Accessory assembling method of vehicle production line

Abstract

The invention provides an accessory assembling method of a vehicle production line, and belongs to the field of vehicle assembling. The method comprises the steps that a first distance measuring system obtains first actual measurement data of a first detection point and a second detection point on an accessory, and first actual measurement coordinate data of the accessory is determined; a second distance measuring system obtains second actual measurement data of a third detection point and a fourth detection point of the vehicle body, and second actual measurement coordinate data of the vehicle body is determined; based on the first actual measurement coordinate data, the first reference coordinate data, the second actual measurement coordinate data and the second reference coordinate data, a first preset direction deviation value of the accessory relative to the vehicle body is determined; a first visual system obtains a first image of the vehicle body and determines first spatial offset data of the vehicle body; and according to the first preset direction deviation value and the first space deviation data, the assembly movement track of a first mechanical arm grabbing the accessory to a pre-assembly position is adjusted. The method is beneficial for improving the assembly qualification rate of accessories and a vehicle body.

Description

Technical Field

[0001] The invention relates to the field of vehicle assembly, and in particular to a method for assembling accessories on a vehicle production line. Background Art

[0002] The instrument panel is a rigid plate or structural part used to install instruments and related devices. As an important part of the car, whether the instrument panel is centered during the assembly process will directly affect the driver's visual experience.

[0003] In the assembly of the instrument panel, if the body or the instrument panel is selected as the assembly reference, since the incoming material positions of the body and the instrument panel are different each time, it is necessary to find the reference of the body or the instrument panel or adjust the body or the instrument panel to the reference position during each assembly process, which increases the assembly process of the two and reduces the assembly efficiency. In addition, the above assembly method cannot guarantee the consistency of the assembly of the instrument panel and the body, which increases the difficulty of subsequent instrument installation.

[0004] Therefore, a new solution is needed to solve the above technical problems. Summary of the invention

[0005] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a method for assembling accessories in a vehicle production line to solve at least one of the above-mentioned technical problems.

[0006] The present invention provides a method for assembling accessories on a vehicle production line, the method comprising:

[0007] The first manipulator grabs the accessory to the pre-assembly position;

[0008] The first distance measuring system acquires first measured data of a first detection point and a second detection point on the accessory, and determines first measured coordinate data of the accessory based on the first measured data;

[0009] The second distance measuring system acquires second measured data of a third detection point and a fourth detection point of the vehicle body, and determines second measured coordinate data of the vehicle body based on the second measured data;

[0010] Determining a first predetermined direction offset value of the accessory relative to the vehicle body based on the first measured coordinate data, the first reference coordinate data, the second measured coordinate data, and the second reference coordinate data;

[0011] A first visual system acquires a first image of the vehicle body, and determines first spatial offset data of the vehicle body according to the first image;

[0012] According to the first predetermined direction offset value and the first spatial offset data, adjusting the assembly motion trajectory of the first manipulator to align the accessory with the vehicle body in a predetermined direction center line for assembly;

[0013] Among them, in the preliminary debugging, when the accessory and the vehicle body reach the optimal assembly state, the accessory determines the first reference coordinate data according to the measured data obtained by the first ranging system, and the vehicle body determines the second reference coordinate data according to the measured data obtained by the second ranging system.

[0014] In one embodiment of the present invention, determining a first predetermined direction offset value of the accessory relative to the vehicle body based on the first measured coordinate data, the first reference coordinate data, the second measured coordinate data, and the second reference coordinate data includes:

[0015] Determining first coordinate offset data of the accessory according to the first measured coordinate data and the first reference coordinate data;

[0016] determining second coordinate offset data of the vehicle body according to the second measured coordinate data and the second reference coordinate data;

[0017] Based on the first coordinate offset data and the second coordinate offset data, a first predetermined direction offset value of the accessory relative to the vehicle body is obtained.

[0018] In one embodiment of the present invention, adjusting the assembly motion trajectory of the first manipulator according to the first predetermined direction offset value and the first spatial offset data to align the accessory with the center line of the predetermined direction of the vehicle body for assembly includes:

[0019] Replacing the second predetermined direction offset value in the first spatial offset data with the first predetermined direction offset value to obtain second spatial offset data of the vehicle body;

[0020] Based on the second spatial offset data, the assembly motion trajectory of the first manipulator is adjusted.

