Vehicle body part virtual matching method and device, storage medium and electronic equipment

Abstract

The invention relates to a vehicle body part virtual matching method and device, a storage medium and electronic equipment, and aims to determine a target matching position between vehicle body parts and realize quick assembly of each part of a vehicle. The method comprises the steps that virtual matching is conducted on a first simulation component and a second simulation component, corresponding gap and plane differences are determined, the gap and plane differences comprise the gap difference and the plane difference of matching of the first simulation component and the second simulation component, the first simulation component corresponds to a first component, and the second simulation component corresponds to a second component; the first part comprises a fixed part on the vehicle, and the second part comprises a movable part on the vehicle; and under the condition that the gap difference does not meet the preset gap uniformity and / or the surface difference does not meet the preset surface difference flatness, performing reference conversion on the second simulation component until the obtained gap difference meets the preset gap uniformity and the surface difference meets the preset surface difference flatness, and obtaining a target virtual matching position of the first simulation component and the second simulation component.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle manufacturing, and in particular, to a method, device, storage medium and electronic device for virtual matching of vehicle body components. Background Art

[0002] In the on-site vehicle manufacturing matching activities, the dimensional matching evaluation between vehicle body components is a very crucial step in the development process of vehicle projects. In order to build a vehicle body with high-precision dimensions and delicate and smooth interior and exterior trim fittings, carrying out virtual matching work has become the core competitiveness of each automobile manufacturer to control the vehicle quality.

[0003] How to reduce the cycle and labor costs of dimensional matching evaluation activities, improve the appearance and interior dimensions of sheet metal parts and the vehicle, predict the on-site state of the vehicle assembly effect, and provide visual and quantitative basis for relevant vehicle assembly adjustment and dimensional analysis engineers through more effective intelligent and automated means while ensuring the vehicle quality is one of the important problems to be solved in the process of dimensional matching evaluation between vehicle body components.

[0004] In the related art, a Chinese patent with the publication number "CN115817677A" discloses a method for virtual matching of a white vehicle body. By measuring the white vehicle body and the door and saving the data, based on a large amount of data, by selecting the door, the white vehicle body and the door are matched to find the best-matched door. It can be seen that this method for virtual matching of a white vehicle body is a method for carrying out assembly work in the automotive field on how to determine the best-matched door. However, the inventor found that this method for virtual matching of a white vehicle body only realizes the virtual assembly process, cannot adjust the assembly position of the simulation workpiece, and requires a large amount of door data during the virtual assembly process, resulting in an excessive amount of stored data. And because the best door cannot be determined, a large number of non-optimal doors will be idle, which is not conducive to the on-site vehicle manufacturing matching work and causes waste of resources.

[0005] Secondly, a Chinese patent with the publication number "CN114492016A" discloses an adjustment method for precise matching of a vehicle body side panel and a door based on scanned measurement data. By adjusting the hinge holes to be on the same axis, taking the precise matching of the door and the side panel as an example, it involves the characteristic information of the hinge model, the theoretical models and measured point cloud data of the door and the vehicle body side panel, and the amount of calculation is extremely large. The inventor found that this method needs to calculate the axis distance, midpoint, and rotation angle, and its calculation process is cumbersome. And it involves the weight of the measurement points, and the assignment amount is uncertain; it involves the direction vector of the measurement points and does not consider the theoretical direction vector of the measurement points. And when calculating the coaxial reference points of all hinges and projecting, it does not consider the factor that the hinges are not on the same straight line, nor does it consider the situation where the projection plane and the rotation plane are not perpendicular.

[0006] Secondly, the Chinese patent with the publication number "CN115656534A" discloses a method for unbalance stacking of high-speed rotating equipment, which applies a traditional reference conversion model. The model mainly converts the ideal reference of the rotor into the actual reference according to the pose transformation formula of the coordinate system, and recalculates the unbalance of the rotor to solve the problem of unbalance stacking in the assembly of rotating equipment. However, the inventor found that the measurement data used in the vehicle manufacturing matching site in the automotive field is in the vehicle coordinate system (or local coordinate system). If this method is adopted, it will lead to inconsistent measurement data of parts (coordinate transformation causes data offset and rotation), and effective analysis of measurement data cannot be carried out.

[0007] Secondly, the Chinese patent with the publication number "CN112907508B" discloses a point cloud virtual matching device and method with a tooling as the carrier. The technical core is to construct a device structure with a detachable reference plate, and the scanned data is used as the reference for virtual matching to obtain the deviation value. However, the inventor found that this method is a virtual assembly process, which can predict the clearance value but cannot adjust the position of the simulation workpiece to adjust the clearance.

[0008] Secondly, the Chinese patent with the publication number "CN107392894A" discloses a method for identifying the virtual matching clearance of parts. The technical core includes: scanning point cloud - reverse reconstruction - normal calculation of the matching surface - positive and negative of the matching surface and the spacing value. However, the inventor found that the reverse + reconstruction in this method has high hardware requirements, and there are many algorithms and complex calculations.

[0009] In the prior art, during the vehicle site matching activity, the body is virtually matched with multiple doors respectively to determine the door that best matches the body. The entire virtual matching process requires a large amount of door data, resulting in an excessive amount of stored data, and a large number of non-optimal doors are left idle, which is not conducive to the vehicle manufacturing matching work on site and causes waste of resources. Summary of the Invention

[0010] The purpose of the present disclosure is to provide a method, device, storage medium and electronic device for virtual matching of vehicle body components, which can determine the target matching position between vehicle body components and achieve rapid assembly of various vehicle components.

[0011] To achieve the above purpose, in the first aspect, the present disclosure provides a method for virtual matching of vehicle body components, including:

[0012] Virtually match the first simulation component with the second simulation component, and determine the corresponding clearance surface difference. The clearance surface difference includes the clearance difference and surface difference between the first simulation component and the second simulation component when they are matched. The first simulation component corresponds to the first component, the second simulation component corresponds to the second component, the first component includes a fixed part on the vehicle, and the second component includes a movable part on the vehicle;

[0013] In the case where the gap difference does not meet the preset gap uniformity and / or the surface difference does not meet the preset surface flatness, perform a reference transformation on the second simulation component until the obtained gap difference meets the preset gap uniformity and the surface difference meets the preset surface flatness, and obtain the target virtual matching position between the first simulation component and the second simulation component.

[0014] Optionally, the performing a reference transformation on the second simulation component includes:

[0015] Determine the transformation relationship for the reference transformation of the second simulation component;

[0016] Perform a reference transformation on the second simulation component according to the transformation relationship.

[0017] Optionally, the transformation relationship includes a first coordinate transformation relationship and a second coordinate transformation relationship;

[0018] The performing a reference transformation on the second simulation component according to the transformation relationship includes:

[0019] Perform a reference transformation on the assembly surface of the second simulation component according to the first coordinate transformation relationship, and perform a reference transformation on the assembly gap surface of the second simulation component according to the second coordinate transformation relationship.

