An intelligent control method and related system for automobile sunroof glass cage

Abstract

The present application provides an intelligent control method and related system for a sunroof glass cage of an automobile, the method comprising: obtaining a first image of an automobile frame through a visual system, identifying a sunroof installation area in the automobile frame through the first image, and determining a first position and a first angle of the sunroof installation area; obtaining first attribute information of the sunroof installation area; identifying the sunroof glass in the sunroof glass cage of the automobile through the visual system, taking a second image of the sunroof glass, determining the adsorption position of the vacuum suction cup on the sunroof glass through the second image, and obtaining a second position; obtaining second attribute information of the sunroof glass; determining a first suction cup control parameter corresponding to the second attribute information; generating a moving track between the second position and the first position; and determining sunroof glass installation parameters corresponding to the first attribute information, the second attribute information, the first position, the first angle, and the sunroof installation area. The use of the embodiments of the present application can improve the efficiency of sunroof glass installation.

Description

Technical Field

[0001] The present application relates to the field of motor vehicle technology, and in particular to an intelligent control method and a related system for a glass cage of a vehicle sunroof. Background Art

[0002] The sunroof glass of a panoramic sunroof is often stored in a car sunroof glass cage. Usually, manual cooperation is required to complete the installation of the sunroof glass, resulting in low sunroof glass installation efficiency. Therefore, the problem of how to improve the sunroof glass installation efficiency needs to be solved urgently. Summary of the invention

[0003] The embodiments of the present application provide an intelligent control method and related system for a car sunroof glass cage, which can improve the efficiency of sunroof glass installation.

[0004] In a first aspect, an embodiment of the present application provides an intelligent control method for a glass cage of a car sunroof, which is applied to a robot, wherein the robot comprises: a visual system, a robot body, a mechanical arm, and a suction cup device, wherein the robot body is connected to the suction cup device through the mechanical arm, and the suction cup device comprises a vacuum suction cup; the method comprises:

[0005] Acquire a first image of a vehicle frame through the visual system, identify a sunroof installation area in the vehicle frame through the first image, and determine a first position and a first angle of the sunroof installation area;

[0006] Acquire first attribute information of the skylight installation area;

[0007] Identifying the sunroof glass in the sunroof glass cage of the automobile by the visual system, and taking a second image of the sunroof glass, and determining the adsorption position of the vacuum suction cup on the sunroof glass by the second image to obtain a second position;

[0008] Acquiring second attribute information of the sunroof glass;

[0009] determining a first suction cup control parameter corresponding to the second attribute information;

[0010] generating a movement trajectory between the second position and the first position;

[0011] determining sunroof glass installation parameters corresponding to the first attribute information, the second attribute information, the first position, the first angle, and the sunroof installation area;

[0012] The suction cup device is controlled by the robotic arm to absorb the sunroof glass according to the second position with the first suction cup control parameters, and the sunroof glass is moved to the first position along the moving trajectory, and the sunroof glass is installed in the sunroof installation area according to the sunroof glass installation parameters.

[0013] In a second aspect, an embodiment of the present application provides an intelligent control system for a glass cage for a car sunroof, which is applied to a robot, wherein the robot comprises: a visual system, a robot body, a mechanical arm and a suction cup device, wherein the robot body is connected to the suction cup device via the mechanical arm, and the suction cup device comprises a vacuum suction cup; the intelligent control system for the glass cage for a car sunroof comprises: an identification unit, an acquisition unit, a determination unit, a generation unit and a control unit, wherein:

[0014] The recognition unit is used to obtain a first image of the automobile frame through the visual system, and recognize a sunroof installation area in the automobile frame through the first image, and determine a first position and a first angle of the sunroof installation area;

[0015] The acquiring unit is used to acquire first attribute information of the skylight installation area;

[0016] The recognition unit is further used to recognize the sunroof glass in the sunroof glass cage of the automobile through the visual system, and to take a second image of the sunroof glass, and to determine the adsorption position of the vacuum suction cup on the sunroof glass through the second image to obtain a second position;

[0017] The acquisition unit is further used to acquire second attribute information of the sunroof glass;

[0018] The determining unit is used to determine a first suction cup control parameter corresponding to the second attribute information;

[0019] The generating unit is configured to generate a moving track between the second position and the first position;

[0020] The determining unit is further configured to determine sunroof glass installation parameters corresponding to the first attribute information, the second attribute information, the first position, the first angle, and the sunroof installation area;

[0021] The control unit is used to control the suction cup device through the robotic arm to absorb the sunroof glass according to the second position with the first suction cup control parameters, move the sunroof glass to the first position along the moving trajectory, and install the sunroof glass in the sunroof installation area according to the sunroof glass installation parameters.

[0022] In a third aspect, an embodiment of the present application provides a robot comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program comprises instructions for executing the steps in the first aspect of the embodiment of the present application.

[0023] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps described in the first aspect of the embodiment of the present application.

[0024] In a fifth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application. The computer program product may be a software installation package.

[0025] The implementation of the embodiments of the present application has the following beneficial effects:

[0026] It can be seen that the intelligent control method and related system of the automobile sunroof glass cage described in the embodiment of the present application are applied to a robot, wherein the robot comprises: a visual system, a robot body, a mechanical arm and a suction cup device, wherein the robot body is connected to the suction cup device through the mechanical arm, and the suction cup device comprises a vacuum suction cup; a first image of the automobile frame is acquired through the visual system, and a sunroof installation area in the automobile frame is identified through the first image, and a first position and a first angle of the sunroof installation area are determined; first attribute information of the sunroof installation area is acquired; the sunroof glass in the automobile sunroof glass cage is identified through the visual system, and a second image of the sunroof glass is taken, and the adsorption position of the vacuum suction cup on the sunroof glass is determined through the second image to obtain a second position; second attribute information of the sunroof glass is acquired; a first suction cup control parameter corresponding to the second attribute information is determined; a movement trajectory between the second position and the first position is generated; and a sunroof glass installation corresponding to the first attribute information, the second attribute information, the first position, the first angle and the sunroof installation area is determined. Parameters; the suction cup device is controlled by the robotic arm to absorb the sunroof glass according to the second position with the first suction cup control parameters, and the sunroof glass is moved to the first position along the moving trajectory, and the sunroof glass is installed in the sunroof installation area according to the sunroof glass installation parameters. First, the visual system can be used to identify the automobile frame and the sunroof glass in the automobile sunroof glass cage, and obtain the corresponding attribute information of the two. Second, the first attribute information reflects the relevant characteristics and process requirements of the automobile frame to a certain extent, and the second attribute information reflects the relevant characteristics and process requirements of the sunroof glass to a certain extent. Then, the sunroof glass installation parameters corresponding to the first attribute information, the second attribute information and the sunroof installation area can be determined, so that the sunroof glass installation is always deeply related to the relevant characteristics and process requirements of the automobile frame and the sunroof glass. Then, the suction cup device can be controlled by the robotic arm to absorb the sunroof glass according to the second position with the first suction cup control parameters, and the sunroof glass is moved to the first position along the moving trajectory, and the sunroof glass is installed in the sunroof installation area according to the sunroof glass installation parameters, thereby improving the sunroof glass installation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art 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 paying creative work.