[0021] In one embodiment of the present invention, the first visual system acquires a first image of the vehicle body, and determines first spatial offset data of the vehicle body according to the first image, including:

[0022] Acquire the first image through the first visual system, and obtain first measured spatial data of the vehicle body according to the first image;

[0023] determining first spatial offset data of the vehicle body based on the first measured spatial data and the first reference spatial data;

[0024] The first reference space data is the space data of the vehicle body obtained when the accessory and the vehicle body reach an optimal assembly state during pre-debugging.

[0025] In one embodiment of the present invention, the first distance measurement system acquires first measured data of a first detection point and a second detection point on the accessory, and determines first measured coordinate data of the accessory based on the first measured data, including:

[0026] The first measured data includes first data of the first detection point and second data of the second detection point;

[0027] Determine, based on the first data and the second data, third data located at a midpoint between the first detection point and the second detection point on the accessory;

[0028] The first measured coordinate data is determined based on the first data, the second data and the third data.

[0029] In one embodiment of the present invention, the second distance measurement system acquires second measured data of a third detection point and a fourth detection point of the vehicle body, and determines second measured coordinate data of the vehicle body based on the second measured data, including:

[0030] The second measured data includes fourth data of the third detection point and fifth data of the fourth detection point;

[0031] Determine, based on the fourth data and the fifth data, sixth data on the vehicle body located at a midpoint between the third detection point and the fourth detection point;

[0032] The second measured coordinate data is determined based on the fourth data, the fifth data and the sixth data.

[0033] In one embodiment of the present invention, the first manipulator grabs the accessory to the pre-assembly position, including:

[0034] The first visual system acquires a second image of the accessory, and determines second measured spatial data of the accessory according to the second image;

[0035] Determine second spatial offset data of the accessory according to the second measured spatial data and the second reference spatial data;

[0036] The first manipulator grabs the accessory based on the second spatial offset data, and transfers the accessory to the pre-assembly position;

[0037] The second reference spatial data is spatial data of the accessory acquired when the accessory and the vehicle body reach an optimal assembly state during pre-debugging.

[0038] In one embodiment of the present invention, the first visual system includes a first camera connected to the second manipulator and a second camera connected to the third manipulator; the method further includes:

[0039] The first image is acquired by the first camera and the second camera;

[0040] The second image is acquired by the first camera.

[0041] In one embodiment of the present invention, the first distance measuring system includes a first distance measuring sensor and a second distance measuring sensor connected to the first manipulator, and the second distance measuring system includes a third distance measuring sensor connected to the second manipulator and a fourth distance measuring sensor connected to the third manipulator; the method further includes:

[0042] The first measured data is obtained by the first ranging sensor and the second ranging sensor;

[0043] The second measured data is acquired by the third ranging sensor and the fourth ranging sensor, and when the second ranging system acquires the second measured data, the third ranging sensor and the fourth ranging sensor are arranged opposite to each other.

[0044] In one embodiment of the present invention, the second manipulator and the third manipulator are both connected with fasteners; the method further includes:

[0045] After the accessory is assembled with the vehicle body, the second manipulator and the third manipulator fasten the accessory to the vehicle body through the fastener.

[0046] Beneficial effects of the present invention:

[0047] The present application determines the first measured coordinate data of the accessory and the second measured coordinate data of the vehicle body by acquiring the first measured data of the accessory and the second measured coordinate data of the vehicle body, and further determines the first predetermined direction offset value of the accessory relative to the vehicle body, and acquires the first image of the vehicle body through the first visual system to determine the first spatial offset data of the vehicle body, thereby adjusting the assembly motion trajectory of the first manipulator according to the first predetermined direction offset value and the first spatial offset data, so as to align the accessory with the vehicle body in the predetermined direction center line for assembly, that is, the two are aligned and assembled in the center, which is conducive to improving the work efficiency and qualified rate of the assembly of the accessory and the vehicle body; furthermore, the spatial positions of the first ranging system, the second ranging system and the first visual system when acquiring data in real time are unchanged from the spatial positions during pre-debugging, which is conducive to ensuring the consistency of the assembly of the accessory and the vehicle body.