[0020] Optionally, the determining the transformation relationship for the reference transformation of the second simulation component includes:

[0021] Determine a first number of first reference points and a second number of second reference points on the second simulation component. The first reference points are points on the assembly surface of the second component, and the second reference points are points on the assembly gap surface of the second component. The first number and the second number may be the same or different;

[0022] Determine the first coordinate transformation relationship according to the first number of the first reference points, and determine the second coordinate transformation relationship according to the second number of the second reference points.

[0023] Optionally, the first number and the second number are greater than or equal to three. The determining the first coordinate transformation relationship according to the first number of the first reference points includes:

[0024] Determine at least three second coordinate values according to the first coordinate values and the first theoretical coordinate values of three of the first reference points, where the first coordinate values are the coordinate values of the first reference points before the reference transformation, the second coordinate values are the coordinate values of the first reference points after the reference transformation, and the first theoretical coordinate values are the coordinate values of the first reference points in the ideal state before the reference transformation;

[0025] Determine a first coordinate conversion relationship based on at least three groups of the first coordinate values and the second coordinate values;

[0026] Determine a second coordinate conversion relationship based on the second quantity of the second reference points, including:

[0027] Determine at least three fourth coordinate values based on the third coordinate values and the second theoretical coordinate values of at least three of the second reference points, where the third coordinate value is the coordinate value of the second reference point before reference conversion, the fourth coordinate value is the coordinate value of the second reference point after reference conversion, and the second theoretical coordinate value is the coordinate value of the second reference point in the ideal state before reference conversion;

[0028] Determine a second coordinate conversion relationship based on at least three groups of the third coordinate values and the fourth coordinate calculated values.

[0029] Optionally, the determining a first coordinate conversion relationship based on at least three groups of the first coordinate values and the second coordinate values includes:

[0030] Construct a first third-order rotation matrix based on at least three groups of the first coordinate values, and construct a second third-order rotation matrix based on at least three groups of the second coordinate values;

[0031] Multiply the inverted first third-order rotation matrix and the second third-order rotation matrix to obtain a target rotation matrix;

[0032] Obtain a translation vector based on the first coordinate values, the second coordinate values, and the target rotation matrix;

[0033] Obtain a fourth-order homogeneous coordinate transformation matrix as the first coordinate conversion relationship based on the target rotation matrix and the translation vector.

[0034] Optionally, the method further includes:

[0035] Determine a target conversion relationship for the second simulation component to be converted from the initial virtual matching position to the target virtual matching position;

[0036] Based on the target conversion relationship and the initial coordinate values of the hinge installation positions on the second simulation component at the initial virtual matching position, obtain the target coordinate values of the hinge installation positions at the target virtual matching position;

[0037] Determine the difference between the target coordinate values and the initial coordinate values, and use the difference as the adjustment amount of the hinge installation positions on the second component.

[0038] In a second aspect, the present disclosure provides a virtual matching device for a vehicle body component, including:

[0039] A virtual matching module, configured to virtually match a first simulation component with a second simulation component and determine a corresponding clearance surface difference, where the clearance surface difference includes a clearance difference and a surface difference between the first simulation component and the second simulation component in the matching, the first simulation component corresponds to a first component, the second simulation component corresponds to a second component, the first component includes a fixed component on a vehicle, and the second component includes a movable component on the vehicle;

[0040] A reference conversion module, configured to perform a reference conversion on the second simulation component when the clearance difference does not meet a preset clearance uniformity and / or the surface difference does not meet a preset surface flatness until the obtained clearance difference meets the preset clearance uniformity and the surface difference meets the preset surface flatness, so as to obtain a target virtual matching position between the first simulation component and the second simulation component.

[0041] In a third aspect, the present disclosure provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the virtual matching method for vehicle body components described in the first aspect are implemented.

[0042] In a fourth aspect, the present disclosure provides an electronic device, including:

[0043] A memory, on which a computer program is stored;

[0044] A processor, configured to execute the computer program in the memory to implement the steps of the virtual matching of the vehicle body components described in the first aspect.

[0045] Through the above technical solutions, the first simulation component and the second simulation component are virtually matched, and the corresponding clearance surface difference is determined; when the clearance difference does not meet the preset clearance uniformity and / or the surface difference does not meet the preset surface flatness, a reference conversion is performed on the second simulation component, so as to continuously adjust the assembly reference point of the second simulation component until the obtained clearance difference meets the preset clearance uniformity and the surface difference meets the preset surface flatness, reaching an ideal virtual matching state, and obtaining a target virtual matching position between the first simulation component and the second simulation component, thereby realizing the rapid assembly of vehicle components, avoiding resource waste caused by discarding non-optimal matching vehicle body components, and involving a small amount of data in the entire virtual matching process, avoiding waste of storage space.

[0046] Other features and advantages of the present disclosure will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings are used to provide a further understanding of the present disclosure and form a part of the specification. Together with the following detailed description, they are used to explain the present disclosure, but do not constitute a limitation to the present disclosure. In the accompanying drawings:

[0048] Figure 1 is a flowchart of a method for virtual matching of vehicle body components according to an exemplary embodiment of the present disclosure.

[0049] Figure 2 is another flowchart of a method for virtual matching of vehicle body components according to an exemplary embodiment of the present disclosure.

[0050] Figure 3 is a CAD model of a main body and a rear door according to an exemplary embodiment of the present disclosure.

[0051] Figure 4 is an effect diagram of virtual matching of a simulated main body and a simulated rear door according to an exemplary embodiment of the present disclosure.

[0052] Figure 5 is an effect diagram of the positions of corresponding points of a simulated main body and a simulated rear door according to an exemplary embodiment of the present disclosure.

[0053] Figure 6 is a deviation diagram of the initial surface difference and the target surface difference from the theoretical surface difference respectively according to an exemplary embodiment of the present disclosure.

[0054] Figure 7 is a deviation diagram of the initial gap difference and the target gap difference from the theoretical gap difference respectively according to an exemplary embodiment of the present disclosure.

[0055] Figure 8 is a block diagram of a device for virtual matching of vehicle body components according to an exemplary embodiment of the present disclosure.

[0056] Figure 9 is a block diagram of an electronic device according to an exemplary embodiment of the present disclosure. Detailed Description of the Embodiments

[0057] The following provides a detailed description of the specific embodiments of the present disclosure with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0058] Figure 1 is a flowchart of a method for virtual matching of vehicle body components according to an exemplary embodiment of the present disclosure. As Figure 1 shown, the method for virtual matching of vehicle body components may include the following steps:

[0059] In step S11, the first simulation component is virtually matched with the second simulation component, and the corresponding clearance surface difference is determined. The clearance surface difference includes the clearance difference and the surface difference between the first simulation component and the second simulation component. The first simulation component corresponds to the first component, and the second simulation component corresponds to the second component. The first component includes a fixed part on the vehicle, and the second component includes a movable part on the vehicle.

[0060] It should be noted that the first simulation component is constructed according to the size of the first component, and the second simulation component is constructed according to the size of the second component. The sizes of the first component and the second component can be obtained by blue light scanning or three coordinate measurement. Among them, the fixed part can be a body in white, and the movable part can be a car door. The embodiments of the present disclosure do not limit this.

