Vehicle type identification control method and device

Abstract

The invention discloses a vehicle type identification control method and device. The method comprises the following steps: acquiring vehicle information uploading data of a to-be-detected vehicle; receiving positioning data; wherein the positioning data is generated by an encoder, and the encoder generates the positioning data after the to-be-detected vehicle arrives at the position where the encoder is located; determining motion data of the NC holder based on the positioning data, controlling the motion of the NC holder according to the motion data, and receiving image data acquired by an image acquisition module; wherein the image acquisition module is mounted on the NC holder; and obtaining a vehicle type identification result of the to-be-detected vehicle based on the image data. According to the invention, the NC holder can be controlled to move based on the movement of the to-be-detected vehicle, so that the to-be-detected vehicle can still perform image analysis through the image acquisition module in the movement process, and the recognition efficiency of vehicle type recognition can be improved on the premise that the production efficiency of the to-be-detected vehicle is not affected.

Description

Technical Field

[0001] The present invention relates to the field of mechanical control, and in particular to a control method and device for vehicle type identification. Background Art

[0002] With the development of the automobile industry, and in order to meet the diversified needs of car owners for body colors and configurations, the types of vehicles with different configurations of the same model produced by automobile factories are also increasing. Take a certain model produced by GAC Toyota's third factory as an example. The color of this model is white, silver, black, etc., a total of 7 kinds, and there are about 50 kinds of appearance parts to be installed. Each part contains several derivative parts, such as 3 kinds of lights, 14 kinds of door handles, 5 kinds of tires, 63 kinds of front bumpers, etc., which can be combined into a lot of derivative models. Therefore, how to ensure that the brand parts of each derivative model are installed correctly and whether the functions of parts such as lights are normal has become an urgent issue to be solved in the automobile assembly workshop. At present, the assembly workshop of automobile factories is still mainly based on manual visual inspection. The efficiency of manual visual confirmation is relatively low, and special inspection stations need to be arranged for this work, which takes up production time, and it is impossible to complete real-time record filing and query. Therefore, the existing vehicle model recognition has the problem of low recognition efficiency.

[0003] Therefore, a control strategy for vehicle type recognition is urgently needed to solve the problem of low recognition efficiency in vehicle type recognition. Summary of the invention

[0004] The embodiments of the present invention provide a control method and device for vehicle type recognition, so as to solve the problem of low recognition efficiency in vehicle type recognition.

[0005] In order to solve the above problem, an embodiment of the present invention provides a control method for vehicle type identification, comprising:

[0006] Obtaining vehicle information upload data of a vehicle to be tested; wherein the vehicle to be tested moves on a production line;

[0007] Receiving positioning data; wherein the positioning data is generated by an encoder, and after the vehicle to be tested reaches the position where the encoder is located, the encoder generates the positioning data;

[0008] Determine motion data of the NC platform based on the positioning data, control the motion of the NC platform according to the motion data, and receive image data acquired by an image acquisition module; wherein the image acquisition module is installed on the NC platform;

[0009] Based on the image data, a vehicle type recognition result of the vehicle to be tested is obtained.

[0010] As an improvement of the above solution, obtaining the vehicle type recognition result of the vehicle to be tested based on the image data includes:

[0011] Recognize the image data to obtain the recognition result of the vehicle to be tested;

[0012] The identification result and the vehicle information uploaded data are judged, and the vehicle model identification result of the vehicle to be tested is determined based on the judgment result.

[0013] As an improvement of the above solution, the step of identifying the image data to obtain the identification result of the vehicle to be tested includes:

[0014] Preprocessing the image data to obtain a corrected image;

[0015] The calibration image is recognized based on a preset image recognition algorithm to obtain a recognition result of the vehicle to be tested.

[0016] As an improvement of the above solution, the step of obtaining the vehicle information upload data of the vehicle to be tested includes:

[0017] Receive grating signals; wherein, the vehicle tray carrying the vehicle to be tested enters the detection area corresponding to the grating, and the grating generates grating signals and transmits them;

[0018] Based on the grating signal, the vehicle information upload data of the vehicle to be tested is received on the factory network.

