Control method of vehicle inspection system and vehicle inspection system

Abstract

The invention relates to the technical field of vehicle manufacturing, in particular to a control method of a vehicle inspection system and the vehicle inspection system, and aims at solving the problem that in the prior art, when inspection equipment inspects the installation condition of accessories of a vehicle, flexibility and universality are poor. In order to achieve the purpose, the control method of the vehicle inspection system comprises the steps that when an inspection instruction is received, a robot is controlled to move to a preset inspection position; controlling the inspection device to obtain inspection information of a preset vehicle inspection part at the inspection position; and based on the inspection information, judging whether the accessories of the vehicle inspection part are qualified. The robot is controlled to move to the inspection position, the inspection information of the vehicle inspection part at the inspection position is obtained, whether the accessories of the vehicle are installed in a qualified mode or not is judged, and due to the fact that the robot can flexibly move to different positions of the vehicle and inspect different accessories of different parts, the installation efficiency is improved. Therefore, the flexibility and universality of the vehicle inspection system are improved, and the cost is effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle manufacturing, and in particular provides a control method of a vehicle inspection system and a vehicle inspection system. Background Art

[0002] During the vehicle assembly process, after the interior, exterior and other accessories of the vehicle are installed, their installation needs to be checked to improve the reliability of vehicle production.

[0003] Currently, the installation status of vehicle accessories can be checked manually by operators, but there are problems such as low efficiency, high cost and inaccurate inspection results. Inspection equipment can also be set at specific locations of vehicle production lines, and the inspection equipment inspects the vehicle when it passes the specific location, but a single fixed inspection device can only check the installation status of accessories at specific locations of specific vehicle models, and there are problems with poor flexibility and versatility. In addition, in order to realize the inspection of different vehicle models and / or different accessories, different inspection equipment needs to be arranged, which will also increase costs.

[0004] Accordingly, the art requires a new control method of a vehicle inspection system and a vehicle inspection system to solve the above problems. Summary of the invention

[0005] The present invention aims to solve the above technical problem, that is, to solve the problem that the inspection equipment in the prior art has poor flexibility and versatility when inspecting the installation status of vehicle accessories.

[0006] In a first aspect, the present invention provides a control method for a vehicle inspection system, wherein the vehicle inspection system comprises a robot, wherein the robot is configured to be movable and an inspection device is provided on the robot; the control method for the vehicle inspection system comprises: upon receiving an inspection instruction, controlling the robot to move to a preset inspection position; controlling the inspection device to obtain inspection information of a preset vehicle inspection part at the inspection position; and judging whether the accessories at the vehicle inspection part are installed properly based on the inspection information.

[0007] When the above technical solution is adopted, by controlling the robot to move to the inspection position, the inspection information of the vehicle inspection part at the inspection position is obtained, so as to determine whether the vehicle accessories are installed properly. Since the robot can flexibly move to different positions of the vehicle and inspect different accessories in different parts, the flexibility and versatility of the vehicle inspection system are improved, and the cost is effectively reduced. In addition, compared with manual inspection, the inspection of accessories through the inspection device is more accurate and the inspection results are more stable.

[0008] In a specific implementation of the control method of the above-mentioned vehicle inspection system, before the step of "controlling the robot to move to a preset inspection position", the control method also includes: when detecting that the vehicle arrives at a preset designated position, acquiring the vehicle model information of the vehicle; based on the vehicle model information, determining the inspection position corresponding to the vehicle model information.

[0009] When the above technical solution is adopted, the inspection position is determined according to the vehicle model information, so that the vehicle inspection system can be better adapted to different vehicle models.

[0010] In a specific implementation of the control method of the above-mentioned vehicle inspection system, simultaneously with or after the step of "obtaining the vehicle model information when detecting that the vehicle has arrived at a preset designated position", the control method also includes: controlling the robot to enter a standby state.

[0011] When the above technical solution is adopted, after the robot enters the standby state, if it receives an inspection instruction, it can respond to the inspection instruction more quickly to start moving as soon as possible, thereby improving the inspection efficiency.