[0061] In step S12, when the clearance difference does not meet the preset clearance uniformity and / or the surface difference does not meet the preset surface flatness, the second simulation component is subjected to a datum transformation until the obtained clearance difference meets the preset clearance uniformity and the surface difference meets the preset surface flatness, so as to obtain the target virtual matching position of the first simulation component and the second simulation component.

[0062] It should be noted that both the preset clearance uniformity and the preset surface flatness can be preset according to the ideal assembly state of the first component and the second component during the actual assembly process. The present disclosure does not limit this.

[0063] It should be noted that during the virtual matching process of the first simulation component and the second simulation component, the assembly position of the first simulation component does not change at all. Only the assembly position of the second simulation component is adjusted. And the datum transformation of the second simulation component can be to adjust the matching datum point of the second simulation component, so as to adjust the matching position between the second simulation component and the first simulation component. Therefore, each time the second simulation component is subjected to a datum transformation, both the clearance difference and the surface difference between the second simulation component and the first simulation component will change. By performing multiple datum transformations on the second simulation component until the obtained clearance difference meets the preset clearance uniformity and the surface difference meets the preset surface flatness, the datum transformation of the second simulation component is stopped, so as to determine the target virtual matching position of the first simulation component and the second simulation component.

[0064] In the embodiments of the present disclosure, the first simulation component is virtually matched with the second simulation component, and the matching reference point of the second simulation component is adjusted according to the clearance difference and surface difference between the first simulation component and the second simulation component that are matched, so as to determine the target matching position between the first simulation component and the second simulation component. Based on the reference transformation of the second simulation component, the matching position between the second simulation component and the first simulation component is adjusted to determine the target matching position between the body components during the vehicle assembly process, thereby realizing the rapid assembly between the body components, avoiding the waste of resources caused by discarding the body components that cannot achieve the best matching, and the amount of data involved in the entire virtual matching process is small, avoiding the waste of storage space.

[0065] To facilitate those skilled in the art to better understand the virtual matching method for body components provided by the present disclosure, the following provides a detailed example of the related steps involved in this method.

[0066] In a possible implementation manner, in step S12, the reference transformation of the second simulation component may include:

[0067] Determine the transformation relationship for the reference transformation of the second simulation component;

[0068] According to the transformation relationship, perform a reference transformation on the second simulation component.

[0069] It should be noted that since the reference transformation is to adjust the reference point in the assembly process of the second simulation component, the transformation relationship for each reference transformation of the second simulation component is different. Before performing the reference transformation on the second simulation component, the corresponding transformation relationship needs to be re-determined, and then according to the re-determined transformation relationship, perform a reference transformation on the second simulation component.

[0070] In a possible implementation manner, the transformation relationship includes a first coordinate transformation relationship and a second coordinate transformation relationship;

[0071] According to the transformation relationship, performing a reference transformation on the second simulation component may include:

[0072] Perform a reference transformation on the assembly surface of the second simulation component according to the first coordinate transformation relationship, and perform a reference transformation on the assembly clearance surface of the second simulation component according to the second coordinate transformation relationship.

[0073] It should be noted that during the reference transformation of the second simulation component, the surface difference corresponds to the assembly surface on the second simulation component, and the clearance difference corresponds to the assembly clearance surface on the second simulation component. Therefore, the transformation relationships of the assembly surface and the assembly clearance surface are different, and the transformation relationships corresponding to the assembly surface and the assembly clearance surface need to be determined separately to perform a reference transformation on the second simulation component.

[0074] In a possible implementation, determining the conversion relationship for the second simulation component to perform reference conversion may include:

[0075] Determine a first quantity of first reference points and a second quantity of second reference points on the second simulation component. The first reference points are points on the assembly surface of the second component, and the second reference points are points on the assembly clearance surface of the second component;

[0076] Determine a first coordinate conversion relationship based on the first quantity of first reference points, and determine a second coordinate conversion relationship based on the second quantity of second reference points. The first quantity and the second quantity may be the same or different.

[0077] It should be noted that the conversion relationship is calculated based on the coordinate values corresponding to the reference points. Therefore, it is necessary to separately determine the first reference points on the assembly surface and the second reference points on the assembly clearance surface, and then calculate the conversion relationship of the assembly surface based on the first reference points and calculate the conversion relationship of the assembly clearance surface based on the second reference points.

[0078] In a possible implementation, the first quantity and the second quantity are greater than or equal to three. Determining the first coordinate conversion relationship based on the first quantity of first reference points may include:

[0079] Determine at least three second coordinate values based on the first coordinate values and the first theoretical coordinate values of at least three first reference points. The first coordinate values are the coordinate values of the first reference points before reference conversion, the second coordinate values are the coordinate values of the first reference points after reference conversion, and the first theoretical coordinate values are the coordinate values of the first reference points in the ideal state before reference conversion;

[0080] Determine the first coordinate conversion relationship based on at least three sets of first coordinate values and second coordinate values.

[0081] It should be noted that during the reference conversion process, a first part of the coordinate values in the second coordinate values after reference conversion is known, and a second part of the coordinate values is unknown, and the first part of the coordinate values is consistent with the corresponding first theoretical coordinate values. Therefore, based on the first coordinate values and the first theoretical coordinate values of at least three first reference points, a system of multivariate quadratic equations is constructed, and at least three second coordinate values are obtained by solving the system of multivariate quadratic equations.

[0082] Exemplarily, referring to Table 1, the three first reference points are Point 1, Point 2, and Point 3 respectively. Each first reference point corresponds to a first theoretical coordinate value, a first coordinate value, and a second coordinate value. Among them, coordinate value a, coordinate value b, and coordinate value c are unknown; coordinate value X 1-output is consistent with coordinate value X 1-theor is consistent with coordinate value X 2-output is consistent with coordinate value X 2-theor is consistent with coordinate value Y 2-output is consistent with coordinate value Y 2-theorConsistent, coordinate value X 3-output Is consistent with coordinate value X 3-theor Consistent, coordinate value Y 3-output Is consistent with coordinate value Y 3-theor Consistent, coordinate value Z 3-output Is consistent with coordinate value Z 3-theor Are consistent.

[0083] Table 1

[0084]

[0085] According to the first coordinate values and the first theoretical coordinate values of Point 1, Point 2, and Point 3, construct a ternary quadratic equation system:

[0086]

[0087] Solve the above ternary quadratic equation system to obtain coordinate value a, coordinate value b, and coordinate value c.

[0088] Then, according to the first coordinate values and the second coordinate values corresponding to Point 1, Point 2, and Point 3 respectively, determine the first coordinate conversion relationship.

[0089] In a possible implementation, determining the second coordinate conversion relationship according to the second quantity of second reference points may include:

[0090] According to the third coordinate values and the second theoretical coordinate values of at least three second reference points, determine at least three fourth coordinate values, where the third coordinate value is the coordinate value before the reference conversion of the second reference point, the fourth coordinate value is the coordinate value after the reference conversion of the second reference point, and the second theoretical coordinate value is the coordinate value in the ideal state before the reference conversion of the second reference point;

[0091] According to the three groups of third coordinate values and the fourth coordinate calculated values, determine the second coordinate conversion relationship.