[0028] Figure 1It is a flow chart of an intelligent control method of a car sunroof glass cage provided in an embodiment of the present application;

[0029] Figure 2 is a schematic diagram of the structure of a robot provided in an embodiment of the present application;

[0030] Figure 3 This is a block diagram of the functional units of an intelligent control system for a car sunroof glass cage provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but in a possible example also includes steps or units that are not listed, or in a possible example also includes other steps or units inherent to these processes, methods, products or devices.

[0032] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0033] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] In the embodiments of the present application, the robot may be understood as an industrial robot, an automobile processing robot or an automobile sunroof glass installation workbench having the function of installing automobile sunroof glass.

[0035] See also Figure 1 , Figure 1The present invention is a flowchart of an intelligent control method for a glass cage for a car sunroof provided by an embodiment of the present invention, which is applied to a robot, wherein the robot comprises: a visual system, a robot body, a mechanical arm and a suction cup device, wherein the robot body is connected to the suction cup device via the mechanical arm, and the suction cup device comprises a vacuum suction cup; the intelligent control method for a glass cage for a car sunroof comprises:

[0036] 101. Acquire a first image of a vehicle frame through the visual system, identify a sunroof installation area in the vehicle frame through the first image, and determine a first position and a first angle of the sunroof installation area.

[0037] In a specific implementation, the robot may include: a visual system, a robot body, a robotic arm and a suction cup device, wherein the robot body is connected to the suction cup device via the robotic arm, the suction cup device includes a vacuum suction cup, and the number of the vacuum suction cups may be one or more.

[0038] The visual system may include at least one of the following: a camera, an ultrasonic sensor, a radar sensor, a laser sensor, an infrared imager, etc., which are not limited here. For example, a laser 3D visual system may be used to monitor in real time the process of the suction cup device sucking the sunroof glass and installing the sunroof glass.

[0039] In the embodiment of the present application, the bottom of the automobile frame can be photographed by the visual system to obtain a first image, and the sunroof installation area in the automobile frame can be identified by the first image, and then the first position and the first angle of the sunroof installation area are determined, and the first position can include one coordinate position or multiple coordinate positions. The first angle reflects the angular relationship between the sunroof installation area and the horizontal plane.

[0040] 102. Obtain first attribute information of the skylight installation area.

[0041] In an embodiment of the present application, the first attribute information of the skylight installation area may include at least one of the following: specifications of the skylight installation area, structure of the skylight installation area, material of the skylight installation area, size of the skylight installation area, model of the skylight installation area, image of the skylight installation area, craftsmanship of the skylight installation area, etc., which are not limited here.

[0042] 103. Identify the sunroof glass in the sunroof glass cage of the automobile through the visual system, take a second image of the sunroof glass, determine the adsorption position of the vacuum suction cup on the sunroof glass through the second image, and obtain a second position.

[0043] In an embodiment of the present application, the sunroof glass in the sunroof glass cage of the automobile can be identified by a visual system, and the sunroof glass can be photographed to obtain a second image. The adsorption position of the vacuum suction cup on the sunroof glass is determined by the second image to obtain the second position. In a specific implementation, the geometric center of the second image can be identified, and the geometric center includes at least one of the following: center, center of gravity, center of mass. When the number of vacuum suction cups is one, the geometric center can be used as the adsorption position on the sunroof glass to obtain the second position. When the number of vacuum suction cups is multiple, the geometric center of the multiple vacuum suction cups is the same as the geometric center of the second image, that is, the geometric center of the adsorption position of the multiple vacuum suction cups is the second position.

[0044] 104. Obtain second attribute information of the skylight glass.

[0045] In an embodiment of the present application, the second attribute information of the skylight glass may include at least one of the following: specifications of the skylight glass, structure of the skylight glass, weight of the skylight glass, hardness of the skylight glass, bending strength of the skylight glass, compression strength of the skylight glass, thermal expansion coefficient of the skylight glass, density of the skylight glass, heat resistance temperature of the skylight glass, material of the skylight glass, size of the skylight glass, model of the skylight glass, thickness of the skylight glass, color of the skylight glass, image of the skylight glass, craftsmanship of the skylight glass, etc., which are not limited here.

[0046] In a specific implementation, after the image is recognized, relevant features (labels, feature points, patterns, etc.) on the sunroof glass can be identified, and based on the mapping relationship between the features and the attribute information of the sunroof glass, second attribute information corresponding to the relevant features can be determined.

[0047] 105. Determine a first suction cup control parameter corresponding to the second attribute information.

[0048] In the embodiment of the present application, the first suction cup control parameter may include at least one of the following: suction cup force, suction cup pressure, suction cup stability, suction cup working current, suction cup working voltage, suction cup working power, etc., which are not limited here.

[0049] In a specific implementation, the mapping relationship between the preset attribute information of the sunroof glass and the suction cup control parameters can be pre-stored, and then, the first suction cup control parameter corresponding to the second attribute information can be determined based on the mapping relationship. In this way, the corresponding suction cup control parameter can be adapted based on the actual situation of the sunroof glass, which not only ensures the adsorption stability of the sunroof glass, but also can well protect the sunroof glass.

[0050] 106. Generate a movement trajectory between the second position and the first position.

[0051] In the specific implementation, since the second position and the first position are known, the moving trajectory between the second position and the first position can be generated based on the path planning algorithm. In this way, the robotic arm can quickly and accurately move the sunroof glass from the car sunroof glass cage to the sunroof installation area to complete the subsequent sunroof glass installation operation.

[0052] 107. Determine skylight glass installation parameters corresponding to the first attribute information, the second attribute information, and the skylight installation area.

[0053] The skylight glass installation parameters may include at least one of the following: skylight glass installation process, skylight glass installation process, skylight glass installation force, skylight glass installation angle, skylight glass installation position, skylight glass installation posture, skylight glass installation action, etc., which are not limited here. The skylight glass installation parameters are closely related to the action of the robot arm and the action of the suction cup device.