[0019] As an improvement of the above solution, the determining the motion data of the NC pan / tilt head based on the positioning data includes:

[0020] Upload data based on the vehicle information to determine the detection points of the vehicle to be tested;

[0021] According to the detection points, the horizontal motion data and the vertical motion data of the NC pan / tilt are determined; wherein the horizontal motion data includes: a number of horizontal adjustment time nodes and a horizontal angle adjustment value corresponding to each horizontal adjustment time node, and a number of vertical adjustment time nodes and a vertical angle adjustment value corresponding to each vertical adjustment time node;

[0022] Determining the moving speed of the vehicle to be tested according to the positioning data;

[0023] Based on the moving speed, the horizontal motion data and the vertical motion data, motion data of the NC pan / tilt table is determined.

[0024] Accordingly, an embodiment of the present invention further provides a vehicle type identification control device, comprising: a data acquisition module, a data receiving module, a data control module and a result generation module;

[0025] The data acquisition module is used to acquire the vehicle information upload data of the vehicle to be tested; wherein the vehicle to be tested moves on the production line;

[0026] The data receiving module is used to receive positioning data; wherein the positioning data is generated by an encoder, and after the vehicle to be tested reaches the position where the encoder is located, the encoder generates the positioning data;

[0027] The data control module is used to determine the motion data of the NC platform based on the positioning data, control the motion of the NC platform according to the motion data, and receive the image data collected by the image acquisition module; wherein the image acquisition module is installed on the NC platform;

[0028] The result generation module is used to obtain the vehicle type recognition result of the vehicle to be tested based on the image data.

[0029] As an improvement of the above solution, the result generation module includes: a data identification unit and a judgment unit;

[0030] The data recognition unit is used to recognize the image data and obtain the recognition result of the vehicle to be tested;

[0031] The judgment unit is used to judge the recognition result and the vehicle information upload data, and determine the vehicle model recognition result of the vehicle to be tested based on the judgment result.

[0032] As an improvement of the above solution, the step of identifying the image data to obtain the identification result of the vehicle to be tested includes:

[0033] Preprocessing the image data to obtain a corrected image;

[0034] The calibration image is recognized based on a preset image recognition algorithm to obtain a recognition result of the vehicle to be tested.

[0035] As an improvement of the above solution, the step of obtaining the vehicle information upload data of the vehicle to be tested includes:

[0036] Receive grating signals; wherein, the vehicle tray carrying the vehicle to be tested enters the detection area corresponding to the grating, and the grating generates grating signals and transmits them;

[0037] Based on the grating signal, the vehicle information upload data of the vehicle to be tested is received on the factory network.

[0038] As an improvement of the above solution, the determining the motion data of the NC pan / tilt head based on the positioning data includes:

[0039] Upload data based on the vehicle information to determine the detection points of the vehicle to be tested;

[0040] According to the detection points, the horizontal motion data and the vertical motion data of the NC pan / tilt are determined; wherein the horizontal motion data includes: a number of horizontal adjustment time nodes and a horizontal angle adjustment value corresponding to each horizontal adjustment time node, and a number of vertical adjustment time nodes and a vertical angle adjustment value corresponding to each vertical adjustment time node;

[0041] Determining the moving speed of the vehicle to be tested according to the positioning data;

[0042] Based on the moving speed, the horizontal motion data and the vertical motion data, motion data of the NC pan / tilt table is determined.

[0043] As can be seen from the above, the present invention has the following beneficial effects:

[0044] The present invention provides a control method for vehicle type identification, obtaining vehicle information upload data of a vehicle to be tested; wherein the vehicle to be tested moves on a production line; receiving positioning data; wherein the positioning data is generated by an encoder, and after the vehicle to be tested reaches the position of the encoder, the encoder generates positioning data; determining the motion data of the NC pan-tilt based on the positioning data, controlling the motion of the NC pan-tilt according to the motion data, and receiving image data acquired by an image acquisition module; wherein the image acquisition module is installed on the NC pan-tilt; based on the image data, obtaining the vehicle type identification result of the vehicle to be tested. The present invention can control the NC pan-tilt to move based on the motion of the vehicle to be tested, so that the vehicle to be tested can still perform image analysis through the image acquisition module during the motion process, and can improve the recognition efficiency of vehicle type identification without affecting the production efficiency of the vehicle to be tested. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a flow chart of a control method for vehicle type identification provided by an embodiment of the present invention;