[0092] It should be noted that during the reference conversion process, the first part of the coordinate values in the fourth coordinate values after the reference conversion is known, the second part of the coordinate values is unknown, and the first part of the coordinate values is consistent with the corresponding second theoretical coordinate values. Therefore, according to the third coordinate values and the second theoretical coordinate values of at least three second reference points, construct a multivariate quadratic equation system, and solve the multivariate quadratic equation system to obtain at least three fourth coordinate values. The specific process is exactly the same as the process of solving the first coordinate conversion relationship, only replacing the calculation parameters, such as replacing the first coordinate value with the third coordinate value, replacing the fourth coordinate value with the second coordinate value, and replacing the first theoretical coordinate value with the second theoretical coordinate value.

[0093] In the embodiments of the present disclosure, for both the first coordinate transformation relationship and the second coordinate transformation relationship, first, based on the coordinate values before the reference transformation and the coordinate values in the ideal state before the reference transformation with respect to the reference point, the unknown coordinate values in the coordinate values after the reference transformation are determined. Then, based on the coordinate values before the reference transformation and the coordinate values after the reference transformation, the coordinate transformation relationship is determined, so as to facilitate subsequent performing the current reference transformation on the second simulation component according to the current coordinate transformation relationship.

[0094] In a possible implementation manner, determining the first coordinate transformation relationship according to three groups of first coordinate values and second coordinate values may include:

[0095] Constructing a first third-order rotation matrix according to three groups of first coordinate values, and constructing a second third-order rotation matrix according to three groups of second coordinate values;

[0096] Multiplying the first third-order rotation matrix after performing an inverse operation and the second third-order rotation matrix to obtain a target rotation matrix;

[0097] Obtaining a translation vector according to the first coordinate values, the second coordinate values, and the target rotation matrix;

[0098] Obtaining a fourth-order homogeneous coordinate transformation matrix as the first coordinate transformation relationship according to the target rotation matrix and the translation vector.

[0099] Exemplarily, assume that workpiece B is the second simulation component and workpiece A is the first simulation component. To match workpiece A by adjusting workpiece B, select 3 points on the assembly surface of workpiece B as reference points, and set the control logic rules for the X / Y / Z axes; assume that point 1, point 2, and point 3 control the X axis, point 2 and point 3 control the Y axis, and point 3 is used as the origin. As shown in Table 1 above, the coordinate system is established using the iterative method.

[0100] First, establish a coordinate system using the iterative method with the first coordinate values of point 1, point 2, and point 3, and calculate the third-order rotation matrix;

[0101] Using the first coordinate values of point 1, point 2, and point 3, fit a plane using the least squares method:

[0102] A1x + B1y - z + C1 = 0,

[0103] where x, y, and z represent the coordinate values corresponding to point 1, point 2, and point 3 respectively, and A1, B1, and C1 represent the coefficients of the fitted plane.

[0104] The unit normal vector of this plane is obtained as:

[0105]

[0106] where, (I x J x K x)Characterize the X-axis vector.

[0107] According to the line connecting point 2 and point 3, the calculated Y-axis vector is:

[0108] (I y J y K y ) = (X 2-meas -X 3-meas Y 2-meas -Y 3-meas Z 2-meas -Z 3-meas ),

[0109] where (I y J y K y ) characterizes the Y-axis vector.

[0110] Then cross-multiply the X-axis vector and the Y-axis vector to obtain the Z-axis vector:

[0111] (I z J z K z ) = (I x J x K x ) × (I y J y K y ),

[0112] where (I z J z K z ) characterizes the Z-axis vector.

[0113] Construct the first third-order rotation matrix based on the X-axis vector, Y-axis vector, and Z-axis vector:

[0114]

[0115] Secondly, construct the second third-order rotation matrix according to the second coordinate values of point 1, point 2, and point 3 in the same construction method as the first third-order rotation matrix:

[0116]

[0117] Thirdly, multiply the inverted first third-order rotation matrix by the second third-order rotation matrix to obtain the target rotation matrix:

[0118]

[0119] Furthermore, obtain the translation vector according to the first coordinate value, the second coordinate value, and the target rotation matrix:

[0120] U = X 1-output -(X 1-meas ·I1 + Y 1-meas ·I2 + Z 1-meas ·I3)

[0121] V = Y 1-output -(X 1-meas ·J1 + Y 1-meas ·j2 + Z 1-meas ·J3)

[0122] W = Z 1-output -(X 1-meas ·K1 + Y 1-meas ·K2 + Z 1-meas ·K3)。

[0123] Finally, determine the translation vector T = (U V W) for the coordinate transformation relationship. According to the translation vector and the target rotation matrix, obtain the fourth-order homogeneous coordinate transformation matrix:

[0124]

[0125] In a possible implementation manner, the method may further include:

[0126] Determine the target transformation relationship for the second simulation component to be transformed from the initial virtual matching position to the target virtual matching position;

[0127] According to the target transformation relationship and the initial coordinate values of the hinge installation positions on the second simulation component at the initial virtual matching position, obtain the target coordinate values of the hinge installation positions at the target virtual matching position;

[0128] Determine the difference between the target coordinate values and the initial coordinate values, and use the difference as the adjustment amount of the hinge installation positions on the second component.

[0129] It should be noted that the above method for determining the fourth-order homogeneous coordinate transformation matrix can be used to determine the target transformation relationship, which is the transformation relationship for the second simulation component to be benchmark-transformed from the initial virtual matching position to the target virtual matching position. Among them, the initial virtual matching position is the position before the benchmark transformation of the second simulation component.

[0130] Exemplarily, substitute the initial coordinate value D old into the fourth-order homogeneous coordinate transformation matrix corresponding to the target transformation relationship to obtain the target coordinate value D new :

[0131]

[0132] Determine the difference D new between the target coordinate value D old and the initial coordinate value D 差, according to D 差 Adjust the hinge installation position on the second component.

[0133] In the virtual matching adjustment process of the embodiments of the present disclosure, based on the reference transformation, combined with methods such as establishing a coordinate system by the iterative method, homogeneous coordinate transformation matrix, and least squares fitting, a new algorithm is proposed. In the calculation process of this algorithm, according to the logical relationship of establishing a coordinate system by the iterative method, a third-order rotation matrix is calculated; according to the least squares fitting method, the normal vector of the reference point position is calculated; according to the homogeneous coordinate matrix theory, the transformation relationship is calculated; finally, a fourth-order homogeneous coordinate transformation matrix is obtained, so as to calculate the coordinate values after the reference transformation of the points on the simulation component.

[0134] See Figure 2 , the complete process of the virtual matching method for vehicle body components provided by the present disclosure may include:

[0135] I. In the virtual matching system environment, import the theoretical CAD models of workpiece A and workpiece B for virtual matching.