[0054] In the embodiment of the present application, the quality of the installation process will also affect the difficulty of gluing, the gluing effect, and the subsequent waterproofness, shock resistance, stability, etc. to a certain extent. The first attribute information reflects the relevant characteristics and process requirements of the automobile frame to a certain extent, and the second attribute information reflects the relevant characteristics and process requirements of the sunroof glass to a certain extent. Then, the sunroof glass installation parameters corresponding to the first attribute information, the second attribute information and the sunroof installation area can be determined, so that the sunroof glass installation is always deeply related to the relevant characteristics and process requirements of the automobile frame and the sunroof glass. Therefore, it not only helps to ensure the improvement of the sunroof glass installation efficiency, but also can help to reduce the difficulty of gluing, ensure the gluing effect, and ensure waterproofness, shock resistance and stability to a certain extent.

[0055] 108. Control the suction cup device through the robotic arm to absorb the sunroof glass according to the second position with the first suction cup control parameters, move the sunroof glass to the first position along the moving trajectory, and install the sunroof glass in the sunroof installation area according to the sunroof glass installation parameters.

[0056] In an embodiment of the present application, the suction cup device can be controlled by a robotic arm to absorb the sunroof glass according to the first suction cup control parameters according to the second position, move the sunroof glass along the moving trajectory to the first position, and install the sunroof glass in the sunroof installation area according to the sunroof glass installation parameters, thereby improving the installation efficiency of the sunroof glass.

[0057] In the embodiment of the present application, the robot can realize autonomous path planning and navigation positioning, realize the positioning of the glass material cage, rely on vision and robotic arms to complete the opening of the skylight glass receiving block fixture layer by layer, and complete the automatic control of the material (skylight glass) on the line.

[0058] Optionally, the above step 107, determining the sunroof glass installation parameters corresponding to the first attribute information, the second attribute information, the first position, the first angle, and the sunroof installation area, may include the following steps:

[0059] Determining a second angle of the sunroof glass at the first position according to the first position and the first angle, so that the sunroof glass can be embedded in the sunroof installation area at the second angle at the first position;

[0060] Determine a first working parameter of the robot arm and a second suction cup control parameter of the vacuum suction cup according to the first attribute information and the second attribute information;

[0061] The sunroof glass installation parameter is determined according to the second angle, the first working parameter and the second suction cup control parameter.

[0062] Among them, the first working parameter of the robotic arm may include the working parameters at a certain moment or the working parameters of a time period. The first working parameter of the robotic arm may include at least one of the following: working time, motion parameters, angle parameters, direction parameters, speed parameters, working current, working voltage, working power, etc., which are not limited here.

[0063] In an embodiment of the present application, the second suction cup control parameter of the vacuum suction cup may include a working parameter at a certain moment or a suction cup control parameter for a time period. The second suction cup control parameter of the vacuum suction cup may include at least one of the following: suction cup force, suction cup pressure, suction cup stability, suction cup working current, suction cup working voltage, suction cup working power, etc., which are not limited here.

[0064] In the specific implementation, the car frame can be fixed first to prevent the car frame from shaking so as not to affect the installation of the sunroof glass. On this basis, the installation of the sunroof glass can be completed. Since the first position and the first angle reflect the actual situation of the sunroof installation area and the relevant specific spatial structure to a certain extent, and the car frame is fixed, the sunroof glass needs to be adjusted in conjunction with the car frame. The second angle of the sunroof glass at the first position can be determined based on the first position and the first angle. The second angle is easy to calculate, and the sunroof glass can be embedded in the sunroof installation area at the second angle in the first position.

[0065] Next, the first working parameters of the robotic arm and the second suction cup control parameters of the vacuum suction cup can be determined according to the first attribute information and the second attribute information, and then the skylight glass installation parameters can be determined according to the second angle, the first working parameters, and the second suction cup control parameters. That is, the skylight glass installation parameters can include the second angle, the first working parameters, and the second suction cup control parameters.

[0066] In specific implementation, the gap between the car frame and the sunroof glass can also be dynamically controlled based on different process requirements to ensure different requirements such as waterproofness, shock resistance, and stability.

[0067] The sunroof glass installation parameters may also include: the contact point position between the vehicle frame and the sunroof glass, the contact point position and contact point sequence between the sunroof glass and the vehicle frame, etc., which are not limited here.

[0068] In the specific implementation, the first attribute information reflects the relevant characteristics and process requirements of the automobile frame to a certain extent, and the second attribute information reflects the relevant characteristics and process requirements of the sunroof glass to a certain extent. Furthermore, the sunroof glass installation parameters corresponding to the first attribute information, the second attribute information and the sunroof installation area can be determined, so that the sunroof glass installation is always deeply related to the relevant characteristics and process requirements of the automobile frame and the sunroof glass. Therefore, it not only helps to ensure the improvement of the sunroof glass installation efficiency, but also can help to reduce the difficulty of gluing, ensure the gluing effect, and ensure waterproofness, shock resistance and stability to a certain extent.

[0069] Optionally, the above step of determining the first working parameter of the robot arm and the second suction cup control parameter of the suction cup device according to the first attribute information and the second attribute information may include the following steps:

[0070] determining a matching degree between the sunroof installation area and the sunroof glass according to the first attribute information and the second attribute information;

[0071] Determining reference operating parameters of the robotic arm according to the matching degree;

[0072] Determining a reference suction cup control parameter of the vacuum suction cup according to the matching degree;

[0073] Optimizing the reference operating parameter according to the first attribute information and the second attribute information to obtain the first operating parameter;

[0074] The reference suction cup control parameter is optimized according to the first attribute information and the second attribute information to obtain the second suction cup control parameter.

[0075] In a specific implementation, the first attribute information and the second attribute information can be matched to obtain the degree of matching between the sunroof installation area and the sunroof glass. Since the first attribute information reflects the relevant characteristics and process requirements of the vehicle frame to a certain extent, and the second attribute information reflects the relevant characteristics and process requirements of the sunroof glass to a certain extent, the matching result between the first attribute information and the second attribute information reflects the degree of matching between the sunroof installation area and the sunroof glass.

[0076] In a specific implementation, a mapping relationship between a preset matching degree and the working parameters of the robot arm may be pre-stored, and then, based on the mapping relationship, a reference working parameter corresponding to the matching degree between the sunroof installation area and the sunroof glass may be determined. Next, a preset matching degree and a suction cup control parameter of a vacuum suction cup may also be pre-stored, and then, based on the mapping relationship, a reference suction cup control parameter corresponding to the matching degree between the sunroof installation area and the sunroof glass may be determined.

[0077] Next, since the first attribute information reflects the relevant characteristics and process requirements of the automobile frame to a certain extent, and the second attribute information reflects the relevant characteristics and process requirements of the sunroof glass to a certain extent, the reference working parameters can be optimized according to the first attribute information and the second attribute information to obtain the first working parameters, and the reference suction cup control parameters can be optimized according to the first attribute information and the second attribute information to obtain the second suction cup control parameters. In this way, the sunroof glass installation parameters (for example, the first working parameters, the second suction cup control parameters) corresponding to the first attribute information, the second attribute information and the sunroof installation area can be determined, so that the sunroof glass installation is always deeply related to the relevant characteristics and process requirements of the automobile frame and the sunroof glass. Therefore, it not only helps to ensure the improvement of the sunroof glass installation efficiency, but also can help to reduce the difficulty of gluing, ensure the gluing effect, and ensure waterproofness, shock resistance and stability to a certain extent.