[0046] Figure 2 is a schematic diagram of the structure of a control device for vehicle type identification provided by an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram of the structure of a terminal device provided by an embodiment of the present invention;

[0048] Figure 4 is a schematic diagram of the structure of an NC pan / tilt provided by an embodiment of the present invention;

[0049] Figure 5 It is a structural schematic diagram of four NC pan-tilt applications provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] Embodiment 1

[0052] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of a control method for vehicle type identification provided by an embodiment of the present invention. Figure 1 As shown, this embodiment includes steps 101 to 104, and each step is specifically as follows:

[0053] Step 101: Obtain vehicle information upload data of a vehicle to be tested; wherein the vehicle to be tested moves on a production line.

[0054] In this embodiment, the step of obtaining the vehicle information upload data of the vehicle to be tested includes:

[0055] Receive grating signals; wherein, the vehicle tray carrying the vehicle to be tested enters the detection area corresponding to the grating, and the grating generates grating signals and transmits them;

[0056] Based on the grating signal, the vehicle information upload data of the vehicle to be tested is received on the factory network.

[0057] Step 102: receiving positioning data; wherein the positioning data is generated by an encoder, and after the vehicle to be tested reaches the position where the encoder is located, the encoder generates the positioning data.

[0058] In this embodiment,

[0059] Step 103: determining motion data of the NC pan-tilt platform based on the positioning data, controlling the motion of the NC pan-tilt platform according to the motion data, and receiving image data acquired by an image acquisition module; wherein the image acquisition module is installed on the NC pan-tilt platform.

[0060] In a specific embodiment, the image acquisition module: Since the vehicle tray is moving, the camera working distance is also changing in real time, so the lens focal length needs to be adjusted continuously. The image acquisition module of this system is composed of an industrial camera and a zoom lens to achieve precise focusing on the moving vehicle of the line.

[0061] In this embodiment, determining the motion data of the NC pan / tilt head based on the positioning data includes:

[0062] Upload data based on the vehicle information to determine the detection points of the vehicle to be tested;

[0063] According to the detection points, the horizontal motion data and the vertical motion data of the NC pan / tilt are determined; wherein the horizontal motion data includes: a number of horizontal adjustment time nodes and a horizontal angle adjustment value corresponding to each horizontal adjustment time node, and a number of vertical adjustment time nodes and a vertical angle adjustment value corresponding to each vertical adjustment time node;

[0064] Determining the moving speed of the vehicle to be tested according to the positioning data;

[0065] Based on the moving speed, the horizontal motion data and the vertical motion data, motion data of the NC pan / tilt table is determined.

[0066] In a specific embodiment, see Figure 4 , NC gimbal includes: NC and gimbal two parts of hardware, which can achieve vertical 1200mm, pitch ±45°, horizontal ±180° operation range. In the vehicle type recognition control method corresponding to this embodiment, a total of four sets of NC gimbal combinations are used, which are arranged on both sides of the vehicle tray, and each NC gimbal simultaneously executes the vehicle type recognition anti-control method, such as Figure 5 shown.

[0067] Step 104: Based on the image data, obtain a vehicle type recognition result of the vehicle to be tested.

[0068] In this embodiment, obtaining the vehicle type recognition result of the vehicle to be tested based on the image data includes:

[0069] Recognize the image data to obtain the recognition result of the vehicle to be tested;

[0070] The identification result and the vehicle information uploaded data are judged, and the vehicle model identification result of the vehicle to be tested is determined based on the judgment result.

[0071] In this embodiment, the step of identifying the image data to obtain the identification result of the vehicle to be tested includes:

[0072] Preprocessing the image data to obtain a corrected image;

[0073] The calibration image is recognized based on a preset image recognition algorithm to obtain a recognition result of the vehicle to be tested.