[0136] II. Import the blue light scanning data or coordinate measuring data of workpiece A and workpiece B to construct simulation workpiece A and simulation workpiece B.

[0137] III. Calculate the clearance difference and surface difference at the initial matching position of simulation workpiece A and simulation workpiece B.

[0138] IV. Draw the virtual matching clearance difference and surface difference effect diagrams of simulation workpiece A and simulation B.

[0139] V. Take simulation workpiece A as the fixed part and simulation workpiece B as the adjustable part, perform reference transformation on simulation workpiece B, and recalculate the coordinate values of the reference points on simulation workpiece B.

[0140] VI. Again, perform virtual matching on simulation workpiece A and simulation workpiece B, and display the virtual matching effect diagram (clearance difference and surface difference).

[0141] VII. Determine that the clearance difference meets the preset clearance uniformity and the surface difference meets the surface difference smoothness. If so, perform the next step; if not, return to execute steps V and VI until the clearance difference meets the preset clearance uniformity and the surface difference meets the surface difference smoothness, and then end the virtual matching.

[0142] VII. Determine the coordinate values of the positioning pins installed on simulation workpiece B at this time.

[0143] VIII. Calculate the difference between the coordinate values of the positioning pins of simulation workpiece B after reference transformation and the theoretical coordinate values, that is, the matching adjustment amount of workpiece B.

[0144] It can be seen that in the embodiments of the present disclosure, according to the logical relationship of establishing a coordinate system by the iterative method, a fourth-order homogeneous coordinate transformation matrix for coordinate system transformation is obtained. This algorithm is different from the traditional fourth-order homogeneous coordinate transformation matrix of the X / Y / Z axis vectors and translation vectors. During the virtual matching process, based on this "coordinate system reference transformation" method, the matching position of the simulation workpiece can be continuously adjusted, so as to obtain the coordinate values in the target matching state (i.e., the actual assembly position of the workpiece corresponding to the simulation workpiece), achieving an ideal virtual matching effect.

[0145] Exemplarily, taking the first workpiece as the main body of the vehicle body and the second workpiece as the rear door, the virtual matching method for vehicle body components provided by the present disclosure is used to perform virtual matching on the main body of the vehicle body and the rear door.

[0146] In the virtual matching system environment, import the CAD models of the main door and the rear door as shown in Figure 3 . The initial coordinate values and theoretical coordinate values of the surface points on the matching surface of the simulated rear door and the clearance points on the clearance surface of the simulated rear door can be seen in Table 5, and the initial coordinate values and theoretical coordinate values of the surface points on the matching surface of the simulated main body of the vehicle body and the clearance points on the clearance surface of the simulated main body of the vehicle body can be seen in Table 2.

[0147] Table 2

[0148]

[0149]

[0150] By virtually matching the initial coordinate values of the simulated rear door and the initial coordinate values of the main body of the vehicle body, the virtual matching effect of the initial coordinate values of the main body of the vehicle body and the rear door as shown in Figure 4 can be obtained.

[0151] Calculate the clearance difference and surface difference after virtual matching of the initial coordinate values of the corresponding rear door and the main body of the vehicle body, and obtain Table 6 for the corresponding surface difference and Table 7 for the corresponding clearance difference.

[0152] Obtain as shown in Figure 5The position effect diagram of the corresponding points, based on the initial coordinate values and theoretical coordinate values of the 9 surface points in Table 6. It can be seen that points 1, 2, and 3 are located on the left side, representing the left side of the simulation main body; points 7, 8, and 9 are located on the right side, representing the right side of the simulation main body; points 4, 5, and 6 are located on the top, representing the top of the simulation main body. Considering from the perspective of the initial surface difference, there is a slight concave at points 1 to 3, a slight convex at points 4 to 8, and a slight convex at the top and the right side. Considering from the perspective of the initial gap difference, the left side of the simulation rear door is slightly smaller, and the entire right side of the simulation rear door is slightly larger. When performing the reference conversion later, points 2, 4, and 8 are determined as the reference points. Among them, point 1 corresponds to surface point TD125 and gap point TD025, point 2 corresponds to surface point TD123 and gap point TD023, point 3 corresponds to surface point TD121 and gap point TD021, point 4 corresponds to surface point TD105 and gap point TD005, point 5 corresponds to surface point TD101 and gap point TD001, point 6 corresponds to surface point TD106 and gap point TD006, point 7 corresponds to surface point TD122 and gap point TD022, point 8 corresponds to surface point TD124 and gap point TD024, and point 9 corresponds to surface point TD126 and gap point TD026.

[0153] On the basis of analyzing the initial surface difference value and the initial gap difference value between the simulation main body and the simulation rear door, with the simulation main body fixed, the reference of the simulation rear door is transformed and adjusted until the target virtual matching position on the simulation main body and the simulation rear door is determined. Points 2, 4, and 8 on the simulation rear door are selected as the reference points, that is, the upper surface difference points TD123, TD105, and TD124 on the rear door, and the gap points TD023, TD005, and TD024 on the rear door.

[0154] I. Regarding the surface points

[0155] Taking surface points TD123, TD105, and TD124 as the reference points, an iterative method is used to establish a coordinate system. Taking points TD123, TD105, and TD124 as the Z-axis, taking points TD124 and TD105 as the X-axis, and taking point TD105 as the origin. Using the calculation method of the second coordinate value in the previous text, a corresponding ternary quadratic variance group formula is constructed, and the following is obtained:

[0156] a = -662.095899, b = 3264.217986, c = 662.8986613.

[0157] The theoretical coordinate values, initial coordinate values, and target coordinate values corresponding to surface points TD123, TD105, and TD124 as shown in Table 3 are obtained.

[0158] Table 3

[0159]

[0160] Determine the first fourth-order homogeneous coordinate transformation matrix of the simulation assembly surface of the corresponding simulation main body and simulation rear door according to the initial coordinate values and target coordinate values corresponding to the pastry TD123, TD105, and TD124.

[0161] Using the least squares method, fit the initial coordinate values corresponding to the points TD123, TD105, and TD124 into a plane: A1x + B1y - z + C1 = 0.

[0162] Obtain:

[0163] A1 = -1.113627222686475;

[0164] B1 = 9.155047807800981e-04;

[0165] C1 = 4.722747854173543e+03.

[0166] Then the Z1-axis vector is:

[0167] (-0.7440458460724, 0.0006116746388, -0.6681282846853);

[0168] Taking the points TD124 and TD105 as the X-axis, the X1-axis vector is obtained as:

[0169] (0.177665884193, 0.9641770144938, -0.1969708565136);

[0170] From the Z1-axis vector and the X1-axis vector, calculate the Y1-axis vector as:

[0171] (0.6440734527493, -0.2652589500392, -0.7175005762282)

[0172] Obtain the first third-order rotation matrix:

[0173]

[0174] Using the least squares method, fit the target coordinate values corresponding to the points TD123, TD105, and TD124 into a plane: A2x + B2y - z + C2 = 0.