[0048] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present invention, and together with the specification, are used to explain the principles of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0050] Figure 1 A flow chart of a method for assembling accessories in a vehicle production line is shown according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0051] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0052] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0053] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0054] Before explaining this application, it should be noted that before mass assembly of accessories and vehicle bodies, the assembly of the two needs to be pre-debugged. During the pre-debug process, when the accessories and vehicle bodies are debugged to the best assembly state, the data in this assembly and debugging process is entered into the system as the benchmark data for subsequent assembly, so as to facilitate each subsequent assembly to achieve the best assembly state. The best assembly state is that the accessories and vehicle bodies are completely aligned and assembled in the center.

[0055] The reference data includes the first reference coordinate data of the accessory and the second reference coordinate data of the vehicle body, wherein the first reference coordinate data is based on the first reference data L of the first detection point on the accessory. 01, the second reference data L of the second detection point 02 and the third reference data L of the midpoint between the first detection point and the second detection point 03 The second reference coordinate data is determined according to the fourth reference number L of the third detection point of the vehicle body. 11 , the fifth reference data L of the fourth detection point 12 and the sixth reference data L of the midpoint between the third detection point and the fourth detection point 13 Sure.

[0056] The reference data also includes the first reference space data of the assembly position of the car body on the slide, the second reference space data of the accessories on the positioning fixture, the third reference space data of the first ranging system when acquiring the above-mentioned first reference coordinate data, the fourth reference space data of the second ranging system when acquiring the above-mentioned second reference coordinate data, the fifth reference space data of the first visual system when acquiring the above-mentioned first reference space data, the sixth reference space data of the first visual system when acquiring the above-mentioned second reference space data, and the seventh reference space data of the first manipulator at the pre-assembly position.

[0057] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of a method for assembling accessories in a vehicle production line according to an exemplary embodiment of the present application. Figure 1 As shown, in an exemplary embodiment, the accessory assembly method of a vehicle production line includes at least steps S110 to S150, which are described in detail as follows:

[0058] Step S110: The first robot grabs the accessory to the pre-assembly position.

[0059] In one embodiment of the present invention, before preparing to install the accessory, the first manipulator grabs the accessory from the positioning fixture and transfers it to the pre-assembly position. At this time, the spatial position data of the first manipulator is the seventh reference spatial data, which is the same as the spatial position of the first manipulator at the pre-assembly position during pre-debugging, which is conducive to ensuring the consistency of the accessory and the vehicle body assembly.

[0060] Exemplary accessories include, but are not limited to, instrument panels.

[0061] It should be noted that before the accessory is clamped in the positioning fixture, the accessories have been aligned and adjusted in directions other than the predetermined direction with the corresponding directions of the vehicle body to ensure that the accessories can be aligned and assembled with the vehicle body in directions other than the predetermined direction. If the predetermined direction is the Y direction, the X and Z directions of the accessories have been aligned and adjusted; if the predetermined direction is the X direction or the Z direction, the above is analogous. In addition, the positioning fixture can ensure that the accessories clamped thereon will not deviate in other directions after adjustment.

[0062] Step S120: The first distance measurement system obtains first measured data of a first detection point and a second detection point on the accessory, and determines first measured coordinate data of the accessory based on the first measured data.

[0063] In one embodiment of the present invention, the first distance measuring system determines the first measured data of the first detection point and the second detection point on the accessory by respectively detecting the distance between itself and the first detection point and the second detection point on the accessory. And according to the first measured data, the first measured coordinate data of the accessory is obtained. The first detection point and the second detection point are two points of the accessory opposite to each other in a predetermined direction.

[0064] Specifically, the first distance measuring system includes a first distance measuring sensor and a second distance measuring sensor installed on the first manipulator, and the first distance measuring sensor and the second distance measuring sensor are arranged relatively on the first manipulator to detect the first detection point and the second detection point arranged relatively on the accessory. The first distance measuring sensor can be used to detect the distance between itself and the first detection point or the second detection point on the accessory, and the second distance measuring sensor can be used to detect the distance between itself and the second detection point or the first detection point on the accessory, so as to obtain the first measured data of the first detection point and the second detection point on the accessory.