[0078] Optionally, the first attribute information and the second attribute information both include attribute information of multiple dimensions; the above step of determining the matching degree between the sunroof installation area and the sunroof glass according to the first attribute information and the second attribute information may include the following steps:

[0079] Matching each attribute information in the attribute information of multiple dimensions of the first attribute information with corresponding attribute information of the second attribute information to obtain multiple matching values;

[0080] Obtaining a weight corresponding to each dimension of the multiple dimensions to obtain multiple weight sets, each weight set corresponding to an environmental parameter;

[0081] Get target environment parameters;

[0082] Selecting a target weight set corresponding to the target environment parameter from the multiple weight sets;

[0083] A weighted operation is performed according to the target weight set and the multiple matching values ​​to obtain the matching degree.

[0084] In a specific implementation, each attribute information in the attribute information of multiple dimensions of the first attribute information can be matched with the corresponding attribute information of the second attribute information to obtain multiple matching values. The weight corresponding to each dimension in the multiple dimensions can also be obtained to obtain multiple weight sets. Each weight set corresponds to an environmental parameter, and the sum of all weights of each weight set is 1.

[0085] Among them, the robot may also include an environmental sensor, which can obtain environmental parameters. The environmental parameters may include at least one of the following: ambient temperature, ambient humidity, magnetic field interference intensity, wind speed, PM2.5, etc., which are not limited here.

[0086] In the specific implementation, the target environmental parameters can be obtained through environmental sensors. Due to different environments, the degree of influence of the environment on the matching of each dimension is different. Therefore, based on the environmental parameters in the current actual environment, the target weight set corresponding to the target environmental parameters can be selected from multiple weight sets, and then weighted calculation is performed based on the target weight set and multiple matching values ​​to obtain the matching degree. In this way, the matching degree between the skylight installation area and the skylight glass can be deeply adapted to the actual environment, which helps to improve the installation efficiency of the skylight glass.

[0087] Optionally, the above step of optimizing the reference operating parameter according to the first attribute information and the second attribute information to obtain the first operating parameter may include the following steps:

[0088] Determining a first normalized deviation between the first attribute information and the second attribute information;

[0089] Determining a first optimization parameter corresponding to the first normalized deviation;

[0090] The first operating parameter is determined according to the first optimization parameter and the reference operating parameter.

[0091] In a specific implementation, the first normalized deviation between the first attribute information and the second attribute information can be determined, the first normalized deviation = (first attribute information - second attribute information) / (first attribute information + second attribute information), and the mapping relationship between the preset normalized deviation and the optimization parameter can be pre-stored, and then, the first optimization parameter corresponding to the first normalized deviation can be determined based on the mapping relationship, and then the first working parameter can be determined according to the first optimization parameter and the reference working parameter, that is, the first working parameter = (1 + first optimization parameter) * reference working parameter, and the first normalized deviation also reflects the degree of matching between the skylight installation area and the skylight glass to a certain extent. The first normalized deviation not only reflects the degree of deviation, but also reflects the direction of deviation, and then, it helps to deeply and dynamically optimize the installation parameters based on the degree of matching between the skylight installation area and the skylight glass, so that the final installation effect is deeply adapted to the actual situation.

[0092] Optionally, the above step of optimizing the reference suction cup control parameter according to the first attribute information and the second attribute information to obtain the second suction cup control parameter may include the following steps:

[0093] Determining a second optimization parameter corresponding to the first attribute information;

[0094] Determining a subtle optimization parameter corresponding to the second attribute information;

[0095] The second suction cup control parameter is determined according to the second optimization parameter, the fine optimization parameter and the reference suction cup control parameter.

[0096] In a specific implementation, a mapping relationship between the preset attribute information of the sunroof installation area and the optimization parameter can be pre-stored, and then, based on the mapping relationship, a second optimization parameter corresponding to the first attribute information can be determined, and the value range of the second optimization parameter is -0.1~0.1. A mapping relationship between the preset attribute information of the sunroof glass and the subtle optimization parameter can be pre-stored, and the value range of the subtle optimization parameter is -0.02~0.02, and then, based on the mapping relationship, the subtle optimization parameter corresponding to the second attribute information can be determined, and then the second suction cup control parameter can be determined according to the second optimization parameter, the subtle optimization parameter and the reference suction cup control parameter, the second suction cup control parameter = reference suction cup control parameter * (1 + second optimization parameter) * (1 + subtle optimization parameter). Since the car frame has been fixed and is moved by the robot arm, The first attribute information reflects the relevant characteristics and process requirements of the automobile frame to a certain extent, and therefore, it has a greater influence on the control of the suction cup device. The sunroof glass has been in dynamic change and is directly contacted by the robotic arm through the suction cup device, and the second attribute information reflects the relevant characteristics and process requirements of the sunroof glass to a certain extent, and the suction cup device has adapted to the sunroof glass due to long-term contact with the sunroof glass, and therefore, it has less influence on the control of the suction cup device. Furthermore, the control of the suction cup device is also deeply related to the relevant characteristics and process requirements of the automobile frame and sunroof glass during the installation of the sunroof glass. Therefore, it not only helps to ensure the improvement of the installation efficiency of the sunroof glass, but also can help to reduce the difficulty of gluing, ensure the gluing effect, as well as ensure waterproofness, shock resistance and stability to a certain extent.

[0097] Optionally, the following steps may also be included:

[0098] Obtaining a first absolute value of the first normalized deviation;

[0099] When the first absolute value is greater than a first preset threshold, re-performing the step of identifying the sunroof glass in the sunroof glass cage of the automobile by using the visual system;

[0100] When the first absolute value is less than or equal to the first preset threshold, the step of determining a first optimization parameter corresponding to the first normalized deviation is performed.

[0101] The first preset threshold may be preset or set by system default.

[0102] In a specific implementation, a first absolute value of a first normalized deviation can be obtained. When the first absolute value is greater than a first preset threshold, it indicates that the sunroof installation area and the sunroof glass do not match each other. Then, the step of identifying the sunroof glass in the automobile sunroof glass cage through the visual system can be re-executed to obtain the sunroof glass that matches the sunroof installation area.

[0103] Of course, when the first absolute value is less than or equal to the first preset threshold, it means that the match between the sunroof installation area and the sunroof glass meets the requirements, and the step of determining the first optimization parameter corresponding to the first normalized deviation is executed. In this way, it is possible to timely identify whether the sunroof installation area and the sunroof glass are matched.

