Method for assembling parts of a vehicle production line

Abstract

The application provides a kind of accessory assembly method of vehicle production line, belong to vehicle assembly field.The application includes that first ranging system obtains the first measured data of first detection point and second detection point on accessory, determines the first measured coordinate data of the accessory;Second ranging system obtains the second measured data of third detection point and fourth detection point of vehicle body, determines the second measured coordinate data of the vehicle body;Based on the first measured coordinate data, first reference coordinate data, the second measured coordinate data and second reference coordinate data, determine the first predetermined direction offset value of the accessory relative to the vehicle body;First vision system obtains the first image of the vehicle body, determines the first spatial offset data of the vehicle body;According to the first predetermined direction offset value and the first spatial offset data, adjust the assembly motion track of the first manipulator that the accessory is gripped to pre-assembly position.The application is favorable to improve the qualified rate of accessory and vehicle body assembly.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle assembly, in particular to a method for assembling accessories on a vehicle production line. BACKGROUND

[0002] An instrument panel is a rigid flat plate or structure for mounting instruments and related devices. As an important part of a vehicle, whether the instrument panel is centered during assembly will directly affect the visual experience of the driver.

[0003] In the assembly of the instrument panel, if the vehicle body or the instrument panel is selected as the assembly reference, since the position of the vehicle body and the instrument panel varies each time, the reference of the vehicle body or the instrument panel needs to be found or the vehicle body or the instrument panel needs to be adjusted to the reference position each time, which increases the assembly process of the two and reduces the assembly efficiency. Moreover, the above assembly method cannot guarantee the consistency of the assembly of the instrument panel and the vehicle body, which increases the difficulty of subsequent instrument installation.

[0004] Therefore, there is a need for a new solution to solve the above technical problems. SUMMARY

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

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

[0007] a first manipulator grasps the accessory to a pre-assembly position;

[0008] a first distance measuring 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;

[0009] a second distance measuring system obtains 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] 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 predetermined direction offset value of the accessory relative to the vehicle body is determined;

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

[0012] based on the first predetermined direction offset value and the first spatial offset data, the assembly motion trajectory of the first manipulator is adjusted to align and assemble the accessory and the vehicle body in the center line of the predetermined direction.

[0013] Wherein, in the pre-commissioning, when the accessory and the vehicle body reach the best 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 an embodiment of the present application, the first predetermined direction offset value of the accessory relative to the vehicle body is determined based on the first measured coordinate data, the first reference coordinate data, the second measured coordinate data and the second reference coordinate data, comprising:

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

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

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

[0018] In an embodiment of the present application, the assembly motion trajectory of the first mechanical arm is adjusted based on the first predetermined direction offset value and the first spatial offset data, so that the accessory is assembled in alignment with the center line of the predetermined direction of the vehicle body, comprising:

[0019] The first predetermined direction offset value is substituted for the second predetermined direction offset value in the first spatial offset data to obtain the second spatial offset data of the vehicle body;

[0020] The assembly motion trajectory of the first mechanical arm is adjusted based on the second spatial offset data.

[0021] In an embodiment of the present application, the first visual system obtains the first image of the vehicle body, and the first spatial offset data of the vehicle body is determined according to the first image, comprising:

[0022] The first image is obtained by the first visual system, and the first measured spatial data of the vehicle body is obtained according to the first image;

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

[0024] The first reference spatial data is the spatial data of the vehicle body obtained when the accessory and the vehicle body reach the best assembly state in the pre-commissioning.

[0025] In an embodiment of the present application, the first ranging system obtains first measured data of a first detection point and a second detection point on the accessory, determines first measured coordinate data of the accessory based on the first measured data, and includes:

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

[0027] According to the first data and the second data, third data of a midpoint between the first detection point and the second detection point on the accessory is determined.

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

[0029] In an embodiment of the present application, the second ranging system obtains second measured data of a third detection point and a fourth detection point on the vehicle body, determines second measured coordinate data of the vehicle body based on the second measured data, and includes:

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

[0031] According to the fourth data and the fifth data, sixth data of a midpoint between the third detection point and the fourth detection point on the vehicle body is determined.

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

[0033] In an embodiment of the present application, the first mechanical hand grasps the accessory to a pre-assembly position, and includes:

[0034] A first vision system obtains a second image of the accessory, and determines second measured spatial data of the accessory according to the second image.

[0035] According to the second measured spatial data and second reference spatial data, second spatial offset data of the accessory is determined.