[0065] It should be noted that when the first ranging system obtains the first measured data of the first detection point and the second detection point on the accessory, the spatial position data of the first ranging system is the third reference spatial data, which is the same as the spatial position of the first ranging system at the pre-assembly position during pre-debugging. Since the accessory is not aligned and adjusted in the predetermined direction, the first detection point and the second detection point on the accessory detected by the first ranging system at this time will be different from the first detection point and the second detection point on the accessory detected by the first ranging system during pre-debugging, making the measured data different from the reference data, thereby determining the deviation data of the accessory.

[0066] Exemplarily, the first data L' of the first detection point on the accessory can be obtained by the first distance measuring sensor. 01 , the second data L' of the second detection point on the accessory can be obtained by the second distance measuring sensor 02 According to the first data L' 01 and the second data L' 02 , the third data L' located at the midpoint between the first detection point and the second detection point on the accessory can be determined 03 Based on the above first data L' 01 , the second data L' 02 and the third data L' 03 , determine the current first measured coordinate data of the accessory.

[0067] Specifically, the third data L' of the accessory 03 It can be calculated by the following formula:

[0068] L' 03 =((L' 01 -L 01 )-(L' 02 -L 02 )) / 2.

[0069] Assuming the center point of the optimal assembly between the accessory and the vehicle body is the origin, the spatial point position of the first detection point in the first measured coordinate data of the accessory in the predetermined direction is L' 01 , the spatial point position of the second detection point of the accessory in the predetermined direction is -L' 02 The spatial point on the accessory located in the predetermined direction of the midpoint between the first detection point and the second detection point is L' 03 .

[0070] Exemplarily, the first detection point is located on the left side of the outer surface of the accessory, and the second detection point is located on the right side of the outer surface of the accessory.

[0071] Step S130: the second distance measurement system obtains second measured data of the third detection point and the fourth detection point of the vehicle body, and determines second measured coordinate data of the vehicle body based on the second measured data.

[0072] In one embodiment of the present invention, the second distance measuring system determines the second measured data of the third and fourth detection points on the vehicle body by respectively detecting the distance between itself and the third and fourth detection points on the vehicle body. And according to the second measured data, the second measured coordinate data of the vehicle body is obtained. The third and fourth detection points are two points on the vehicle body opposite to each other in a predetermined direction.

[0073] Specifically, the second ranging system includes a third ranging sensor and a fourth ranging sensor, wherein the third ranging sensor is mounted on the second manipulator, and the fourth ranging sensor is mounted on the third manipulator. When the second ranging system acquires the second measured data of the vehicle body, the third ranging sensor and the fourth ranging sensor are arranged relatively to each other so as to detect the third detection point and the fourth detection point arranged relatively to each other on the vehicle body. The third ranging sensor can be used to detect the distance between itself and the third detection point or the fourth detection point on the vehicle body, and the fourth ranging sensor can be used to detect the distance between itself and the fourth detection point or the third detection point on the vehicle body, so as to obtain the second measured data of the third detection point and the fourth detection point on the vehicle body.

[0074] It should be noted that when the second distance measuring system obtains the second measured data of the third detection point and the fourth detection point on the vehicle body, the spatial position data of the second distance measuring system is the fourth reference spatial data, which is the same as the spatial position of the second distance measuring system during pre-debugging. If the position of the vehicle body on the assembly position of the skateboard deviates, the third detection point and the fourth detection point on the vehicle body detected by the second distance measuring system at this time will be different from the third detection point and the fourth detection point on the vehicle body detected by the second distance measuring system during pre-debugging, making the measured data different from the reference data, thereby determining the deviation data of the vehicle body.

[0075] Exemplarily, the fourth data L' of the third detection point on the vehicle body can be obtained by the third distance measuring sensor. 11 The fifth data L' of the fourth detection point on the vehicle body can be obtained by the fourth distance measuring sensor 12 According to the fourth data L' 11 and the fifth data L' 12 , the sixth data L' located at the midpoint between the third detection point and the fourth detection point on the vehicle body can be determined 13 Based on the fourth data L' 11 , fifth data L' 12 and the sixth data L' 13 , determine the current second measured coordinate data of the vehicle body.

[0076] Specifically, the sixth data L' of the vehicle body 13 It can be calculated by the following formula:

[0077] L' 13 =((L' 11 -L 11 )-(L' 12 -L 12 )) / 2.