[0104] Optionally, the above step of determining a first optimization parameter corresponding to the first normalized deviation may further include the following steps:

[0105] When the first absolute value is less than or equal to a second preset threshold, determining a first optimization parameter corresponding to the first normalized deviation according to a preset mapping relationship between the normalized deviation and the optimization parameter; and the second preset threshold is less than the first preset threshold;

[0106] When the first absolute value is greater than the second preset threshold and less than the first preset threshold, obtaining a reference optimization parameter corresponding to the first normalized deviation according to the mapping relationship;

[0107] Acquire a third image of the skylight installation area, and extract the first high-frequency feature set through the third image;

[0108] Acquire a first reference image of a standard skylight installation area, and extract the second high-frequency feature set through the first reference image;

[0109] determining a first similarity between the first high-frequency feature set and the second high-frequency feature set;

[0110] Acquire a fourth image of the skylight glass, and extract the third high-frequency feature set through the fourth image;

[0111] Acquire a second reference image corresponding to the standard sunroof glass, and extract the fourth high-frequency feature set through the second reference image;

[0112] determining a second similarity between the third high frequency feature set and the fourth high frequency feature set;

[0113] Determining a target interaction influence parameter according to the first similarity and the second similarity;

[0114] The first optimization parameter is determined according to the target interaction influence parameter and the reference optimization parameter.

[0115] The first high-frequency feature set, the second high-frequency feature set, the third high-frequency feature set, and the fourth high-frequency feature set may all include a plurality of high-frequency features. The high-frequency features reflect the deep-layer detail texture features to a certain extent.

[0116] In a specific implementation, the high-frequency feature may include at least one of the following: a feature vector, a feature point, a feature profile, a feature value, etc., which are not limited here.

[0117] In a specific implementation, the image can be first decomposed into multiple scales to extract a high-frequency component image, and then feature extraction can be performed on the high-frequency component image to obtain a corresponding high-frequency feature set. The multi-scale decomposition can include at least one of the following: pyramid transform, wavelet transform, contourlet transform, ridgelet transform, etc., which are not limited here.

[0118] The second preset threshold is smaller than the first preset threshold, and both the first preset threshold and the second preset threshold are greater than 0.

[0119] In a specific implementation, when the first absolute value is less than or equal to the second preset threshold, it indicates that the sunroof installation area and the sunroof glass are deeply matched, and the first optimization parameter corresponding to the first normalized deviation can be determined according to the mapping relationship between the preset normalized deviation and the optimization parameter. When the first absolute value is greater than the second preset threshold and less than the first preset threshold, it indicates that the sunroof installation area and the sunroof glass are moderately matched, and the reference optimization parameter corresponding to the first normalized deviation can be obtained according to the mapping relationship between the preset normalized deviation and the optimization parameter.

[0120] Next, a third image of the skylight installation area can be obtained, and the first high-frequency feature set can be extracted through the third image. A first reference image of the standard skylight installation area can be obtained, and the second high-frequency feature set can be extracted through the first reference image. The first similarity between the first high-frequency feature set and the second high-frequency feature set can be determined. The first similarity reflects, to a certain extent, the degree of difference in depth details between the actual skylight installation area and the standard skylight installation area.

[0121] Correspondingly, a fourth image of the sunroof glass can be obtained, the third high-frequency feature set can be extracted through the fourth image, a second reference image corresponding to the standard sunroof glass can be obtained, the fourth high-frequency feature set can be extracted through the second reference image, and the second similarity between the third high-frequency feature set and the fourth high-frequency feature set can be determined. The second similarity reflects, to a certain extent, the degree of difference in depth details between the actual sunroof glass and the standard sunroof glass.

[0122] Next, the target interaction influence parameter can be determined according to the first similarity and the second similarity, that is, the target interaction influence parameter = (1 + first similarity) / (1 + second similarity), and then the first optimization parameter can be determined according to the target interaction influence parameter and the reference optimization parameter, that is, the first optimization parameter = target interaction influence parameter * reference optimization parameter. Since the relationship between the sunroof installation area and the sunroof glass is mutual coordination and mutual restraint, the target interaction influence parameter deeply reflects the degree of mutual restraint between the sunroof installation area and the sunroof glass, so that the final optimization parameter not only deeply conforms to the characteristics of the sunroof installation area and the sunroof glass, but also deeply combines the depth detail difference between the sunroof installation area and the standard sunroof installation area and the sunroof glass and the standard sunroof glass. The optimization parameters are deeply optimized, which helps to improve the installation efficiency of the sunroof glass.

[0123] It can be seen that the intelligent control method of the automobile sunroof glass cage described in the embodiment of the present application is applied to a robot, wherein the robot comprises: a visual system, a robot body, a mechanical arm and a suction cup device, wherein the robot body is connected to the suction cup device through the mechanical arm, and the suction cup device comprises a vacuum suction cup; a first image of the automobile frame is acquired through the visual system, and a sunroof installation area in the automobile frame is identified through the first image, and a first position and a first angle of the sunroof installation area are determined; first attribute information of the sunroof installation area is acquired; the sunroof glass in the automobile sunroof glass cage is identified through the visual system, and a second image of the sunroof glass is taken, and the adsorption position of the vacuum suction cup on the sunroof glass is determined through the second image to obtain a second position; second attribute information of the sunroof glass is acquired; a first suction cup control parameter corresponding to the second attribute information is determined; a movement trajectory between the second position and the first position is generated; and sunroof glass installation parameters corresponding to the first attribute information, the second attribute information, the first position, the first angle and the sunroof installation area are determined. ; The suction cup device is controlled by the robotic arm to absorb the sunroof glass according to the second position with the first suction cup control parameter, and the sunroof glass is moved to the first position along the moving trajectory, and the sunroof glass is installed in the sunroof installation area according to the sunroof glass installation parameters. First, the visual system can be used to identify the automobile frame and the sunroof glass in the automobile sunroof glass cage, and obtain the corresponding attribute information of the two. Second, the first attribute information reflects the relevant characteristics and process requirements of the automobile frame to a certain extent, and the second attribute information reflects the relevant characteristics and process requirements of the sunroof glass to a certain extent. Then, the sunroof glass installation parameters corresponding to the first attribute information, the second attribute information and the sunroof installation area can be determined, so that the sunroof glass installation is always deeply related to the relevant characteristics and process requirements of the automobile frame and the sunroof glass. Then, the suction cup device can be controlled by the robotic arm to absorb the sunroof glass according to the second position with the first suction cup control parameter, and the sunroof glass is moved to the first position along the moving trajectory, and the sunroof glass is installed in the sunroof installation area according to the sunroof glass installation parameters, thereby improving the sunroof glass installation efficiency.