[0012] In a specific implementation of the control method of the above-mentioned vehicle inspection system, the robot is also provided with a visual sensor, which is used to obtain positioning QR code information; before the step of "controlling the robot to move to a preset inspection position", the control method also includes: obtaining a preset initial position of the robot; based on the initial position and the inspection position, determining the moving path of the robot; the step of "controlling the robot to move to the inspection position" further includes: controlling the robot to move along the moving path; obtaining the positioning QR code information; based on the positioning QR code information, determining the robot's correction path; controlling the robot to move to the inspection position along the correction path.

[0013] When the above technical solution is adopted, the moving path of the robot is corrected through the two-dimensional code information, which improves the positioning accuracy of the robot and ensures that the robot can accurately move to the inspection position.

[0014] In a specific implementation of the control method of the above-mentioned vehicle inspection system, the robot is also provided with a visual sensor and / or a radar sensor, the visual sensor is used to obtain image information to determine the current position of the robot, and the radar sensor is used to obtain distance information to determine the current position of the robot; after the step of "controlling the robot to move to the inspection position", the control method also includes: determining the current position of the robot; based on the current position and the inspection position, determining an adjustment path of the robot; controlling the robot to move along the adjustment path.

[0015] When adopting the above technical solution, the current position of the robot is determined through the detection information of the visual sensor and / or radar sensor, and then the movement of the robot is controlled according to the deviation between the current position and the inspection position to adjust the position of the robot and achieve precise positioning, thereby improving the accuracy of vehicle inspection.

[0016] In a specific implementation of the control method of the above-mentioned vehicle inspection system, the inspection device is a visual sensor, which is used to obtain image information; the step of "controlling the inspection device to obtain inspection information of a preset vehicle inspection part at the inspection position" further includes: controlling the visual sensor to obtain the image information of the vehicle inspection part at the inspection position; the step of "based on the inspection information, judging whether the accessories at the vehicle inspection part are installed properly" further includes: based on the image information, judging whether the accessories are missing; if the accessories are not missing, judging whether the configuration of the accessories is correct based on the image information; if the configuration of the accessories is correct, judging whether the installation position of the accessories is correct based on the image information; if the installation position of the accessories is correct, determining that the accessories are installed properly; wherein, the configuration of the accessories includes at least one of the size, shape, and color of the accessories.

[0017] When the above technical solution is adopted, based on the image information, it is judged whether the accessories are missing, whether the configuration is correct, and whether the installation position is correct, thereby realizing the judgment whether the accessories are installed properly.

[0018] In a specific implementation of the control method of the above vehicle inspection system, after the step of "determining whether the accessories at the vehicle inspection location are installed properly", the control method further includes: recording the inspection result information of the inspection location.

[0019] When the above technical solution is adopted, after completing the inspection of the accessories and determining whether they are properly installed, the inspection result information of the inspection location is recorded for archiving and subsequent review.

[0020] In a specific implementation of the control method of the above-mentioned vehicle inspection system, after the step of "recording the inspection result information of the inspection position", the control method also includes: obtaining the inspection position where the inspection result information is recorded as an inspected position; based on the inspected position, judging whether the inspection of all the preset inspection positions is completed; if the inspection of all the preset inspection positions is not completed, controlling the robot to move to the inspection position where the inspection result information is not recorded; and going to "controlling the inspection device to obtain the inspection information of the preset vehicle inspection part at the inspection position".

[0021] When the above technical solution is adopted, by judging whether the inspection of all preset inspection positions is completed and continuing to inspect the inspection positions where no inspection result information is recorded, it is possible to ensure that each inspection position of the vehicle is inspected, avoid omissions, and ensure the inspection effect.

[0022] In a specific implementation of the control method of the above-mentioned vehicle inspection system, after the step of "determining whether the inspection of all the preset inspection positions is completed", the control method also includes: if the inspection of all the preset inspection positions is completed, summarizing the inspection result information of all the inspection positions and generating an inspection report; and / or if the inspection of all the preset inspection positions is completed, controlling the robot to return to a preset initial position.

[0023] When the above technical solution is adopted, after completing the inspection of all inspection positions, an inspection report is generated for review and use, and the robot is controlled to return to the initial position to wait for subsequent inspection tasks.