[0036] The first mechanical hand grasps 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 obtained when the accessory and the vehicle body reach an optimal assembly state in a pre-debugging.

[0038] In an embodiment of the present application, the first vision system includes a first camera connected to a second mechanical hand and a second camera connected to a third mechanical hand, and 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 an embodiment of the present application, the first distance measuring system comprises a first distance measuring sensor and a second distance measuring sensor connected to the first robot, the second distance measuring system comprises a third distance measuring sensor connected to the second robot and a fourth distance measuring sensor connected to the third robot; the method further comprises:

[0042] The first measured data is acquired by the first distance measuring sensor and the second distance measuring sensor;

[0043] The second measured data is acquired by the third distance measuring sensor and the fourth distance measuring sensor, and the third distance measuring sensor and the fourth distance measuring sensor are arranged oppositely when the second distance measuring system acquires the second measured data.

[0044] In an embodiment of the present application, the second robot and the third robot are both connected with fasteners; the method further comprises:

[0045] When the accessory and the vehicle body are assembled, the second robot and the third robot fasten the accessory on the vehicle body through the fasteners.

[0046] The present application has the following advantages:

[0047] The present application acquires 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 further determining the first predetermined direction offset value of the accessory relative to the vehicle body, and acquiring the first image of the vehicle body through the first vision system to determine the first spatial offset data of the vehicle body, so as to adjust the assembly motion trajectory of the first robot according to the first predetermined direction offset value and the first spatial offset data, so as to assemble the accessory and the vehicle body in the center line of the predetermined direction, i.e. to assemble them in the center, which is beneficial to improve the work efficiency and the qualified rate of the assembly of the accessory and the vehicle body; in addition, the spatial positions of the first distance measuring system, the second distance measuring system and the first vision system when acquiring data in real time are unchanged from the spatial positions when debugging in advance, which is beneficial to ensure the consistency of the assembly of the accessory and the vehicle body.

[0048] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0049] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0050] Figure 1 A flowchart illustrating a component assembly method for a vehicle production line is shown in an exemplary embodiment of the present invention. Detailed Implementation

[0051] The embodiments of the present invention will be described below 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 content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed 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 and 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 representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0053] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0054] Before explaining this application, it should be noted that the assembly of the parts and the body needs to be pre-tested before mass assembly. During the pre-testing process, when the parts and the body are tested to the optimal assembly state, the data from this assembly testing process is entered into the system as benchmark data for subsequent assembly, so as to ensure that each subsequent assembly achieves the optimal assembly state. The optimal assembly state is when the parts and the body are perfectly aligned and centered.

[0055] The reference data includes first reference coordinate data of the component and second reference coordinate data of the vehicle body. The first reference coordinate data is based on the first reference data L of the first detection point on the component. 01The second reference data L at the second detection point 02 And the third reference data L, which is the midpoint between the first and second detection points. 03 It is determined that the second reference coordinate data is based on the fourth reference number L of the third detection point on the vehicle body. 11 The fifth baseline data L at the fourth detection point 12 And the sixth reference data L at the midpoint between the third and fourth detection points. 13 Sure.

[0056] The reference data also includes first reference space data of the vehicle body in the assembly position on the slide, second reference space data of the parts in the positioning fixture, third reference space data of the first ranging system when acquiring the first reference coordinate data, fourth reference space data of the second ranging system when acquiring the second reference coordinate data, fifth reference space data of the first vision system when acquiring the first reference space data, sixth reference space data of the first vision system when acquiring the second reference space data, and seventh reference space data of the first robotic arm in the pre-assembly position.

[0057] Please see Figure 1 , Figure 1 This is a flowchart illustrating a component assembly method for a vehicle production line, as shown in an exemplary embodiment of this application. Figure 1 As shown, in an exemplary embodiment, the component assembly method of a vehicle production line includes at least steps S110 to S150, which are described in detail below:

[0058] In step S110, the first robotic arm picks up the part and places it in the pre-assembly position.

[0059] In one embodiment of the present invention, before preparing to install the accessory, the first robotic arm picks up the accessory from the positioning fixture and transfers it to the pre-assembly position. At this time, the spatial position data of the first robotic arm is the seventh reference spatial data, which is the same as the spatial position of the first robotic arm in the pre-assembly position during pre-adjustment, which helps to ensure the consistency of the accessory and the vehicle body assembly.

[0060] For example, accessories include, but are not limited to, dashboards.