[0124] In accordance with the above embodiment, please refer to Figure 2 , Figure 2: is a schematic diagram of the structure of a robot provided in an embodiment of the present application, the robot includes a processor, a memory, a communication interface and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the processor. In the embodiment of the present application, the robot includes: a visual system, a robot body, a mechanical arm and a suction cup device, wherein the robot body is connected to the suction cup device through the mechanical arm, and the suction cup device includes a vacuum suction cup; the program includes instructions for executing the following steps:

[0125] Acquire a first image of a vehicle frame through the visual system, identify a sunroof installation area in the vehicle frame through the first image, and determine a first position and a first angle of the sunroof installation area;

[0126] Acquire first attribute information of the skylight installation area;

[0127] Identifying the sunroof glass in the sunroof glass cage of the automobile by the visual system, and taking a second image of the sunroof glass, and determining the adsorption position of the vacuum suction cup on the sunroof glass by the second image to obtain a second position;

[0128] Acquiring second attribute information of the sunroof glass;

[0129] determining a first suction cup control parameter corresponding to the second attribute information;

[0130] generating a movement trajectory between the second position and the first position;

[0131] determining sunroof glass installation parameters corresponding to the first attribute information, the second attribute information, the first position, the first angle, and the sunroof installation area;

[0132] The suction cup device is controlled by the robotic arm to absorb the sunroof glass according to the second position with the first suction cup control parameters, and the sunroof glass is moved to the first position along the moving trajectory, and the sunroof glass is installed in the sunroof installation area according to the sunroof glass installation parameters.

[0133] Optionally, in determining the sunroof glass installation parameters corresponding to the first attribute information, the second attribute information, the first position, the first angle, and the sunroof installation area, the program includes instructions for performing the following steps:

[0134] Determining a second angle of the sunroof glass at the first position according to the first position and the first angle, so that the sunroof glass can be embedded in the sunroof installation area at the second angle at the first position;

[0135] Determine a first working parameter of the robot arm and a second suction cup control parameter of the vacuum suction cup according to the first attribute information and the second attribute information;

[0136] The sunroof glass installation parameter is determined according to the second angle, the first working parameter and the second suction cup control parameter.

[0137] Optionally, in determining the first working parameter of the robot arm and the second suction cup control parameter of the suction cup device according to the first attribute information and the second attribute information, the program includes instructions for performing the following steps:

[0138] determining a matching degree between the sunroof installation area and the sunroof glass according to the first attribute information and the second attribute information;

[0139] Determining reference operating parameters of the robotic arm according to the matching degree;

[0140] Determining a reference suction cup control parameter of the vacuum suction cup according to the matching degree;

[0141] Optimizing the reference operating parameter according to the first attribute information and the second attribute information to obtain the first operating parameter;

[0142] The reference suction cup control parameter is optimized according to the first attribute information and the second attribute information to obtain the second suction cup control parameter.

[0143] Optionally, the first attribute information and the second attribute information both include attribute information of multiple dimensions; in determining the matching degree between the sunroof installation area and the sunroof glass according to the first attribute information and the second attribute information, the program includes instructions for performing the following steps:

[0144] Matching each attribute information in the attribute information of multiple dimensions of the first attribute information with corresponding attribute information of the second attribute information to obtain multiple matching values;

[0145] Obtaining a weight corresponding to each dimension of the multiple dimensions to obtain multiple weight sets, each weight set corresponding to an environmental parameter;

[0146] Get target environment parameters;

[0147] Selecting a target weight set corresponding to the target environment parameter from the multiple weight sets;

[0148] A weighted operation is performed according to the target weight set and the multiple matching values ​​to obtain the matching degree.

[0149] Optionally, in the aspect of optimizing the reference operating parameter according to the first attribute information and the second attribute information to obtain the first operating parameter, the program includes instructions for executing the following steps:

[0150] Determining a first normalized deviation between the first attribute information and the second attribute information;

[0151] Determining a first optimization parameter corresponding to the first normalized deviation;

[0152] The first operating parameter is determined according to the first optimization parameter and the reference operating parameter.

[0153] It can be seen that the robot described in the embodiment of the present application comprises: a visual system, a robot body, a robotic arm and a suction cup device, wherein the robot body is connected to the suction cup device through the robotic arm, and the suction cup device comprises a vacuum suction cup; a first image of a car frame is acquired through the visual system, and a sunroof installation area in the car frame is identified through the first image, and a first position and a first angle of the sunroof installation area are determined; first attribute information of the sunroof installation area is acquired; the sunroof glass in the sunroof glass cage of the car is identified through the visual system, and a second image of the sunroof glass is taken, and the adsorption position of the vacuum suction cup on the sunroof glass is determined through the second image to obtain a second position; second attribute information of the sunroof glass is acquired; a first suction cup control parameter corresponding to the second attribute information is determined; a movement trajectory between the second position and the first position is generated; sunroof glass installation parameters corresponding to the first attribute information, the second attribute information, the first position, the first angle and the sunroof installation area are determined; and the sunroof glass installation parameters corresponding to the first attribute information, the second attribute information, the first position, the first angle and the sunroof installation area are determined through the robotic arm control The suction cup device sucks the sunroof glass according to the second position with the first suction cup control parameter, moves the sunroof glass to the first position along the moving trajectory, and installs the sunroof glass in the sunroof installation area according to the sunroof glass installation parameters. First, the visual system can be used to identify the automobile frame and the sunroof glass in the automobile sunroof glass cage, and obtain the corresponding attribute information of the two. Second, the first attribute information reflects the relevant characteristics and process requirements of the automobile frame to a certain extent, and the second attribute information reflects the relevant characteristics and process requirements of the sunroof glass to a certain extent. Then, the sunroof glass installation parameters corresponding to the first attribute information, the second attribute information and the sunroof installation area can be determined, so that the sunroof glass installation is always deeply related to the relevant characteristics and process requirements of the automobile frame and the sunroof glass. Then, the suction cup device can be controlled by the robotic arm to suck the sunroof glass according to the second position with the first suction cup control parameter, move the sunroof glass to the first position along the moving trajectory, and install the sunroof glass in the sunroof installation area according to the sunroof glass installation parameters, thereby improving the sunroof glass installation efficiency.