[0024] In a second aspect, the present invention also provides a vehicle inspection system, comprising: a robot, the robot being configured to be movable and having an inspection device provided thereon; a processor; and a memory, the memory being suitable for storing a plurality of program codes, the program codes being suitable for being loaded and run by the processor to execute a control method of the vehicle inspection system.

[0025] When the above technical solution is adopted, the flexibility and versatility of the vehicle inspection system are improved and the cost is effectively reduced.

[0026] Compared with the prior art, the control method of the vehicle inspection system provided by the present invention has the following beneficial effects: by controlling the robot to move to the inspection position, the inspection information of the vehicle inspection part at the inspection position is obtained, so as to determine whether the vehicle accessories are installed properly. Since the robot can flexibly move to different positions of the vehicle and inspect different accessories at different parts, the flexibility and versatility of the vehicle inspection system are improved, and the cost is effectively reduced. In addition, compared with manual inspection, the inspection of accessories by the inspection device is more accurate and the inspection results are more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings, in which:

[0028] Figure 1 is a flow chart of the main steps of the control method of the vehicle inspection system of the present invention;

[0029] Figure 2 is a detailed step flow chart of an implementation method of a vehicle inspection system of the present invention;

[0030] Figure 3 is a detailed step flow chart of another embodiment of the control method of the vehicle inspection system of the present invention;

[0031] Figure 4 It is a detailed step flow chart of another embodiment of the control method of the vehicle inspection system of the present invention. DETAILED DESCRIPTION

[0032] Some embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not used to limit the scope of protection of the present invention. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.

[0033] It should be noted that in the description of the present invention, "processor" may include hardware, software or a combination of the two. The processor may be a central processing unit, a microprocessor, a digital signal processor or any other suitable processor. The processor has data and / or signal processing functions. The processor may be implemented in software, hardware or a combination of the two. The ordinal numbers "first", "second" etc. are used only for descriptive purposes and are not to be understood as indicating or implying relative importance.

[0034] In addition, it should be noted that in the description of the present invention, although the various steps of the control method of the present invention are described in this application in a specific order, these orders are not restrictive. Without departing from the basic principles of the present invention, those skilled in the art can perform the steps in a different order.

[0035] Based on the problem pointed out in the background technology that the inspection equipment in the prior art has poor flexibility and versatility when inspecting the installation of vehicle accessories, the purpose is to control the robot to move to the inspection position, obtain the inspection information of the vehicle inspection part at the inspection position, and realize the judgment of whether the vehicle accessories are installed properly. Since the robot can flexibly move to different positions of the vehicle and inspect different accessories in different parts, the flexibility and versatility of the vehicle inspection system are improved, and the cost is effectively reduced. In addition, compared with manual inspection, the inspection of accessories through the inspection device is more accurate and the inspection results are more stable.

[0036] The vehicle inspection system of the present invention includes a robot, which is configured to be movable; an inspection device is provided on the robot, which may be a visual sensor, which is used to obtain image information and positioning QR code information, and the number of visual sensors may be one or more; the inspection device may also be a laser rangefinder or a laser profile scanner, which is used to obtain the installation position of the accessory and the size and shape information of the accessory. The robot may also be provided with a radar sensor, which is used to obtain distance information to determine the current position of the robot, and the radar sensor is preferably a laser radar sensor to obtain precise positioning. It should be noted that the robot may be a humanoid robot or a quadruped robot, and both humanoid robots and quadruped robots can be applied to complex terrain and working environments, thereby improving the flexibility and versatility of the vehicle inspection system; when the robot is a humanoid robot, the inspection device may be installed on the head of the humanoid robot, or on the arm of the humanoid robot, so as to extend the arm into a position with a smaller space for inspection; the robot may also be other robots that can move, which are not specifically limited here.