[0061] It should be noted that before the parts are clamped in the positioning fixture, alignment adjustments have been made in all directions except the predetermined direction to ensure that the parts can be aligned with the vehicle body for assembly. If the predetermined direction is the Y direction, the X and Z directions of the parts have already been aligned; if the predetermined direction is either the X or Z direction, the same principle applies. Furthermore, the positioning fixture ensures that the parts clamped on it will not shift in other directions after adjustment.

[0062] In step S120, the first ranging system acquires the first measured data of the first detection point and the second detection point on the accessory, and determines the first measured coordinate data of the accessory based on the first measured data.

[0063] In one embodiment of the present invention, the first ranging system determines first measured data of the first and second detection points on the component by detecting the distances between itself and the first and second detection points on the component, respectively. Based on this first measured data, the current first measured coordinate data of the component is obtained. The first and second detection points are two points on the component that are opposite each other in a predetermined direction.

[0064] Specifically, the first ranging system includes a first ranging sensor and a second ranging sensor mounted on a first robotic arm. The first and second ranging sensors are positioned opposite each other on the first robotic arm to detect a first detection point and a second detection point positioned opposite each other on the component. The first ranging sensor can be used to detect the distance between itself and either the first or second detection point on the component, and the second ranging sensor can be used to detect the distance between itself and either the second or first detection point on the component, thereby obtaining first measured data for the first and second detection points on the component.

[0065] It should be noted that when the first ranging system acquires the first measured data of the first and second detection points on the component, 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 in the pre-assembly position during pre-adjustment. Since the component has not been aligned in the predetermined direction, the first and second detection points on the component detected by the first ranging system at this time will differ from those detected by the first ranging system during pre-adjustment. This results in the measured data differing from the reference data, thus determining the deviation data of the component.

[0066] For example, the first data L' of the first detection point on the accessory can be obtained through the first ranging sensor. 01 The second distance sensor can acquire the second data L' of the second detection point on the accessory. 02 According to the first data L' 01 Second data L' 02 The third data L' located at the midpoint between the first and second inspection points on the component can be determined. 03 Based on the first data L' mentioned above 01 Second data L' 02 and the third data L' 03 The first measured coordinate data of the component is determined.

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

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

[0069] The center point of the best assembly of the accessory and the vehicle body is set as the original point, the space point of the first detection point of the accessory in the predetermined direction is L' 01 , the space point of the second detection point of the accessory in the predetermined direction is -L' 02 , and the space point of the midpoint between the first detection point and the second detection point of the accessory in the predetermined direction is L' 03 .

[0070] For example, 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] In step S130, the second distance measuring system obtains second measurement data of the third detection point and the fourth detection point of the vehicle body, and determines second measurement coordinate data of the vehicle body based on the second measurement data.

[0072] In an embodiment of the present application, the second distance measuring system determines the second measurement data of the third detection point and the fourth detection point of the vehicle body by detecting the distance between the third detection point and the fourth detection point of the vehicle body, respectively, and obtains the current second measurement coordinate data of the vehicle body according to the second measurement data. The third detection point and the fourth detection point are two points on the vehicle body that are opposite in the predetermined direction.

[0073] Specifically, the second distance measuring system includes a third distance measuring sensor and a fourth distance measuring sensor, wherein the third distance measuring sensor is installed on the second mechanical arm, and the fourth distance measuring sensor is installed on the third mechanical arm. When the second distance measuring system obtains the second measurement data of the vehicle body, the third distance measuring sensor and the fourth distance measuring sensor are arranged opposite to each other to detect the third detection point and the fourth detection point on the vehicle body. The third distance measuring sensor can be used to detect the distance between the third detection point or the fourth detection point on the vehicle body, and the fourth distance measuring sensor can be used to detect the distance between the fourth detection point or the third detection point on the vehicle body, so as to obtain the second measurement data of the third detection point and the fourth detection point on the vehicle body.

[0074] It should be noted that when the second ranging system acquires the second measured data of the third and fourth detection points on the vehicle body, the spatial position data of the second ranging system is the fourth reference spatial data, which is the same as the spatial position of the second ranging system during pre-tuning. If the position of the vehicle body on the skateboard assembly position deviates, the third and fourth detection points on the vehicle body detected by the second ranging system at this time will be different from the third and fourth detection points detected by the second ranging system during pre-tuning, resulting in a difference between the measured data and the reference data, thus determining the deviation data of the vehicle body.