[0175] Obtain:

[0176] A2 = -1.100659165397057;

[0177] B2 = -0.001125572741639;

[0178] C2 = 4.681262207048571e+03.

[0179] Then the Z2-axis vector is:

[0180] (-0.7401403973555, -0.0007568935802, -0.6724519457288);

[0181] Taking point TD124 and point TD105 as the X-axis, the X2-axis vector obtained is:

[0182] (0.1773329006698, 0.9643815080821, -0.1962685639867);

[0183] From the Z2-axis vector and the X2-axis vector, the Y2-axis vector calculated is:

[0184] (0.6486487759508, -0.2645141470346, -0.7136434904601);

[0185] The second third-order rotation matrix is obtained:

[0186]

[0187] Multiplying the first third-order rotation matrix and the second third-order rotation matrix, the target rotation matrix is obtained:

[0188]

[0189] Furthermore, according to the initial coordinate values, target coordinate values and the target rotation matrix corresponding to point TD123, point TD105 and point TD124, the translation vector is obtained:

[0190] (U, V, W) = (7.0214438717594, -5.1254373656184, -18.8422654444089).

[0191] According to the target rotation matrix and the translation vector, the first fourth-order homogeneous coordinate transformation matrix is obtained.

[0192] Substituting the initial coordinate values corresponding to the remaining points on the simulated back door into the first fourth-order homogeneous coordinate transformation matrix, the target coordinate values corresponding to the remaining points are calculated.

[0193] II. For the gap points

[0194] Similarly, taking the gap points TD023, TD005, and TD024 as reference points, a coordinate system is established using the iterative method. Taking the points TD023, TD005, and TD024 as the Z-axis, the points TD024 and TD005 as the X-axis, and the point TD005 as the origin, the following are obtained:

[0195] a` = -664.027532, b` = 3262.21005, c` = 664.66092.

[0196] The theoretical coordinate values, initial coordinate values, and target coordinate values corresponding to the gap points TD023, TD005, and TD024 as shown in Table 4 are obtained.

[0197] Table 4

[0198]

[0199] Determine the second-order and fourth-order homogeneous coordinate transformation matrix of the simulation assembly gap surface of the corresponding simulation main body and simulation rear door according to the initial coordinate values and target coordinate values corresponding to the gap points TD023, TD005, and TD024.

[0200] Using the least squares method, the initial coordinate values corresponding to the points TD023, TD005, and TD024 are fitted into a plane: A3x + B3y - z + C3 = 0.

[0201] The following are obtained:

[0202] A3 = -1.100364507267399:

[0203] B3 = -1.580778422609462e-06;

[0204] C3 = 4.676405655684287e+03

[0205] Then the Z3-axis vector is:

[0206] (-0.7400509907742, -0.0000010631537, -0.6725507646662);

[0207] Taking the points TD024 and TD005 as the X-axis, the X3-axis vector is obtained as:

[0208] (0.178452836, 0.9641553263992, -0.1963646910715);

[0209] From the Z3-axis vector and the X3-axis vector, the Y3-axis vector is calculated as:

[0210] (0.6484436107926, -0.2653384754891, -0.7135239148391);

[0211] Obtain the third third - order rotation matrix:

[0212]

[0213] Using the least - squares method, fit the target coordinate systems corresponding to point TD023, point TD005, and point TD024 into a plane: A4x + B4y - z + C4 = 0.

[0214] Calculate:

[0215] A4 = -1.096130987447486:

[0216] B4 = -0.001673084797065;

[0217] C4 = 4.663196548998965e+03.

[0218] Then the Z4 - axis vector is:

[0219] (-0.7401401409367, -0.0011250687374, -0.6724517127605);

[0220] Taking point TD124 and point TD105 as the X - axis, the X4 - axis vector is:

[0221] (0.1773580833882, 0.9644271751008, -0.1960212595205);

[0222] From the Z4 - axis vector and the X4 - axis vector, calculate the Y4 - axis vector as:

[0223] (0.6487512431202, -0.2643479495944, -0.7136117252674);

[0224] Obtain the fourth third - order rotation matrix:

[0225]

[0226] Dot - multiply the third third - order rotation matrix and the fourth third - order rotation matrix to obtain the target rotation matrix:

[0227]

[0228] Further obtain the translation vector:

[0229] (U, V, W) = (0.0675859736666, -4.6637035876904, -0.0118999091681).

[0230] According to the target rotation matrix and translation vector, the second fourth-order homogeneous coordinate transformation matrix is obtained.

[0231] Substitute the initial coordinate values corresponding to the remaining gap points on the simulated rear door into the second fourth-order homogeneous coordinate transformation matrix, and calculate the target coordinate values corresponding to the remaining surface points.

[0232] In summary, the theoretical coordinate values, initial coordinate values, and target coordinate values corresponding to the surface points and gap points on the rear door shown in Table 5 can be obtained.

[0233] Table 5

[0234]

[0235]

[0236] According to the initial coordinate values and target coordinate values of the surface points in Table 5, calculate the surface difference between the simulated main body and the simulated rear door at the target virtual simulation position, and the characteristics of the theoretical surface difference, the characteristics and scores of the initial surface difference, and the characteristics and evaluations of the target surface difference can be obtained. Among them, the characteristics include surface difference and deviation.

[0237] Table 6

[0238]

[0239] According to each surface point in Table 6, the deviation diagrams of the initial surface difference and the target surface difference from the theoretical surface difference can be drawn as Figure 6 shown.

[0240] In summary, it can be seen that the difference between the target surface difference and the theoretical surface difference after the reference transformation is less than the difference between the initial surface difference and the theoretical surface difference, and the target surface difference is closer to the ideal surface difference.

[0241] According to the initial coordinate values and target coordinate values of the gap points in Table 5, calculate the gap difference between the simulated main body and the simulated rear door at the target virtual simulation position, and the theoretical gap difference, the initial gap difference, deviation and score, and the target gap difference, deviation and evaluation shown in Table 7 can be obtained.

[0242] Table 7

[0243]

[0244]

[0245] According to each gap point in Table 7, the diagram can be drawn as Figure 7Diagram showing the deviations of the initial gap difference and the target gap difference from the theoretical gap difference respectively.

[0246] In summary, it can be seen that the gap values on the right side of the simulated rear door all decrease after the reference transformation.

[0247] When the hinge on the simulated rear door is on the assembly surface of the rear door, the initial coordinates of the hinge are substituted into the first fourth-order homogeneous coordinate transformation matrix to obtain the target coordinates of the hinge, the difference between the target coordinates and the theoretical coordinates of the hinge is determined, and the installation position of the hinge on the rear door is adjusted according to this difference.

[0248] When the hinge on the simulated rear door is on the assembly gap surface of the rear door, the initial coordinates of the hinge are substituted into the second fourth-order homogeneous coordinate transformation matrix to obtain the target coordinates of the hinge, the difference between the target coordinates and the theoretical coordinates of the hinge is determined, and the installation position of the hinge on the rear door is adjusted according to this difference.