[0037] The vehicle inspection system also includes a controller, which includes a processor and a memory. The memory is suitable for storing multiple program codes, and the program codes are suitable for being loaded and run by the processor to execute the detection method of the vehicle inspection system. The processor can be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, field programmable gate arrays or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The memory can be an internal storage unit of the vehicle inspection system, such as a hard disk or memory, etc.; the memory can also be an external storage device of the vehicle inspection system, for example, a plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, etc. equipped on the vehicle inspection system; the memory can also include both an internal storage unit and an external storage unit of the vehicle inspection system. The controller can include multiple memories and multiple processors, each processor performs different steps respectively, and the multiple processors can be processors deployed on the same device or processors deployed on different devices. For example, the multiple processors can be processors on the vehicle inspection system and processors on the cloud server, or processors on the vehicle inspection system and processors on the robot. The controller can directly control the robot, and a separate robot controller can also be provided on the robot. The controller of the vehicle inspection system controls the robot by communicating with the robot controller.

[0038] See first Figure 1 , which shows the main steps of the control method of the vehicle inspection system of the present invention, such as Figure 1As shown, the control method in this embodiment mainly includes the following steps S101 to S103:

[0039] Step S101: upon receiving an inspection instruction, controlling the robot to move to an inspection position.

[0040] Since the vehicle inspection system is preset with inspection positions corresponding to the vehicle, the robot can flexibly move to different inspection positions, so it can be applied to the inspection of different parts of the same model of vehicle, and can also be applied to the inspection of different parts of different models of vehicles, thereby improving the flexibility and versatility of the vehicle inspection system. Among them, the inspection position can be a global coordinate value.

[0041] Step S102: Control the inspection device to obtain inspection information of the vehicle inspection part at the inspection position.

[0042] Since the vehicle inspection system is also preset with vehicle inspection parts corresponding to the inspection position, after the robot moves to the inspection position, it can inspect the vehicle inspection parts corresponding to the inspection position, and since the inspection device is installed on the robot, it can flexibly inspect various vehicle inspection parts and obtain inspection information, thereby improving the flexibility and versatility of the vehicle inspection system.

[0043] Step S103: Based on the inspection information, determine whether the accessories at the vehicle inspection location are installed properly.

[0044] The accessories can be one or more of the vehicle's interior, exterior, electronic accessories, driving accessories, instrument accessories, or other vehicle accessories; the inspection information can be image information of the accessories, or numerical information such as size information and installation position information. The inspection information obtained by the inspection device is used to determine whether the vehicle accessories are installed properly, which improves the accuracy and consistency of the inspection compared to manual inspection.

[0045] Through the control method of steps S101 to S103, the robot is controlled to move to the inspection position, and the inspection information of the vehicle inspection part at the inspection position is obtained to determine whether the vehicle accessories are installed properly. Since the robot can flexibly move to different positions of the vehicle and inspect different accessories in different parts, the flexibility and versatility of the vehicle inspection system are improved, and the cost is effectively reduced.

[0046] See below Figure 2 , which shows an implementation of a control method for a vehicle inspection system of the present invention, which specifically includes the following steps:

[0047] Step S201: When it is detected that the vehicle has arrived at the designated location, the robot is controlled to enter a standby state.

[0048] Among them, the "designated position" refers to the designated position preset in the vehicle inspection system. When the vehicle is detected to have arrived at the designated position, the vehicle can be inspected. The detection of the vehicle arriving at the designated position can be detected by setting an in-place detection device at the designated position, such as a photoelectric sensor, proximity switch, etc., or by image information obtained by the robot's visual sensor. The "standby state" can be to control the robot to start. If the robot is equipped with a separate robot controller, the robot controller can be in standby state; for humanoid robots and quadruped robots, the robot can be controlled to mark time; by controlling the robot to enter the standby device, the robot can respond and move more quickly when receiving an inspection instruction.

[0049] Step S202: Obtain vehicle model information.

[0050] The vehicle model information can be obtained from the previous process of the production line, or can be manually input or selected by the operator, or can be obtained by using a visual sensor to identify the vehicle identification code or the vehicle's characteristic information.

[0051] Step S203: Based on the vehicle model information, determine the inspection position corresponding to the vehicle model information.

[0052] Since the vehicle inspection system is preset with different inspection positions and vehicle inspection parts corresponding to different vehicle models, the corresponding inspection position and vehicle inspection part can be determined according to the vehicle model information, thereby realizing the inspection of accessories of different vehicle models and improving the versatility of the vehicle inspection system.