[0078] Assuming the center point of the optimal assembly between the accessory and the body is the origin, the spatial point position of the third detection point in the second measured coordinate data of the body in the predetermined direction is L' 11 , the spatial point position of the fourth detection point of the vehicle body in the predetermined direction is -L' 12 The spatial point on the vehicle body located in the predetermined direction of the midpoint between the third detection point and the fourth detection point is L' 13 .

[0079] Exemplarily, the third detection point is located on the left side of the hinge surface of the vehicle body, and the fourth detection point is located on the right side of the hinge surface of the vehicle body.

[0080] Step S140: determining a first predetermined direction offset value of the accessory relative to the vehicle body based on the first measured coordinate data, the first reference coordinate data, the second measured coordinate data, and the second reference coordinate data.

[0081] Specifically, the first reference coordinate data is reference coordinate data determined according to actual measured data of a first detection point and a second detection point of the accessory during pre-debugging when the accessory and the vehicle body reach an optimal assembly state.

[0082] The second reference coordinate data is the reference coordinate data determined according to the actual measured data of the third detection point and the fourth detection point of the vehicle body during the pre-debugging when the accessory and the vehicle body reach the optimal assembly state.

[0083] Assuming the center point of the optimal assembly between the accessory and the vehicle body is the origin, the spatial point position of the predetermined direction of the first detection point of the accessory in the first reference coordinate data is L 01 , the spatial position of the second detection point in the predetermined direction is -L 02 , the midpoint between the first detection point and the second detection point is the origin; the spatial point position in the predetermined direction of the third detection point of the vehicle body in the second reference coordinate data is L 11 , the spatial point position of the fourth detection point in the predetermined direction is -L 12 , the midpoint between the third detection point and the fourth detection point is the origin.

[0084] In one embodiment of the present invention, the first predetermined direction offset value of the accessory relative to the vehicle body can be obtained by using the first measured coordinate data of the accessory and the second measured coordinate data of the vehicle body obtained in the above steps, as well as the first reference coordinate data of the accessory and the second reference coordinate data of the vehicle body obtained in previous debugging.

[0085] Specifically, the three predetermined direction spatial points (L' 01 , -L' 02 , L' 03 ), and the three predetermined direction spatial points in the first reference coordinate data (L 01 , -L 02 , 0), through spatial fitting, the first rotation matrix of the detection point of the current first measured coordinate data of the accessory relative to the reference point of the first reference coordinate data is obtained, and then the first rotation matrix is ​​transformed through 3D affine transformation to obtain the 6-degree-of-freedom offset position of the current detection point of the accessory relative to the reference point, that is, the first coordinate offset data.

[0086] The three predetermined direction spatial points (L' 11 , -L' 12 , L' 13 ), and the second reference coordinate data (L 11 , -L 12, 0), through spatial fitting, the second rotation matrix of the detection point of the current second measured coordinate data of the vehicle body relative to the reference point of the second reference coordinate data is obtained, and then the second rotation matrix is ​​transformed through 3D affine transformation to obtain the 6-degree-of-freedom offset position of the current detection point relative to the reference point, that is, the second coordinate offset data.

[0087] By comparing the first coordinate offset data with the second coordinate offset data, a first predetermined direction offset value of the accessory relative to the vehicle body is obtained, that is, an offset amount of the accessory relative to the vehicle body in the predetermined direction.

[0088] It should be noted that the predetermined direction may be the width direction of the vehicle body, ie, the Y direction; it may also be the length direction of the vehicle body, ie, the X direction; it may also be the height direction of the vehicle body, ie, the Z direction.

[0089] Step S150: the first visual system acquires a first image of the vehicle body, and determines first spatial offset data of the vehicle body according to the first image.

[0090] In one embodiment of the present invention, when the vehicle body is driven by the slide to the assembly position, the first visual system can obtain a first image of the vehicle body by taking a photo. At this time, the position data of the first visual system is the fifth reference space data, which is the same as the spatial position of the first visual system during pre-debugging, so as to facilitate the subsequent identification of the position deviation of the vehicle body at the assembly position. Further, the first image of the vehicle body is subjected to image recognition analysis processing to obtain the first spatial offset data of the vehicle body.

