positioning module is configured to: respond to the skylight glass positioning command, control the X-direction movable edge post and the Y-direction centering limit post on the positioning fixture, drive the skylight glass to move in the X and Y directions, so that the skylight glass is in the X direction and centered in the Y direction on the positioning fixture, and then control the robot arm to grab the skylight glass on the positioning fixture. The vehicle positioning module is configured to: in response to the vehicle positioning command, acquire the spatial point cloud of the vehicle with positioning points, extract features from the spatial point cloud, cluster based on the features of all points to obtain several clusters, count the number of points in each cluster, delete clusters with a number of points that are not within the set range, classify the remaining clusters, and extract the outline and position of the clusters belonging to the positioning point category. The assembly module is configured to: calculate the assembly position based on the contour and position of the identified positioning points, control the robotic arm to move to the assembly position, and install the panoramic glass onto the vehicle body. The positioning fixture is provided with several Z-axis support blocks to position and support the canopy glass in the Z-axis direction on the positioning fixture; the positioning fixture is provided with X-axis fixed edge posts, and the X-axis movable edge posts move in the X-axis direction to push the canopy glass to move in the X-axis direction so that the canopy glass is in zero contact with the X-axis fixed edge posts.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps in the vehicle sunroof glass positioning and installation method as described in any one of claims 1-5.

8. 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, it implements the steps in the vehicle sunroof glass positioning and installation method as described in any one of claims 1-5.

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