[0053] Step S204: upon receiving the inspection instruction, obtaining the initial position of the robot.

[0054] The "initial position" refers to the position where the robot stays in standby mode, that is, the position of the robot when it receives the inspection command. Since the initial position is preset in the vehicle inspection system, there is no need to position the robot at this time, which simplifies the procedure.

[0055] Step S205: Determine the movement path of the robot based on the initial position and the inspection position.

[0056] The method for determining the robot's moving path can be: taking the initial position as the starting point, the check position as the end point, and planning a global path on a preset global map as the moving path. Planning the global path can be achieved through the A star algorithm or the Dijkstra algorithm.

[0057] Step S206: Control the robot to move along the moving path.

[0058] When the robot moves along the moving path, it can also control the visual sensor and / or radar sensor to detect obstacles on the moving path in real time. When an obstacle is detected, the robot is controlled to avoid it to ensure the normal movement of the robot.

[0059] Step S207: Obtain positioning QR code information.

[0060] The positioning QR code information can be a unique ID number or the global coordinate value of the positioning QR code. When the data recorded by the positioning QR code itself is an ID number, the vehicle inspection system pre-stores the global coordinate value corresponding to the ID number; the positioning QR code can be set at a fixed position in the production environment, such as on the ground, on a pillar or on a wall in a workshop.

[0061] Step S208: Determine the robot's deviation correction path based on the positioning QR code information.

[0062] By locating the QR code information, the robot's position and posture in the positioning QR code coordinate system is determined, and then the robot's position and posture in the global coordinate system is determined based on the global coordinate value of the positioning QR code and the robot's position and posture in the positioning QR code coordinate system, that is, the robot's current position is determined, and then the deviation between the current position and the planned position in the moving path is determined, and then the robot's correction path is determined according to the deviation, and the robot is corrected to ensure that the robot can move to the inspection position more accurately.

[0063] Step S209: Control the robot to move to the inspection position along the deviation correction path.

[0064] Step S210: Determine the current position of the robot.

[0065] The method for determining the current position of the robot can be: obtaining image information of the robot's environment through a visual sensor and / or building an environmental map through a laser radar sensor to measure the distance, thereby determining the robot's global position, that is, the robot's current position, or obtaining a specific reference object (such as a pillar, wall, ground sign, etc. in a production workshop) and the robot's relative position relationship through a visual sensor or a radar sensor, and then determining the robot's global position based on the preset global coordinate value of the specific reference object. It can be understood by those skilled in the art that although it is explained above that the inspection position is a global coordinate value, this is not restrictive. The inspection position can also be a coordinate value in the vehicle coordinate system. In this case, the relative position of the robot in the vehicle coordinate system can be obtained by a visual sensor and / or a radar sensor as the robot's current position. It should be noted that the above positioning method can be performed by one of the visual sensor positioning and the radar sensor positioning, or the two can be combined for positioning to improve positioning accuracy and reduce the impact of external interference.

[0066] Step S211: Determine the adjustment path of the robot based on the current position and the inspection position.

[0067] Step S212: Control the robot to move along the adjusted path.

[0068] Through the control method of steps S201 to S212, the robot can be controlled to move accurately to the inspection position according to different vehicle models, thereby ensuring that the inspection information of the vehicle inspection part obtained at the inspection position is more accurate, thereby improving the accuracy of the inspection.

[0069] See below Figure 3 , which shows another embodiment of the control method of the vehicle inspection system of the present invention, which specifically includes the following steps:

[0070] Step S301: Control the visual sensor to obtain image information of the vehicle inspection part at the inspection position.

[0071] After the robot reaches the inspection position, specifically, after step S212 or after step S101, step S301 may be executed to start inspecting the installation status of the accessories.

[0072] Step S302: Based on the image information, determine whether the accessory is missing. If the determination result is yes, execute step S305; if the determination result is no, execute step S303.

[0073] Step S303: Based on the image information, determine whether the configuration of the accessory is correct. If the determination result is yes, execute step S304; if the determination result is no, execute step S305.

[0074] Among them, the "configuration of the accessory" may include one or more of the size, color, and shape of the accessory.