[0091] Specifically, the first visual system includes a first camera and a second camera, wherein the first camera is mounted on the second manipulator, and the second camera is mounted on the third manipulator. The first image of the vehicle body is obtained by the first camera and the second camera.

[0092] For example, the positioning holes on the left and right sides of the body can be identified to analyze the midpoint between the two positioning holes of the body, and the midpoint can be used as the midpoint of the body. In addition, the mounting holes for the body and accessories to be mounted are aligned with the midpoint of the body.

[0093] Exemplarily, the first camera and the second camera are used to capture the first image of the vehicle body, including but not limited to being set as a 3D camera, etc.

[0094] In one embodiment of the present invention, by identifying the first image of the vehicle body acquired by the first visual system, the first measured spatial data of the vehicle body can be obtained. The first measured spatial data is the spatial measured data of the midpoint between the two positioning holes on the vehicle body. By comparing the first measured spatial data with the first reference spatial data of the vehicle body, the first spatial offset data of the vehicle body can be obtained. It should be noted that the first reference spatial data of the vehicle body is the spatial data of the assembly position of the vehicle body on the skateboard acquired by the first visual system when the accessories and the vehicle body reach the optimal assembly state during pre-debugging. Since the position of the assembly position of the vehicle body on the skateboard is not the same every time, and the spatial position of the first visual system that acquires the first image of the vehicle body remains unchanged, there is a difference between the first measured spatial data of the vehicle body and the first reference spatial data, which is convenient for the subsequent identification of the position deviation of the vehicle body at the assembly position.

[0095] Step S160, adjusting the assembly motion trajectory of the first manipulator according to the first predetermined direction offset value and the first spatial offset data, so as to align the accessory with the vehicle body in the predetermined direction center line for assembly.

[0096] In one embodiment of the present invention, the first spatial offset data is the 6-DOF offset data of the current position of the vehicle body relative to the reference position, which only reflects the offset of the vehicle body, and does not take into account the offset of the accessory relative to the vehicle body in a predetermined direction. Assembling the accessory according to the first spatial offset data cannot ensure the alignment of the accessory and the vehicle body. Therefore, it is necessary to add the offset value of the accessory relative to the vehicle body in the first predetermined direction, and then adjust the assembly motion trajectory of the first manipulator, so that the accessory and the vehicle body are aligned in the predetermined direction center line assembly.

[0097] Specifically, the first predetermined direction offset value of the accessory relative to the vehicle body is replaced by the second predetermined direction offset value in the first spatial offset data of the vehicle body to obtain the second spatial offset data of the vehicle body. The second predetermined direction offset value is the offset data of the predetermined direction in the 6-DOF offset data of the vehicle body. The first manipulator adjusts its own assembly motion trajectory based on the second spatial offset data, that is, the first manipulator moves in the opposite direction according to the 6-DOF offset data in the second spatial offset data, so as to align the accessory with the vehicle body for assembly.

[0098] In an exemplary embodiment, the second manipulator and the third manipulator are both equipped with fasteners. After the first manipulator assembles the accessory on the vehicle body, the second manipulator and the third manipulator fasten the accessory on the vehicle body through the fasteners installed respectively, thereby completing the assembly of the two.

[0099] Exemplarily, the fastener is used to fasten screws on the accessory to lock the accessory to the vehicle body, including but not limited to being set as an electric screwdriver, etc.

[0100] In an exemplary embodiment, step S110, the first manipulator grabs the accessory to the pre-assembly position, which at least includes steps S210 to S230, which are described in detail as follows:

[0101] Step S210: the first visual system acquires a second image of the accessory, and determines second measured spatial data of the accessory according to the second image.

[0102] In one embodiment of the present invention, after the accessory is clamped on the positioning fixture, the first visual system can obtain the second image of the accessory by taking a photo. At this time, the position data of the first visual system is the sixth reference space data, which is the same as the space position of the first visual system during pre-debugging, so as to subsequently identify the offset of the accessory. Further, the second image of the accessory is subjected to image recognition and analysis processing to obtain the second measured space data of the accessory.

[0103] Specifically, the positioning holes on the left and right sides of the accessory can be identified to analyze the midpoint between the two positioning holes of the accessory, and the spatial data of the midpoint between the two positioning holes of the accessory can be used as the second measured spatial data of the accessory.