[0075] For example, the fourth data L' of the third detection point on the vehicle body can be obtained through the third ranging sensor. 11 The fifth data L' from the fourth detection point on the vehicle body can be obtained through the fourth ranging sensor. 12 According to the fourth data L' 11 And the fifth data L' 12 The sixth data point L', located at the midpoint between the third and fourth inspection points on the vehicle body, can be determined. 13 Based on the aforementioned fourth data L' 11 Fifth data L' 12 And the sixth data L' 13 This determines the current second measured coordinate data of the vehicle body.

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

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

[0078] If the center point after the parts and the body are optimally assembled is set as the origin, then the spatial position of the third detection point in the predetermined direction in the second measured coordinate data of the body is L'. 11 The spatial position of the fourth inspection point on the vehicle body in the predetermined direction is -L' 12 The spatial position of the midpoint between the third and fourth inspection points on the vehicle body is L' in the predetermined direction. 13 .

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

[0080] Step S140: Based on the first measured coordinate data, the first reference coordinate data, the second measured coordinate data, and the second reference coordinate data, determine the first predetermined directional offset value of the accessory relative to the vehicle body.

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

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

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

[0084] In an embodiment of the present application, the first predetermined direction offset value of the accessory relative to the vehicle body can be obtained by the first measured coordinate data of the accessory and the second measured coordinate data of the vehicle body obtained through the above steps, and the first reference coordinate data of the accessory and the second reference coordinate data of the vehicle body obtained in the pre-adjustment.

[0085] Specifically, the three space point positions (L' 01 , -L' 02 , L' 03 ) in the predetermined direction in the first measured coordinate data of the accessory, and the three space point positions (L 01 , -L 02 , 0) in the predetermined direction in the first reference coordinate data are fitted in space to obtain a 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, and then the first rotation matrix is subjected to 3D affine transformation to obtain the 6-DOF offset position of the current detection point of the accessory relative to the reference point, i.e. the first coordinate offset data.

[0086] The three space point positions (L' 11 , -L' 12 , L' 13 ) in the predetermined direction in the second measured coordinate data, and the second reference coordinate data (L 11 , -L 12, 0), through space fitting, a second rotation matrix of a detection point of the current second measured coordinate data of the vehicle body relative to a reference point of the second reference coordinate data is obtained, and the second rotation matrix is subjected to 3D affine transformation to obtain a 6-degree-of-freedom offset position of the current detection point relative to the reference point, i.e. second coordinate offset data.

[0087] By comparing 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, i.e. a predetermined direction offset amount of the accessory relative to the vehicle body.

[0088] It should be noted that the predetermined direction can be the width direction of the vehicle body, i.e. Y direction; or the length direction of the vehicle body, i.e. X direction; or the height direction of the vehicle body, i.e. Z direction.

[0089] In step S150, the first vision system obtains a first image of the vehicle body, and determines first spatial offset data of the vehicle body according to the first image.

[0090] In an embodiment of the present application, when the vehicle body is driven to the assembly position by the slide plate, the first vision system can obtain the first image of the vehicle body by photographing. At this time, the position data of the first vision system is the fifth reference spatial data, which is the same as the spatial position of the first vision system during pre-debugging, thereby facilitating subsequent identification of the positional deviation of the vehicle body in the assembly position. Further, the first image of the vehicle body is subjected to picture recognition and analysis processing to obtain the first spatial offset data of the vehicle body.

[0091] Specifically, the first vision system comprises a first camera and a second camera, wherein the first camera is installed on the second mechanical arm, and the second camera is installed on the third mechanical arm. The first image of the vehicle body is obtained by the first camera and the second camera.

[0092] Illustratively, the midpoint between the two positioning holes of the vehicle body can be analyzed by recognizing the positioning holes on the left and right sides of the vehicle body, and the midpoint is taken as the midpoint of the vehicle body. Moreover, the mounting hole of the vehicle body and the accessory is arranged in alignment with the midpoint of the vehicle body.

[0093] Illustratively, the first camera and the second camera are used to photograph the first image of the vehicle body, including but not limited to being set as 3D cameras and the like.

[0094] In one embodiment of the present application, the first measured spatial data of the vehicle body can be obtained by identifying the first image of the vehicle body acquired by the first vision system. The first measured spatial data is the spatial measured data of the midpoint between 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 vehicle body in the assembly position on the slide plate acquired by the first vision system when the accessory and the vehicle body are in the best assembly state during pre-adjustment. Since the position of the vehicle body in the assembly position on the slide plate is not the same every time, and the spatial position of the first vision system acquiring the first image of the vehicle body is unchanged, the first measured spatial data and the first reference spatial data of the vehicle body obtained by measurement are different, which facilitates subsequent identification of the positional deviation of the vehicle body in the assembly position.