[0075] Step S304: Based on the image information, determine whether the installation position of the accessory is correct. If the determination result is yes, execute step S305; if the determination result is no, execute step S306.

[0076] Whether the installation position of the accessory is correct can be determined by whether the distance between the edge of the accessory in the image information and a specific position on the vehicle frame falls within a set standard distance range; or a positioning identification code can be set on the accessory and the vehicle frame, and the positioning identification code can be identified and the distance between the two positioning identification codes can be calculated, and then whether the distance between the two positioning identification codes falls within the set standard distance range to determine whether the installation position of the accessory is correct; wherein the standard distance range is set to different values ​​according to different accessories and different installation positions.

[0077] Step S305: Determine whether the accessories are installed properly.

[0078] Step S306: Send a reminder message.

[0079] "Issuing a reminder message" is used to remind the operator that there is a problem with the installation of the accessories. The operator can check the accessories with problems according to the reminder message, and correct the installation problem of the accessories after the verification is correct. The form of the reminder message may include but is not limited to voice-type information, text-type information, light-type information, etc.; the subject that issues the reminder message may include but is not limited to the vehicle inspection system and terminal equipment, etc.; the specific reminder method can be a combination of any of the above reminder forms and the reminder subject, as long as it can have the effect of reminding the operator. Those skilled in the art can choose according to the specific needs of the actual application, and no specific limitation is made here. Among them, voice-type information can send reminder information to the operator in the form of voice broadcast, or remind the operator by means of a buzzer prompt sound; text-type information can send reminder information to the operator by popping up a floating window or scrolling playback; light-type information can be a light mode that is lit for a long time or intermittently. The above reminder method settings are only for exemplary explanations, and can be selected according to actual needs in actual applications.

[0080] Through the control method from step S301 to step S306, it is possible to determine whether the installation of the accessory is qualified, and to issue a reminder message if the installation of the accessory is abnormal.

[0081] See below Figure 4 , which shows another embodiment of the control method of the vehicle inspection system of the present invention, which specifically includes the following steps:

[0082] Step S401: Record the inspection result information of the inspection location.

[0083] After determining whether the vehicle accessories are installed properly, specifically, after step S305 and at the same time or after step S306, or after step S103, step S401 is executed to record and archive the inspection results. The recorded "inspection result information" may include inspection results of whether the accessories are missing, whether the configuration is correct, and whether the installation position is correct, and may also include the acquired image information, so as to provide more intuitive analysis data for subsequent quality engineers and process engineers to analyze the problem.

[0084] Step S402: Acquire the inspection position having the inspection result information recorded therein as the inspected position.

[0085] Step S403: Based on the inspected positions, determine whether the inspection of all preset inspection positions is completed. If the determination result is yes, execute step S404; if the determination result is no, execute step S406.

[0086] Step S404: Control the robot to return to the initial position.

[0087] After completing the inspection of all inspection positions of the vehicle, the robot is controlled to return to the initial position so as to quickly respond to the next round of inspection instructions.

[0088] Step S405: Summarize the inspection result information of all inspection locations and generate an inspection report.

[0089] An inspection report is generated for archiving and for viewing by operators. It should be noted that the order of step S404 and step S405 can be adjusted as needed, and step S404 and step S405 can also be performed simultaneously.

[0090] Step S406: Control the robot to move to an inspection position where no inspection result information is recorded. After step S406, go to step S301.

[0091] This enables inspection of accessories at inspection locations where no inspection result information is recorded.

[0092] Through the control method of step S401 to step S406, it is ensured that all inspection positions of the vehicle are inspected to avoid omissions. The inspection results of each inspection position are summarized and an inspection report is generated for archiving and for operators to review and use.

[0093] It should be noted that the above-mentioned embodiments are only used to illustrate the principles of the present invention and are not intended to limit the scope of protection of the present invention. Without departing from the principles of the present invention, those skilled in the art can adjust the above-mentioned embodiments so that the present invention can be applied to more specific application scenarios.