[0154] Figure 3 1 is a functional unit composition block diagram of an intelligent control system 300 for a car sunroof glass cage involved in an embodiment of the present application. The intelligent control system 300 for a car sunroof glass cage is applied to a robot, the robot comprising: a visual system, a robot body, a mechanical arm and a suction cup device, wherein the robot body is connected to the suction cup device via the mechanical arm, and the suction cup device comprises a vacuum suction cup; the intelligent control system 300 for the car sunroof glass cage comprises: an identification unit 301, an acquisition unit 302, a determination unit 303, a generation unit 304 and a control unit 305, wherein,

[0155] The recognition unit 301 is used to obtain a first image of the automobile frame through the visual system, and recognize a sunroof installation area in the automobile frame through the first image, and determine a first position and a first angle of the sunroof installation area;

[0156] The acquisition unit 302 is used to acquire first attribute information of the skylight installation area;

[0157] The recognition unit 301 is further used to recognize the sunroof glass in the sunroof glass cage of the automobile through the visual system, and take a second image of the sunroof glass, and determine the adsorption position of the vacuum suction cup on the sunroof glass through the second image to obtain a second position;

[0158] The acquisition unit 302 is further used to acquire second attribute information of the sunroof glass;

[0159] The determining unit 303 is used to determine a first suction cup control parameter corresponding to the second attribute information;

[0160] The generating unit 304 is configured to generate a moving track between the second position and the first position;

[0161] The determining unit 303 is further configured to determine sunroof glass installation parameters corresponding to the first attribute information, the second attribute information, the first position, the first angle, and the sunroof installation area;

[0162] The control unit 305 is used to control the suction cup device through the robotic arm to absorb the sunroof glass according to the second position with the first suction cup control parameters, move the sunroof glass to the first position along the moving trajectory, and install the sunroof glass in the sunroof installation area according to the sunroof glass installation parameters.

[0163] Optionally, in determining the sunroof glass installation parameters corresponding to the first attribute information, the second attribute information, the first position, the first angle, and the sunroof installation area, the determining unit 303 is specifically configured to:

[0164] Determining a second angle of the sunroof glass at the first position according to the first position and the first angle, so that the sunroof glass can be embedded in the sunroof installation area at the second angle at the first position;

[0165] Determine a first working parameter of the robot arm and a second suction cup control parameter of the vacuum suction cup according to the first attribute information and the second attribute information;

[0166] The sunroof glass installation parameter is determined according to the second angle, the first working parameter and the second suction cup control parameter.

[0167] Optionally, in determining the first working parameter of the robot arm and the second suction cup control parameter of the suction cup device according to the first attribute information and the second attribute information, the determining unit 303 is specifically used to:

[0168] determining a matching degree between the sunroof installation area and the sunroof glass according to the first attribute information and the second attribute information;

[0169] Determining reference operating parameters of the robotic arm according to the matching degree;

[0170] Determining a reference suction cup control parameter of the vacuum suction cup according to the matching degree;

[0171] Optimizing the reference operating parameter according to the first attribute information and the second attribute information to obtain the first operating parameter;

[0172] The reference suction cup control parameter is optimized according to the first attribute information and the second attribute information to obtain the second suction cup control parameter.

[0173] Optionally, the first attribute information and the second attribute information both include attribute information of multiple dimensions; in determining the matching degree between the sunroof installation area and the sunroof glass according to the first attribute information and the second attribute information, the determining unit 303 is specifically used to:

[0174] Matching each attribute information in the attribute information of multiple dimensions of the first attribute information with corresponding attribute information of the second attribute information to obtain multiple matching values;

[0175] Obtaining a weight corresponding to each dimension of the multiple dimensions to obtain multiple weight sets, each weight set corresponding to an environmental parameter;

[0176] Get target environment parameters;

[0177] Selecting a target weight set corresponding to the target environment parameter from the multiple weight sets;

[0178] A weighted operation is performed according to the target weight set and the multiple matching values ​​to obtain the matching degree.

[0179] Optionally, in optimizing the reference operating parameter according to the first attribute information and the second attribute information to obtain the first operating parameter, the determining unit 303 is specifically configured to:

[0180] Determining a first normalized deviation between the first attribute information and the second attribute information;

[0181] Determining a first optimization parameter corresponding to the first normalized deviation;

[0182] The first operating parameter is determined according to the first optimization parameter and the reference operating parameter.

[0183] It can be seen that the intelligent control system of the automobile sunroof glass cage described in the embodiment of the present application is applied to a robot, wherein the robot comprises: a visual system, a robot body, a mechanical arm and a suction cup device, wherein the robot body is connected to the suction cup device through the mechanical arm, and the suction cup device comprises a vacuum suction cup; a first image of the automobile frame is acquired through the visual system, and a sunroof installation area in the automobile frame is identified through the first image, and a first position and a first angle of the sunroof installation area are determined; first attribute information of the sunroof installation area is acquired; the sunroof glass in the automobile sunroof glass cage is identified through the visual system, and a second image of the sunroof glass is photographed, and the adsorption position of the vacuum suction cup on the sunroof glass is determined through the second image to obtain a second position; second attribute information of the sunroof glass is acquired; a first suction cup control parameter corresponding to the second attribute information is determined; a movement trajectory between the second position and the first position is generated; and sunroof glass installation parameters corresponding to the first attribute information, the second attribute information, the first position, the first angle and the sunroof installation area are determined. ; The suction cup device is controlled by the robotic arm to absorb the sunroof glass according to the second position with the first suction cup control parameter, and the sunroof glass is moved to the first position along the moving trajectory, and the sunroof glass is installed in the sunroof installation area according to the sunroof glass installation parameters. First, the visual system can be used to identify the automobile frame and the sunroof glass in the automobile sunroof glass cage, and obtain the corresponding attribute information of the two. Second, the first attribute information reflects the relevant characteristics and process requirements of the automobile frame to a certain extent, and the second attribute information reflects the relevant characteristics and process requirements of the sunroof glass to a certain extent. Then, the sunroof glass installation parameters corresponding to the first attribute information, the second attribute information and the sunroof installation area can be determined, so that the sunroof glass installation is always deeply related to the relevant characteristics and process requirements of the automobile frame and the sunroof glass. Then, the suction cup device can be controlled by the robotic arm to absorb the sunroof glass according to the second position with the first suction cup control parameter, and the sunroof glass is moved to the first position along the moving trajectory, and the sunroof glass is installed in the sunroof installation area according to the sunroof glass installation parameters, thereby improving the sunroof glass installation efficiency.

[0184] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps of any method described in the above method embodiments, and the above computer includes a robot.

[0185] The present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps of any method described in the method embodiment. The computer program product may be a software installation package, and the computer includes a robot.