[0074] In a specific embodiment, the image processing module: during image processing, first, the system uses the type of parts in the picture to be identified known by the factory network communication module, such as the rearview mirror of the current vehicle is black, and this information has been obtained through the factory network communication module. Then, after the image acquisition module completes the image capture, the image processing module first pre-processes the acquired image, such as denoising, filtering, enhancement, correction, etc., to improve the image quality and analyzability, and then uses the AI ​​algorithm for recognition, including image classification, target detection, semantic segmentation, etc. After the recognition is completed, the result is compared with the factory network information. If the comparison is successful, it indicates that the part is correct. If the comparison fails, for example, the factory network communication module obtains the current vehicle rearview mirror as black, but the image processing module recognizes the rearview mirror as white through the current picture, it is judged that the part is installed incorrectly, and it will record and alarm the technician.

[0075] For better explanation, the control method of vehicle type recognition includes:

[0076] 1. During the vehicle production process, the vehicle pallet enters the detection area and triggers the light barrier. At this time, the customer factory network sends the current vehicle information to be tested (i.e., the vehicle information upload data described in the present invention) to the control system (i.e., the main body of the control method for executing vehicle model identification);

[0077] 2. The control system analyzes the received vehicle information, extracts the vehicle model, frame number, part type, etc. and classifies them;

[0078] 3. The vehicle tray triggers the encoder during operation, and the encoder sends the positioning data of the vehicle tray to the control system. The control system calls the parameter template according to the encoder value, controls the NC gimbal to run to the specified position of the set parameters, and triggers the camera to focus and take pictures;

[0079] The visual system has stored the parameters locally during the teaching phase. For example, when the vehicle pallet moves to the 1m position, the No. 1 pan / tilt needs to move to a certain height and angle to shoot the front of the vehicle. When the vehicle pallet moves to the 3m position, the No. 2 pan / tilt needs to move to a certain height and angle to shoot the rear of the vehicle. During the production process, the vehicle pallet contacts the encoder when it moves and begins to record the position of the pallet in real time. When the control system monitors that the pallet position is close to 1m, it will control the No. 1 NC pan / tilt to move to the specified position in advance. When the control system monitors that the pallet position reaches 1m, it will control the No. 1 camera to focus and take pictures. After the picture is taken, the No. 1 NC pan / tilt will be controlled to move to the next picture taking point and continue to wait for the vehicle pallet to reach the next specified position, and so on.

[0080] 4. After the image acquisition module completes the photo-taking, the image processing module performs calculation and recognition, and classifies and stores the calculation results;

[0081] 5. After the vehicle pallet leaves the inspection station, the control system summarizes and classifies the inspection results of all parts and stores them in the history query module;

[0082] 6. The NC pan / tilt moves to the origin and waits for the next vehicle to enter the inspection station.

[0083] In a specific embodiment, the control system also includes: a handheld device control module: through the iPad device connected to the system, the handheld device can be used to query the test results remotely and confirm the release

[0084] Factory network communication module: Interconnected with the factory network of the automobile factory, it can obtain the VIN code and serial number of the current tested vehicle to bind the test results accordingly

[0085] Historical query module: can store 1 year of image data and 3 years of inspection document data, and can quickly and easily retrieve historical records.

[0086] See also Figure 2 , Figure 2 2 is a schematic diagram of a control device for vehicle type identification provided by an embodiment of the present invention, comprising: a data acquisition module 201, a data receiving module 202, a data control module 203 and a result generation module 204;

[0087] The data acquisition module is used to acquire the vehicle information upload data of the vehicle to be tested; wherein the vehicle to be tested moves on the production line;

[0088] The data receiving module is used to receive positioning data; wherein the positioning data is generated by an encoder, and after the vehicle to be tested reaches the position where the encoder is located, the encoder generates the positioning data;

[0089] The data control module is used to determine the motion data of the NC platform based on the positioning data, control the motion of the NC platform according to the motion data, and receive the image data collected by the image acquisition module; wherein the image acquisition module is installed on the NC platform;

[0090] The result generation module is used to obtain the vehicle type recognition result of the vehicle to be tested based on the image data.

[0091] As an improvement of the above solution, the result generation module includes: a data identification unit and a judgment unit;

[0092] The data recognition unit is used to recognize the image data and obtain the recognition result of the vehicle to be tested;

[0093] The judgment unit is used to judge the recognition result and the vehicle information uploaded data, and determine the vehicle model recognition result of the vehicle to be tested based on the judgment result.