[0094] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A control method for a vehicle inspection system, characterized in that: The vehicle inspection system comprises a robot, the robot is configured to be movable, and the robot is provided with an inspection device; The control method of the vehicle inspection system comprises: When receiving an inspection instruction, controlling the robot to move to a preset inspection position; Controlling the inspection device to obtain inspection information of a preset vehicle inspection part at the inspection position; Based on the inspection information, it is determined whether the accessories at the vehicle inspection location are installed properly.

2. The control method of the vehicle inspection system according to claim 1, characterized in that: Before the step of "controlling the robot to move to a preset inspection position", the control method further includes: When detecting that a vehicle has arrived at a preset designated location, obtaining the vehicle model information; Based on the vehicle model information, the inspection position corresponding to the vehicle model information is determined.

3. The control method of the vehicle inspection system according to claim 2, characterized in that: At the same time or after the step of "obtaining the vehicle model information when detecting that the vehicle has arrived at the preset designated location", the control method further includes: The robot is controlled to enter a standby state.

4. The control method of the vehicle inspection system according to claim 1, characterized in that: The robot is also provided with a visual sensor, which is used to obtain positioning QR code information; Before the step of "controlling the robot to move to a preset inspection position", the control method further includes: Obtaining a preset initial position of the robot; Determining a moving path of the robot based on the initial position and the inspection position; The step of "controlling the robot to move to the inspection position" further includes: Controlling the robot to move along the moving path; Obtaining the positioning QR code information; Based on the positioning QR code information, determining a deviation correction path of the robot; The robot is controlled to move along the deviation correction path to the inspection position.

5. The control method of the vehicle inspection system according to claim 1, characterized in that: The robot is also provided with a visual sensor and / or a radar sensor, wherein the visual sensor is used to acquire image information to determine the current position of the robot, and the radar sensor is used to acquire distance information to determine the current position of the robot; After the step of "controlling the robot to move to the inspection position", the control method further comprises: determining a current position of the robot; Determining an adjustment path of the robot based on the current position and the inspection position; The robot is controlled to move along the adjustment path.

6. The control method of the vehicle inspection system according to claim 1, characterized in that: The inspection device is a visual sensor, and the visual sensor is used to obtain image information; The step of "controlling the inspection device to obtain inspection information of a preset vehicle inspection part at the inspection position" further includes: Controlling the visual sensor to obtain the image information of the vehicle inspection part at the inspection position; The step of "determining whether the accessories at the vehicle inspection location are installed properly based on the inspection information" further includes: Based on the image information, determining whether the accessory is missing; If the accessory is not missing, judging whether the configuration of the accessory is correct based on the image information; If the configuration of the accessory is correct, judging whether the installation position of the accessory is correct based on the image information; If the installation position of the accessory is correct, it is determined that the accessory is installed properly; The configuration of the accessory includes at least one of the size, shape and color of the accessory.

7. The control method of the vehicle inspection system according to claim 1, characterized in that: After the step of "determining whether the accessories at the vehicle inspection location are installed properly", the control method further includes: Record the inspection result information of the inspection position.

8. The control method of the vehicle inspection system according to claim 7, characterized in that: After the step of "recording the inspection result information of the inspection position", the control method further includes: Acquire the inspection position having the inspection result information recorded therein as the inspected position; Based on the inspected positions, determining whether inspection of all the preset inspection positions is completed; If the inspection of all the preset inspection positions is not completed, controlling the robot to move to the inspection position where the inspection result information is not recorded; Go to "Control the inspection device to obtain inspection information of a preset vehicle inspection part at the inspection position".

9. The control method of the vehicle inspection system according to claim 8, characterized in that: After the step of "determining whether the inspection of all the preset inspection positions is completed", the control method further includes: If the inspection of all the preset inspection positions is completed, the inspection result information of all the inspection positions is summarized and an inspection report is generated; and / or If the inspection of all the preset inspection positions is completed, the robot is controlled to return to a preset initial position.

10. A vehicle inspection system, characterized in that: The vehicle inspection system comprises: A robot, wherein the robot is configured to be movable and the robot is provided with an inspection device; processor; A memory, wherein the memory is suitable for storing a plurality of program codes, wherein the program codes are suitable for being loaded and run by the processor to execute the control method of the vehicle inspection system according to any one of claims 1 to 9.

Images