[0186] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0187] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0188] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0189] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0190] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0191] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the above-mentioned methods in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0192] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable memory, which may include a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0193] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An intelligent control method for a glass cage of a car sunroof, characterized in that: Applied to a robot, the robot comprises: a visual system, a robot body, a mechanical arm and a suction cup device, wherein the robot body is connected to the suction cup device through the mechanical arm, and the suction cup device comprises a vacuum suction cup; the method comprises: Acquire a first image of a vehicle frame through the visual system, identify a sunroof installation area in the vehicle frame through the first image, and determine a first position and a first angle of the sunroof installation area; Acquire first attribute information of the skylight installation area; Identifying the sunroof glass in the sunroof glass cage of the automobile by the visual system, and taking a second image of the sunroof glass, and determining the adsorption position of the vacuum suction cup on the sunroof glass by the second image to obtain a second position; Acquiring second attribute information of the sunroof glass; determining a first suction cup control parameter corresponding to the second attribute information; generating a movement trajectory between the second position and the first position; determining sunroof glass installation parameters corresponding to the first attribute information, the second attribute information, the first position, the first angle, and the sunroof installation area; Controlling the suction cup device to suck the sunroof glass according to the second position and the first suction cup control parameter through the robotic arm, moving the sunroof glass to the first position along the moving trajectory, and installing the sunroof glass in the sunroof installation area according to the sunroof glass installation parameter; The determining of the sunroof glass installation parameters corresponding to the first attribute information, the second attribute information, the first position, the first angle, and the sunroof installation area includes: Determining a second angle of the sunroof glass at the first position according to the first position and the first angle, so that the sunroof glass can be embedded in the sunroof installation area at the second angle at the first position; Determine a first working parameter of the robot arm and a second suction cup control parameter of the vacuum suction cup according to the first attribute information and the second attribute information; determining the sunroof glass installation parameter according to the second angle, the first working parameter and the second suction cup control parameter; Wherein, determining the first working parameter of the robot arm and the second suction cup control parameter of the suction cup device according to the first attribute information and the second attribute information includes: determining a matching degree between the sunroof installation area and the sunroof glass according to the first attribute information and the second attribute information; Determining reference operating parameters of the robotic arm according to the matching degree; Determining a reference suction cup control parameter of the vacuum suction cup according to the matching degree; Optimizing the reference operating parameter according to the first attribute information and the second attribute information to obtain the first operating parameter; The reference suction cup control parameter is optimized according to the first attribute information and the second attribute information to obtain the second suction cup control parameter.

2. The method according to claim 1, characterized in that The first attribute information and the second attribute information both include attribute information of multiple dimensions; and determining the matching degree between the sunroof installation area and the sunroof glass according to the first attribute information and the second attribute information includes: Matching each attribute information in the attribute information of multiple dimensions of the first attribute information with corresponding attribute information of the second attribute information to obtain multiple matching values; Obtaining a weight corresponding to each dimension of the multiple dimensions to obtain multiple weight sets, each weight set corresponding to an environmental parameter; Get target environment parameters; Selecting a target weight set corresponding to the target environment parameter from the multiple weight sets; A weighted operation is performed according to the target weight set and the multiple matching values ​​to obtain the matching degree.

3. The method according to claim 1 or 2, characterized in that: The optimizing the reference operating parameter according to the first attribute information and the second attribute information to obtain the first operating parameter includes: Determining a first normalized deviation between the first attribute information and the second attribute information; Determining a first optimization parameter corresponding to the first normalized deviation; The first operating parameter is determined according to the first optimization parameter and the reference operating parameter.

4. An intelligent control system for a car sunroof glass cage, characterized in that: Applied to a robot, the robot comprises: a visual system, a robot body, a mechanical arm and a suction cup device, wherein the robot body is connected to the suction cup device through the mechanical arm, and the suction cup device comprises a vacuum suction cup; the intelligent control system of the automobile sunroof glass cage comprises: an identification unit, an acquisition unit, a determination unit, a generation unit and a control unit, wherein, The recognition unit is used to obtain a first image of the automobile frame through the visual system, and recognize a sunroof installation area in the automobile frame through the first image, and determine a first position and a first angle of the sunroof installation area; The acquiring unit is used to acquire first attribute information of the skylight installation area; The recognition unit is further used to recognize the sunroof glass in the sunroof glass cage of the automobile through the visual system, and to take a second image of the sunroof glass, and to determine the adsorption position of the vacuum suction cup on the sunroof glass through the second image to obtain a second position; The acquisition unit is further used to acquire second attribute information of the sunroof glass; The determining unit is used to determine a first suction cup control parameter corresponding to the second attribute information; The generating unit is configured to generate a moving track between the second position and the first position; The determining unit is further configured to determine sunroof glass installation parameters corresponding to the first attribute information, the second attribute information, the first position, the first angle, and the sunroof installation area; The control unit is used to control the suction cup device through the mechanical arm to suck the sunroof glass according to the second position with the first suction cup control parameter, move the sunroof glass to the first position along the moving trajectory, and install the sunroof glass in the sunroof installation area according to the sunroof glass installation parameter; Wherein, in determining the sunroof glass installation parameters corresponding to the first attribute information, the second attribute information, the first position, the first angle, and the sunroof installation area, the determining unit is specifically used to: Determining a second angle of the sunroof glass at the first position according to the first position and the first angle, so that the sunroof glass can be embedded in the sunroof installation area at the second angle at the first position; Determine a first working parameter of the robot arm and a second suction cup control parameter of the vacuum suction cup according to the first attribute information and the second attribute information; determining the sunroof glass installation parameter according to the second angle, the first working parameter and the second suction cup control parameter; Wherein, in determining the first working parameter of the robot arm and the second suction cup control parameter of the suction cup device according to the first attribute information and the second attribute information, the determining unit is specifically used for: determining a matching degree between the sunroof installation area and the sunroof glass according to the first attribute information and the second attribute information; Determining reference operating parameters of the robotic arm according to the matching degree; Determining a reference suction cup control parameter of the vacuum suction cup according to the matching degree; Optimizing the reference operating parameter according to the first attribute information and the second attribute information to obtain the first operating parameter; The reference suction cup control parameter is optimized according to the first attribute information and the second attribute information to obtain the second suction cup control parameter.

5. The intelligent control system of the automobile sunroof glass cage according to claim 4, characterized in that: The first attribute information and the second attribute information both include attribute information of multiple dimensions; in determining the matching degree between the sunroof installation area and the sunroof glass according to the first attribute information and the second attribute information, the determining unit is specifically used to: Matching each attribute information in the attribute information of multiple dimensions of the first attribute information with corresponding attribute information of the second attribute information to obtain multiple matching values; Obtaining a weight corresponding to each dimension of the multiple dimensions to obtain multiple weight sets, each weight set corresponding to an environmental parameter; Get target environment parameters; Selecting a target weight set corresponding to the target environment parameter from the multiple weight sets; A weighted operation is performed according to the target weight set and the multiple matching values ​​to obtain the matching degree.

6. The intelligent control system of the automobile sunroof glass cage according to claim 4 or 5, characterized in that: In the aspect of optimizing the reference operating parameter according to the first attribute information and the second attribute information to obtain the first operating parameter, the determining unit is specifically configured to: Determining a first normalized deviation between the first attribute information and the second attribute information; Determining a first optimization parameter corresponding to the first normalized deviation; The first operating parameter is determined according to the first optimization parameter and the reference operating parameter.

Images