[0094] As an improvement of the above solution, the step of identifying the image data to obtain the identification result of the vehicle to be tested includes:

[0095] Preprocessing the image data to obtain a corrected image;

[0096] The calibration image is recognized based on a preset image recognition algorithm to obtain a recognition result of the vehicle to be tested.

[0097] As an improvement of the above solution, the step of obtaining the vehicle information upload data of the vehicle to be tested includes:

[0098] Receive grating signals; wherein, the vehicle tray carrying the vehicle to be tested enters the detection area corresponding to the grating, and the grating generates grating signals and transmits them;

[0099] Based on the grating signal, the vehicle information upload data of the vehicle to be tested is received on the factory network.

[0100] As an improvement of the above solution, the determining the motion data of the NC pan / tilt head based on the positioning data includes:

[0101] Upload data based on the vehicle information to determine the detection points of the vehicle to be tested;

[0102] According to the detection points, the horizontal motion data and the vertical motion data of the NC pan / tilt are determined; wherein the horizontal motion data includes: a number of horizontal adjustment time nodes and a horizontal angle adjustment value corresponding to each horizontal adjustment time node, and a number of vertical adjustment time nodes and a vertical angle adjustment value corresponding to each vertical adjustment time node;

[0103] Determining the moving speed of the vehicle to be tested according to the positioning data;

[0104] Based on the moving speed, the horizontal motion data and the vertical motion data, motion data of the NC pan / tilt table is determined.

[0105] This embodiment obtains the vehicle information of the vehicle to be tested and uploads data; wherein the vehicle to be tested moves on the production line; receives positioning data; wherein the positioning data is generated by an encoder, and after the vehicle to be tested reaches the position of the encoder, the encoder generates positioning data; determines the motion data of the NC pan-tilt based on the positioning data, controls the motion of the NC pan-tilt according to the motion data, and receives image data acquired by an image acquisition module; wherein the image acquisition module is installed on the NC pan-tilt; based on the image data, obtains the vehicle model recognition result of the vehicle to be tested. The present invention can control the NC pan-tilt to move based on the movement of the vehicle to be tested, so that the vehicle to be tested can still perform image analysis through the image acquisition module during the movement, and can improve the recognition efficiency of vehicle model recognition without affecting the production efficiency of the vehicle to be tested.

[0106] Embodiment 2

[0107] See also Figure 3 , Figure 3 It is a schematic diagram of the structure of a terminal device provided in one embodiment of the present invention.

[0108] A terminal device of this embodiment includes: a processor 301, a memory 302, and a computer program stored in the memory 302 and executable on the processor 301. When the processor 301 executes the computer program, the steps of the control method for vehicle type identification in the embodiment are implemented, for example Figure 1 Alternatively, when the processor executes the computer program, the functions of each module in the above-mentioned device embodiments are realized, for example: Figure 2 All modules of the control unit for vehicle identification are shown.

[0109] In addition, an embodiment of the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the control method for vehicle model identification as described in any of the above embodiments.

[0110] Those skilled in the art will understand that the schematic diagram is merely an example of a terminal device and does not constitute a limitation on the terminal device. The terminal device may include more or fewer components than shown in the diagram, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0111] The processor 301 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor 301 is the control center of the terminal device, and uses various interfaces and lines to connect various parts of the entire terminal device.

[0112] The memory 302 can be used to store the computer program and / or module. The processor 301 implements various functions of the terminal device by running or executing the computer program and / or module stored in the memory and calling the data stored in the memory 302. The memory 302 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0113] Wherein, if the module / unit integrated in the terminal device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0114] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0115] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A control method for vehicle type identification, characterized in that: include: Obtaining vehicle information upload data of a vehicle to be tested; wherein the vehicle to be tested moves on a production line; Receiving positioning data; wherein the positioning data is generated by an encoder, and after the vehicle to be tested reaches the position where the encoder is located, the encoder generates the positioning data; Determine motion data of the NC platform based on the positioning data, control the motion of the NC platform according to the motion data, and receive image data acquired by an image acquisition module; wherein the image acquisition module is installed on the NC platform; Based on the image data, a vehicle type recognition result of the vehicle to be tested is obtained.