[0104] In one embodiment of the present invention, the first visual system includes a first camera mounted on the second manipulator, and the second image of the accessory on the positioning fixture is acquired by the first camera.

[0105] Exemplarily, the first camera is used to capture the second image of the accessory, including but not limited to being set as a 3D camera, etc.

[0106] Step S220: determining second spatial offset data of the accessory according to the second measured spatial data and the second reference spatial data.

[0107] Specifically, the second reference space data is the space data of the accessory on the positioning fixture obtained by the first visual system when the accessory and the vehicle body reach the optimal assembly state in the pre-debugging. At this time, the position data of the first visual system is the sixth reference space data.

[0108] In one embodiment of the present invention, since the position of the accessory in the predetermined direction on the positioning fixture is not always the same, and the spatial position of the first visual system that detects the second image of the accessory remains unchanged, the second measured spatial data of the accessory and the second reference spatial data obtained by actual measurement are different. The second measured spatial data and the second reference spatial data are compared to obtain second spatial offset data of the second measured spatial data of the accessory relative to the second reference spatial data.

[0109] Step S230: the first manipulator grabs the accessory based on the second spatial offset data and transfers the accessory to the pre-assembly position.

[0110] In one embodiment of the present invention, the first manipulator accurately grabs the accessory according to the second spatial offset data to avoid the first manipulator causing damage to the accessory. Subsequently, the first manipulator transfers the accessory to the pre-assembly position.

[0111] It should be noted that the first manipulator transfers the accessories to the pre-assembly position at the same location each time, that is, the spatial position data of the first manipulator at the pre-assembly position is the seventh reference spatial data.

[0112] In summary, the scheme of this embodiment obtains the first measured data of the accessory and the second measured data of the vehicle body, thereby determining the first measured coordinate data of the accessory and the second measured coordinate data of the vehicle body, and then determining the first predetermined direction offset value of the accessory relative to the vehicle body, and obtains the first image of the vehicle body through the first visual system to determine the first spatial offset data of the vehicle body, thereby adjusting the assembly motion trajectory of the first manipulator according to the first predetermined direction offset value and the first spatial offset data, so as to align the accessory with the center line of the predetermined direction of the vehicle body for assembly, that is, the two are aligned and assembled in the center, which is conducive to improving the work efficiency and qualified rate of the assembly of the accessory and the vehicle body. Furthermore, the spatial positions of the first distance measuring system, the second distance measuring system and the first visual system when acquiring data in real time remain unchanged from the spatial positions during pre-debugging, which is conducive to ensuring the consistency of the assembly of the accessory and the vehicle body.

[0113] The flowcharts in the accompanying drawings illustrate methods according to various embodiments of the present invention. It should be noted that in some alternative implementations, the functions marked in the blocks may also occur in an order different from that marked in the accompanying drawings. For example, two blocks represented in succession may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the flowchart, and the combination of blocks in the flowchart, may be implemented with a dedicated hardware-based system that performs the specified functions or operations, or may be implemented with a combination of dedicated hardware and computer instructions.

[0114] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A method for assembling accessories in a vehicle production line, characterized in that: The method comprises: The first manipulator grabs the accessory to the pre-assembly position; The first distance measuring system acquires first measured data of a first detection point and a second detection point on the accessory, and determines first measured coordinate data of the accessory based on the first measured data; The second distance measuring system acquires second measured data of a third detection point and a fourth detection point of the vehicle body, and determines second measured coordinate data of the vehicle body based on the second measured data; Determining a first predetermined direction offset value of the accessory relative to the vehicle body based on the first measured coordinate data, the first reference coordinate data, the second measured coordinate data, and the second reference coordinate data; A first visual system acquires a first image of the vehicle body, and determines first spatial offset data of the vehicle body according to the first image; According to the first predetermined direction offset value and the first spatial offset data, adjusting the assembly motion trajectory of the first manipulator to align the accessory with the vehicle body in a predetermined direction center line for assembly; Among them, in the preliminary debugging, when the accessory and the vehicle body reach the optimal assembly state, the accessory determines the first reference coordinate data according to the measured data obtained by the first ranging system, and the vehicle body determines the second reference coordinate data according to the measured data obtained by the second ranging system.