[0095] In step S160, the assembly motion trajectory of the first mechanical arm is adjusted according to the first predetermined direction offset value and the first spatial offset data, so that the accessory is assembled with the vehicle body in alignment in the predetermined direction center line.

[0096] In one embodiment of the present application, the first spatial offset data is the 6-degree-of-freedom offset data of the current position of the vehicle body relative to the reference position, which only reflects the offset amount of the vehicle body and does not consider the offset amount of the accessory relative to the vehicle body in the predetermined direction. Therefore, the first predetermined direction offset value of the accessory relative to the vehicle body needs to be added to adjust the assembly motion trajectory of the first mechanical arm, so that the accessory is assembled with the vehicle body in alignment in the predetermined direction center line.

[0097] Specifically, the first predetermined direction offset value of the accessory relative to the vehicle body is substituted for 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-degree-of-freedom offset data of the vehicle body. The first mechanical arm adjusts its assembly motion trajectory based on the second spatial offset data, i.e., the first mechanical arm reversely moves according to the 6-degree-of-freedom offset data in the second spatial offset data, so that the accessory is assembled with the vehicle body in alignment.

[0098] In an exemplary embodiment, the second mechanical arm and the third mechanical arm are each provided with a fastener. After the first mechanical arm assembles the accessory on the vehicle body, the second mechanical arm and the third mechanical arm fasten the accessory on the vehicle body through the respective fasteners, thereby completing the assembly of the two.

[0099] For example, the fastener is used to fasten a screw on the accessory to lock the accessory on the vehicle body, including but not limited to an electric screwdriver.

[0100] In an exemplary embodiment, the first robot picks up the accessory to the pre-assembly position, including at least steps S210 to S230, which are described in detail as follows:

[0101] In step S210, the first vision system acquires a second image of the accessory, and determines second measured spatial data of the accessory according to the second image.

[0102] In an embodiment of the present application, when the accessory is clamped on the positioning fixture, the first vision system can acquire the second image of the accessory by photographing. At this time, the position data of the first vision system is the sixth reference spatial data, which is the same as the spatial position of the first vision system during the pre-debugging, so as to identify the offset of the accessory subsequently. Further, the second image of the accessory is subjected to picture recognition and analysis processing to obtain the second measured spatial data of the accessory.

[0103] Specifically, the midpoint between the two positioning holes of the accessory can be analyzed by recognizing the left and right positioning holes of the accessory, and the spatial data of the midpoint between the two positioning holes of the accessory is taken as the second measured spatial data of the accessory.

[0104] In an embodiment of the present application, the first vision system includes a first camera installed on the second robot, and the second image of the accessory on the positioning fixture is acquired by the first camera.

[0105] Specifically, the first camera is used to take the second image of the accessory, including but not limited to being set as a 3D camera and the like.

[0106] In step S220, the second spatial offset data of the accessory is determined according to the second measured spatial data and the second reference spatial data.

[0107] Specifically, the second reference spatial data is the spatial data of the accessory on the positioning fixture acquired by the first vision system when the accessory and the vehicle body reach the best assembly state during the pre-debugging. At this time, the position data of the first vision system is the sixth reference spatial data.

[0108] In an embodiment of the present application, since the position of the accessory in the predetermined direction on the positioning fixture is not the same every time, and the spatial position of the first vision system for detecting the second image of the accessory is unchanged, the second measured spatial data of the accessory and the second reference spatial data are different. The second measured spatial data and the second reference spatial data are compared to obtain the second spatial offset data of the second measured spatial data of the accessory relative to the second reference spatial data.

[0109] In step S230, the first robot picks up 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 application, the first robot accurately grabs the accessory according to the second spatial offset data, so as to avoid damage to the accessory by the first robot. Subsequently, the first robot transfers the accessory to the pre-assembly position.

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

[0112] To sum up, the scheme of the present embodiment determines the first measured coordinate data of the accessory and the second measured coordinate data of the vehicle body by obtaining the first measured data of the accessory and the second measured data of the vehicle body, and then determines the first predetermined directional offset value of the accessory relative to the vehicle body, and determines the first spatial offset data of the vehicle body by obtaining the first image of the vehicle body through the first vision system, so as to adjust the assembly motion trajectory of the first robot according to the first predetermined directional offset value and the first spatial offset data, so as to align the accessory with the vehicle body in the predetermined directional center line, i.e., the two are aligned in the center, which is beneficial to improve the working 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 vision system when obtaining data in real time are unchanged from the spatial positions when pre-debugging, which is beneficial to ensure the consistency of the assembly of the accessory and the vehicle body.