[0249] In the embodiments of the present disclosure, for the purpose of achieving high-precision body size matching and shortening the vehicle development cycle, a coordinate measuring machine or blue light non-contact scanning is used to scan body components. Under the condition of a large amount of measurement data, based on the coordinate system reference transformation mathematical model, methods such as establishing a coordinate system by combining the iterative method, least squares fitting, and homogeneous coordinate transformation are used to carry out virtual matching tests on the main body and the rear door. On the basis of virtual matching, the coordinate system reference of the rear door measurement data is transformed, and virtual matching adjustment is carried out again. The above adjustment process steps are repeated to achieve appropriate gap differences and surface differences, obtain better gap differences and surface differences between the main body and the rear door, determine the best matching positions between body components during the vehicle assembly process, thereby realizing the rapid assembly between body components, avoiding waste of resources caused by discarding body components that cannot achieve the best matching, and the amount of data involved in the entire virtual matching process is small, avoiding waste of storage space. It provides a visual and quantitative basis for relevant vehicle assembly adjustment and dimension analysis engineers.

[0250] Based on the same inventive concept, the present disclosure also provides a virtual matching device for body components, as Figure 8 shown. The virtual matching device for body components includes a virtual matching module 1001 and a reference transformation module 1002.

[0251] Among them, the virtual matching module 1001 is used to perform virtual matching between the first simulation component and the second simulation component, and determine the corresponding gap surface difference. The gap surface difference includes the gap difference and surface difference between the first simulation component and the second simulation component during matching. The first simulation component corresponds to the first component, the second simulation component corresponds to the second component, the first component includes fixed parts on the vehicle, and the second component includes movable parts on the vehicle.

[0252] The reference conversion module 1002 is configured to perform reference conversion on the second simulation component when the gap difference does not meet the preset gap uniformity and / or the surface difference does not meet the preset surface flatness until the obtained gap difference meets the preset gap uniformity and the surface difference meets the preset surface flatness, so as to obtain the target virtual matching position between the first simulation component and the second simulation component.

[0253] In the embodiment of the present disclosure, the first simulation component and the second simulation component are virtually matched to adjust the matching reference points of the second simulation component according to the gap difference and surface difference between the first simulation component and the second simulation component, so as to determine the best matching position between the first simulation component and the second simulation component. Based on the reference conversion of the second simulation component, the matching position between the second simulation component and the first simulation component is adjusted to determine the best matching position between the body components during the vehicle assembly process, thereby realizing the rapid assembly between the body components, avoiding the waste of resources caused by discarding the body components that cannot achieve the best matching, and the amount of data involved in the entire virtual matching process is small, avoiding the waste of storage space.

[0254] In a possible implementation manner, the reference conversion module 1002 is configured to determine the conversion relationship for the reference conversion of the second simulation component;

[0255] Perform reference conversion on the second simulation component according to the conversion relationship.

[0256] In a possible implementation manner, the conversion relationship includes a first coordinate conversion relationship and a second coordinate conversion relationship;

[0257] The reference conversion module 1002 is configured to perform reference conversion on the assembly surface of the second simulation component according to the first coordinate conversion relationship, and perform reference conversion on the assembly gap surface of the second simulation component according to the second coordinate conversion relationship.

[0258] In a possible implementation manner, the reference conversion module 1002 is configured to determine a first number of first reference points and a second number of second reference points on the second simulation component. The first reference points are the points on the assembly surface of the second component, and the second reference points are the points on the assembly gap surface of the second component;

[0259] Determine the first coordinate conversion relationship according to the first number of first reference points, and determine the second coordinate conversion relationship according to the second number of second reference points. The first number and the second number may be the same or different.

[0260] In a possible implementation, the first quantity and the second quantity are greater than or equal to three. The reference conversion module 1002 is configured to determine at least three second coordinate values according to the first coordinate values and the first theoretical coordinate values of at least three first reference points, where the first coordinate values are the coordinate values of the first reference points before reference conversion, the second coordinate values are the coordinate values of the first reference points after reference conversion, and the first theoretical coordinate values are the coordinate values of the first reference points in the ideal state before reference conversion;

[0261] Determine the first coordinate conversion relationship according to at least three groups of first coordinate values and second coordinate values;

[0262] And,

[0263] According to the third coordinate values and the second theoretical coordinate values of at least three second reference points, determine at least three fourth coordinate values, where the third coordinate values are the coordinate values of the second reference points before reference conversion, the fourth coordinate values are the coordinate values of the second reference points after reference conversion, and the second theoretical coordinate values are the coordinate values of the second reference points in the ideal state before reference conversion;

[0264] Determine the second coordinate conversion relationship according to three groups of third coordinate values and fourth coordinate calculated values.

[0265] In a possible implementation, the reference conversion module 1002 is configured to construct a first third-order rotation matrix according to three groups of first coordinate values and construct a second third-order rotation matrix according to three groups of second coordinate values;

[0266] Multiply the inverted first third-order rotation matrix and the second third-order rotation matrix to obtain a target rotation matrix;

[0267] Obtain a translation vector according to the first coordinate values, the second coordinate values, and the target rotation matrix;

[0268] Obtain a fourth-order homogeneous coordinate transformation matrix as the first coordinate conversion relationship according to the target rotation matrix and the translation vector.

[0269] In a possible implementation, the reference conversion module 1002 is further configured to determine the target conversion relationship for the second simulation component to be converted from the initial virtual matching position to the target virtual matching position;

[0270] According to the target conversion relationship and the initial coordinate values of the hinge installation positions on the second simulation component at the initial virtual matching position, obtain the target coordinate values of the hinge installation positions at the target virtual matching position;

[0271] Determine the difference between the target coordinate values and the initial coordinate values, and use the difference as the adjustment amount of the hinge installation positions on the second component.

[0272] Regarding the vehicle body component virtual matching device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated herein.

[0273] Based on the same inventive concept, the present disclosure also provides an electronic device, including:

[0274] A memory having a computer program stored thereon;

[0275] A processor configured to execute the computer program in the memory to implement the steps of the above vehicle body component virtual matching.

[0276] In the embodiments of the present disclosure, the first simulation component and the second simulation component are virtually matched to adjust the matching reference point of the second simulation component according to the gap difference and surface difference between the first simulation component and the second simulation component, so as to determine the optimal matching position between the first simulation component and the second simulation component. Based on the reference conversion of the second simulation component, the matching position of the second simulation component and the first simulation component is adjusted to determine the optimal matching position between the vehicle body components during the vehicle assembly process, thereby realizing the rapid assembly between the vehicle body components, avoiding waste of resources caused by discarding vehicle body components that cannot achieve the optimal matching, and the amount of data involved in the entire virtual matching process is small, avoiding waste of storage space.

[0277] Figure 9 It is a block diagram of an electronic device 1100 shown according to an exemplary embodiment. As Figure 9 shown, the electronic device 1100 may include: a processor 1101, a memory 1102. The electronic device 1100 may further include one or more of a multimedia component 1103, an input / output (I / O) interface 1104, and a communication component 1105.