2. The accessory assembly method for a vehicle production line according to claim 1, characterized in that: Determining a first predetermined direction offset value of the accessory relative to the vehicle body based on the first measured coordinate data, the first reference coordinate data, the second measured coordinate data, and the second reference coordinate data includes: According to the first measured coordinate data and the first reference coordinate data, the first coordinate offset data of the accessory is determined; according to the second measured coordinate data and the second reference coordinate data, the second coordinate offset data of the vehicle body is determined; based on the first coordinate offset data and the second coordinate offset data, the first predetermined direction offset value of the accessory relative to the vehicle body is obtained.

3. The accessory assembly method for a vehicle production line according to claim 1, characterized in that: The step of adjusting the assembly motion trajectory of the first manipulator according to the first predetermined direction offset value and the first spatial offset data to align the accessory with the center line of the predetermined direction of the vehicle body for assembly includes: Replacing the second predetermined direction offset value in the first spatial offset data with the first predetermined direction offset value to obtain second spatial offset data of the vehicle body; Based on the second spatial offset data, the assembly motion trajectory of the first manipulator is adjusted.

4. The accessory assembly method for a vehicle production line according to claim 1, characterized in that: The first visual system acquires a first image of the vehicle body, and determines first spatial offset data of the vehicle body according to the first image, including: Acquire the first image through the first visual system, and obtain first measured spatial data of the vehicle body according to the first image; determining first spatial offset data of the vehicle body based on the first measured spatial data and the first reference spatial data; The first reference space data is the space data of the vehicle body obtained when the accessory and the vehicle body reach an optimal assembly state during pre-debugging.

5. The accessory assembly method for a vehicle production line according to claim 1, characterized in that: The first distance measurement system acquires first measured data of a first detection point and a second detection point on the accessory, and determines first measured coordinate data of the accessory based on the first measured data, including: The first measured data includes first data of the first detection point and second data of the second detection point; Determine, based on the first data and the second data, third data located at a midpoint between the first detection point and the second detection point on the accessory; The first measured coordinate data is determined based on the first data, the second data and the third data.

6. The accessory assembly method for a vehicle production line according to claim 1, characterized in that: The second distance measurement system acquires second measured data of a third detection point and a fourth detection point of the vehicle body, and determines second measured coordinate data of the vehicle body based on the second measured data, including: The second measured data includes fourth data of the third detection point and fifth data of the fourth detection point; Determine, based on the fourth data and the fifth data, sixth data on the vehicle body located at a midpoint between the third detection point and the fourth detection point; The second measured coordinate data is determined based on the fourth data, the fifth data and the sixth data.

7. The accessory assembly method for a vehicle production line according to any one of claims 1 to 6, characterized in that: The first manipulator grabs the accessory to the pre-assembly position, including: The first visual system acquires a second image of the accessory, and determines second measured spatial data of the accessory according to the second image; Determine second spatial offset data of the accessory according to the second measured spatial data and the second reference spatial data; The first manipulator grabs the accessory based on the second spatial offset data, and transfers the accessory to the pre-assembly position; The second reference spatial data is spatial data of the accessory acquired when the accessory and the vehicle body reach an optimal assembly state during pre-debugging.

8. The accessory assembly method for a vehicle production line according to claim 7, characterized in that: The first visual system includes a first camera connected to the second manipulator and a second camera connected to the third manipulator; the method further includes: The first image is acquired by the first camera and the second camera; The second image is acquired by the first camera.

9. The accessory assembly method for a vehicle production line according to claim 8, characterized in that: The first distance measuring system includes a first distance measuring sensor and a second distance measuring sensor connected to the first manipulator, and the second distance measuring system includes a third distance measuring sensor connected to the second manipulator and a fourth distance measuring sensor connected to the third manipulator; the method further includes: The first measured data is obtained by the first ranging sensor and the second ranging sensor; The second measured data is acquired by the third ranging sensor and the fourth ranging sensor, and when the second ranging system acquires the second measured data, the third ranging sensor and the fourth ranging sensor are arranged opposite to each other.

10. The accessory assembly method for a vehicle production line according to claim 8, characterized in that: The second manipulator and the third manipulator are both connected with fasteners; the method further includes: After the accessory is assembled with the vehicle body, the second manipulator and the third manipulator fasten the accessory to the vehicle body through the fastener.

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