[0113] The flowchart in the accompanying drawings illustrates the method according to various embodiments of the present application. It should be noted that in some alternative implementations, the functions noted in the blocks can occur in different orders than those noted in the accompanying drawings. For example, two blocks noted in succession can actually be executed substantially in parallel, and they can also be executed in reverse order, depending on the functions involved. It should also be noted that each block in the flowchart, as well as combinations of blocks in the flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0114] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical thought disclosed by the present application should be covered by the claims of the present application.

Claims

1. A method of assembling an accessory to a vehicle production line, characterized by, The method comprises: The first manipulator picks up the accessory to a pre-assembly position; The first ranging 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; The second ranging system obtains 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; Based on the first measured coordinate data, first reference coordinate data, the second measured coordinate data, and second reference coordinate data, a first predetermined direction offset value of the accessory relative to the vehicle body is determined, comprising: According to the first measured coordinate data and the first reference coordinate data, first coordinate offset data of the accessory is determined; According to the second measured coordinate data and the second reference coordinate data, 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; The first vision system obtains 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, the assembly motion trajectory of the first manipulator is adjusted to align and assemble the accessory and the vehicle body at the center line of the predetermined direction, comprising: The first predetermined direction offset value is replaced by a second predetermined direction offset value in the first spatial offset data 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; In the pre-adjustment, when the accessory and the vehicle body reach the best assembly state, the first reference coordinate data is determined by the accessory according to the measured data obtained by the first ranging system, and the second reference coordinate data is determined by the vehicle body according to the measured data obtained by the second ranging system; The spatial positions of the first ranging system, the second ranging system, and the first vision system when obtaining data in real time are unchanged from the spatial positions in the pre-adjustment.

2. The method of claim 1, wherein The first vision system obtains a first image of the vehicle body, and determines first spatial offset data of the vehicle body according to the first image, comprising: The first image is obtained by the first vision system, and first measured spatial data of the vehicle body is obtained according to the first image; Based on the first measured spatial data and first reference spatial data, the first spatial offset data of the vehicle body is determined; The first reference spatial data is the spatial data of the vehicle body obtained when the accessory and the vehicle body reach the best assembly state in the pre-adjustment.

3. The method of claim 1, wherein The first ranging 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, comprising: The first measured data includes first data of the first detection point and second data of the second detection point; According to the first data and the second data, third data of a midpoint between the first detection point and the second detection point on the accessory is determined; Based on the first data, the second data and the third data, the first measured coordinate data is determined.

4. The method of claim 1, wherein The second distance measuring system obtains 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; According to the fourth data and the fifth data, sixth data of a midpoint between the third detection point and the fourth detection point on the vehicle body is determined; Based on the fourth data, the fifth data and the sixth data, the second measured coordinate data is determined.

5. The method of claim 1-4, wherein The first mechanical hand grasps the accessory to a pre-assembly position, including: The first vision system obtains a second image of the accessory, and determines second measured spatial data of the accessory according to the second image; According to the second measured spatial data and second reference spatial data, second spatial offset data of the accessory is determined; The first mechanical hand grasps 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 obtained when the accessory and the vehicle body reach an optimal assembly state in pre-debugging.

6. The method of claim 5, wherein: The first vision system includes a first camera connected to the second mechanical hand and a second camera connected to the third mechanical hand; the method further includes: The first image is obtained by the first camera and the second camera; The second image is obtained by the first camera.

7. The method of claim 6, wherein: The first distance measuring system includes a first distance measuring sensor and a second distance measuring sensor connected to the first mechanical hand, and the second distance measuring system includes a third distance measuring sensor connected to the second mechanical hand and a fourth distance measuring sensor connected to the third mechanical hand; the method further includes: The first measured data is obtained by the first distance measuring sensor and the second distance measuring sensor; The second measured data is obtained by the third distance measuring sensor and the fourth distance measuring sensor, and when the second distance measuring system obtains the second measured data, the third distance measuring sensor and the fourth distance measuring sensor are arranged oppositely.

8. The method of claim 6, wherein: The second mechanical hand and the third mechanical hand are both connected with a fastener; the method further includes: When the accessory and the vehicle body are assembled, the second mechanical hand and the third mechanical hand fasten the accessory on the vehicle body through the fastener.

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