2. The control method for vehicle type identification according to claim 1, characterized in that: The obtaining of the vehicle type recognition result of the vehicle to be tested based on the image data includes: Recognize the image data to obtain the recognition result of the vehicle to be tested; The identification result and the vehicle information uploaded data are judged, and the vehicle model identification result of the vehicle to be tested is determined based on the judgment result.

3. The control method for vehicle type identification according to claim 2, characterized in that: The step of identifying the image data to obtain the identification result of the vehicle to be tested includes: Preprocessing the image data to obtain a corrected image; The calibration image is recognized based on a preset image recognition algorithm to obtain a recognition result of the vehicle to be tested.

4. The control method for vehicle type identification according to claim 2, characterized in that: The step of obtaining the vehicle information upload data of the vehicle to be tested includes: Receive grating signals; wherein, the vehicle tray carrying the vehicle to be tested enters the detection area corresponding to the grating, and the grating generates grating signals and transmits them; Based on the grating signal, the vehicle information upload data of the vehicle to be tested is received on the factory network.

5. The control method for vehicle type identification according to claim 4, characterized in that: The determining the motion data of the NC pan / tilt head based on the positioning data comprises: Upload data based on the vehicle information to determine the detection points of the vehicle to be tested; According to the detection points, the horizontal motion data and the vertical motion data of the NC pan / tilt are determined; wherein the horizontal motion data includes: a number of horizontal adjustment time nodes and a horizontal angle adjustment value corresponding to each horizontal adjustment time node, and a number of vertical adjustment time nodes and a vertical angle adjustment value corresponding to each vertical adjustment time node; Determining the moving speed of the vehicle to be tested according to the positioning data; Based on the moving speed, the horizontal motion data and the vertical motion data, motion data of the NC pan / tilt table is determined.

6. A control device for vehicle type identification, characterized in that: include: Data acquisition module, data receiving module, data control module and result generation module; The data acquisition module is used to acquire the vehicle information upload data of the vehicle to be tested; wherein the vehicle to be tested moves on the production line; The data receiving module is used to receive positioning data; wherein the positioning data is generated by an encoder, and after the vehicle to be tested reaches the position where the encoder is located, the encoder generates the positioning data; The data control module is used to determine the motion data of the NC platform based on the positioning data, control the motion of the NC platform according to the motion data, and receive the image data collected by the image acquisition module; wherein the image acquisition module is installed on the NC platform; The result generation module is used to obtain the vehicle type recognition result of the vehicle to be tested based on the image data.

7. The vehicle type identification control device according to claim 6, characterized in that: The result generation module includes: a data identification unit and a judgment unit; The data recognition unit is used to recognize the image data and obtain the recognition result of the vehicle to be tested; The judgment unit is used to judge the recognition result and the vehicle information upload data, and determine the vehicle model recognition result of the vehicle to be tested based on the judgment result.

8. The vehicle type identification control device according to claim 7, characterized in that: The step of identifying the image data to obtain the identification result of the vehicle to be tested includes: Preprocessing the image data to obtain a corrected image; The calibration image is recognized based on a preset image recognition algorithm to obtain a recognition result of the vehicle to be tested.

9. The vehicle type identification control device according to claim 8, characterized in that: The step of obtaining the vehicle information upload data of the vehicle to be tested includes: Receive grating signals; wherein, the vehicle tray carrying the vehicle to be tested enters the detection area corresponding to the grating, and the grating generates grating signals and transmits them; Based on the grating signal, the vehicle information upload data of the vehicle to be tested is received on the factory network.

10. The vehicle type identification control device according to claim 9, characterized in that: The determining the motion data of the NC pan / tilt head based on the positioning data comprises: Upload data based on the vehicle information to determine the detection points of the vehicle to be tested; According to the detection points, the horizontal motion data and the vertical motion data of the NC pan / tilt are determined; wherein the horizontal motion data includes: a number of horizontal adjustment time nodes and a horizontal angle adjustment value corresponding to each horizontal adjustment time node, and a number of vertical adjustment time nodes and a vertical angle adjustment value corresponding to each vertical adjustment time node; Determining the moving speed of the vehicle to be tested according to the positioning data; Based on the moving speed, the horizontal motion data and the vertical motion data, motion data of the NC pan / tilt table is determined.

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