[0278] Among them, the processor 1101 is used to control the overall operation of the electronic device 1100 to complete all or part of the steps in the above-mentioned virtual matching method for vehicle body components. The memory 1102 is used to store various types of data to support the operation of the electronic device 1100. These data may include, for example, instructions for any application or method operating on the electronic device 1100, as well as application-related data, such as contact data, sent and received messages, pictures, audio, video, and so on. The memory 1102 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disc. The multimedia component 1103 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 1102 or sent through the communication component 1105. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 1104 provides an interface between the processor 1101 and other interface modules, and the above-mentioned other interface modules may be a keyboard, a mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 1105 is used for wired or wireless communication between the electronic device 1100 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G, etc., or a combination of one or more of them is not limited here. Therefore, the corresponding communication component 1105 may include: a Wi-Fi module, a Bluetooth module, an NFC module, and so on.

[0279] In an exemplary embodiment, the electronic device 1100 can be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components, and is used to execute the above-mentioned virtual matching method for vehicle body components.

[0280] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided. When the program instructions are executed by a processor, the steps of the above-mentioned virtual matching method for vehicle body components are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 1102 including program instructions, and the above program instructions can be executed by the processor 1101 of the electronic device 1100 to complete the above-mentioned virtual matching method for vehicle body components.

[0281] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program that can be executed by a programmable device, and the computer program has a code portion for executing the above-mentioned virtual matching method for vehicle body components when executed by the programmable device.

[0282] The preferred embodiments of the present disclosure have been described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept scope of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0283] In addition, it should be noted that, in the above specific embodiments, the various specific technical features described can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present disclosure does not separately describe various possible combination manners.

[0284] Furthermore, any combination can be made among various different embodiments of the present disclosure as long as it does not violate the idea of the present disclosure, and it should also be regarded as the content disclosed by the present disclosure.

Claims

1. A virtual matching method for vehicle body components, characterized in that Including: virtually matching a first simulation component with a second simulation component and determining a corresponding clearance surface difference, where the clearance surface difference includes a clearance difference and a surface difference between the first simulation component and the second simulation component in the match, the first simulation component corresponds to a first component, the second simulation component corresponds to a second component, the first component includes a fixed part on a vehicle, and the second component includes a movable part on the vehicle; In the case where the clearance difference does not meet a preset clearance uniformity and / or the surface difference does not meet a preset surface flatness, performing a reference conversion on the second simulation component until the obtained clearance difference meets the preset clearance uniformity and the surface difference meets the preset surface flatness, to obtain a target virtual matching position between the first simulation component and the second simulation component.

2. The virtual matching method for vehicle body components according to claim 1, wherein The performing a reference conversion on the second simulation component includes: determining a conversion relationship for the reference conversion of the second simulation component; performing a reference conversion on the second simulation component according to the conversion relationship.

3. The virtual matching method for vehicle body components according to claim 2, wherein The conversion relationship includes a first coordinate conversion relationship and a second coordinate conversion relationship; The performing a reference conversion on the second simulation component according to the conversion relationship includes: performing a reference conversion on the assembly surface of the second simulation component according to the first coordinate conversion relationship, and performing a reference conversion on the assembly clearance surface of the second simulation component according to the second coordinate conversion relationship.

4. The virtual matching method for vehicle body components according to claim 2, characterized in that The determining a conversion relationship for the reference conversion of the second simulation component includes: determining a first number of first reference points and a second number of second reference points on the second simulation component, where the first reference points are points on the assembly surface of the second component, the second reference points are points on the assembly clearance surface of the second component, and the first number and the second number are the same or different; determining a first coordinate conversion relationship according to the first number of the first reference points, and determining a second coordinate conversion relationship according to the second number of the second reference points.

5. The virtual matching method for vehicle body components according to claim 4, characterized in that The first number and the second number are greater than or equal to three. The determining a first coordinate conversion relationship according to the first number of the first reference points includes: determining at least three second coordinate values according to the first coordinate values and first theoretical coordinate values of three of the first reference points, where the first coordinate values are the coordinate values of the first reference points before the reference conversion, the second coordinate values are the coordinate values of the first reference points after the reference conversion, and the first theoretical coordinate values are the coordinate values of the first reference points in an ideal state before the reference conversion; determining a first coordinate conversion relationship according to at least three sets of the first coordinate values and the second coordinate values; The determining a second coordinate conversion relationship according to the second number of the second reference points includes: determining at least three fourth coordinate values according to the third coordinate values and second theoretical coordinate values of at least three of the second reference points, where the third coordinate values are the coordinate values of the second reference points before the reference conversion, the fourth coordinate values are the coordinate values of the second reference points after the reference conversion, and the second theoretical coordinate values are the coordinate values of the second reference points in an ideal state before the reference conversion; Determine the second coordinate conversion relationship according to at least three groups of the third coordinate values and the fourth coordinate calculated values.

6. The virtual matching method for vehicle body components according to claim 5, characterized in that The determining the first coordinate conversion relationship according to at least three groups of the first coordinate values and the second coordinate values includes: Construct a first third-order rotation matrix according to at least three groups of the first coordinate values, and construct a second third-order rotation matrix according to at least three groups of the second coordinate values; Multiply the first third-order rotation matrix after performing the inverse operation and the second third-order rotation matrix to obtain a target rotation matrix; Obtain a translation vector according to the first coordinate values, the second coordinate values, and the target rotation matrix; Obtain a fourth-order homogeneous coordinate transformation matrix as the first coordinate conversion relationship according to the target rotation matrix and the translation vector.

7. The virtual matching method for vehicle body components according to claim 1, characterized in that The method further includes: Determine the target conversion relationship for the second simulation component to be converted from the initial virtual matching position to the target virtual matching position; According to the target conversion relationship and the initial coordinate values of the hinge installation positions on the second simulation component at the initial virtual matching position, obtain the target coordinate values of the hinge installation positions at the target virtual matching position; Determine the difference between the target coordinate values and the initial coordinate values, and use the difference as the adjustment amount of the hinge installation positions on the second component.

8. A virtual matching device for vehicle body components, characterized in that, It includes: A virtual matching module, configured to virtually match a first simulation component and a second simulation component, and determine the corresponding clearance surface difference, where the clearance surface difference includes the clearance difference and the surface difference between the first simulation component and the second simulation component. The first simulation component corresponds to a first component, the second simulation component corresponds to a second component, the first component includes a fixed part on a vehicle, and the second component includes a movable part on a vehicle; A reference conversion module, configured to perform a reference conversion on the second simulation component when the clearance difference does not meet the preset clearance uniformity and / or the surface difference does not meet the preset surface flatness, until the obtained clearance difference meets the preset clearance uniformity and the surface difference meets the preset surface flatness, to obtain the target virtual matching positions of the first simulation component and the second simulation component.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, it implements the steps of the vehicle body component virtual matching method according to any one of claims 1-7.

10. An electronic device, characterized in that, It includes: A memory, on which a computer program is stored; A processor, configured to execute the computer program in the memory to implement the steps of the vehicle body component virtual matching according to any one of claims 1-7.

Images