Installation method of sensor for vehicle

Abstract

The embodiment of the invention discloses a method for installing a sensor for a vehicle, and the method comprises the steps: determining the difference between a theoretical installation position and an actual installation position of the sensor, enabling a robot to grab the sensor, and adjusting all fasteners on the sensor according to the difference. And the robot moves the sensor to a theoretical mounting position and presses the adjusted fasteners into corresponding hole positions of the mounting piece for locking. According to the installation method, the installation precision of the sensor can be ensured, and the safety of automatic driving is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle assembly, and particularly to an installation method for a vehicle sensor. Background Art

[0002] Autopilot is the focus of current automotive R & D, and its autopilot level represents the R & D strength of vehicle manufacturers and parts manufacturers. Autopilot has a high demand for actual information collection and is also an important input source for core algorithms to make judgments.

[0003] Currently, sensors rely on the self-precision of components such as body sheet metal, front bumper / rear bumper for installation. When there are dimensional accuracy differences in body sheet metal, front / rear bumpers, etc., after the sensors are installed, they cannot be adjusted and can only rely on self-correction of the algorithm for adjustment. However, this adjustment has limitations and cannot absorb large errors, which brings great uncertainty and instability to the functions of autopilot and affects driving safety. Summary of the Invention

[0004] In view of this, the embodiments of the present invention provide an installation method for a vehicle sensor, which can ensure the installation accuracy of the sensor and improve the safety of autopilot.

[0005] The embodiments of the present invention provide an installation method for a vehicle sensor, and the installation method includes:

[0006] Determine the difference between the theoretical installation position and the actual installation position of the sensor;

[0007] The robot grabs the sensor and adjusts each fastener on the sensor according to the difference;

[0008] The robot moves the sensor to the installation area and presses the adjusted fasteners into the corresponding holes of the installation part to lock.

[0009] Further, the installation method further includes:

[0010] Input the theoretical installation position of the sensor into the robot;

[0011] The robot detects and obtains the actual installation position of the sensor.

[0012] Further, the determination of the difference between the theoretical installation position and the actual installation position of the sensor includes:

[0013] Calculate according to the theoretical installation position, the actual installation position and the installation tolerance to determine the difference.

[0014] Further, the sensor includes a sensor body, two ball head bolts, and two shaft bolts. The two ball head bolts are ball-connected to two diagonal positions of the sensor body, and the two shaft bolts are rotatably connected to the other two diagonal positions of the sensor body. The included angle between the connecting shafts of the two shaft bolts is 90°.

[0015] Further, adjusting each fastener on the sensor according to the difference amount includes:

[0016] The robot drives the two ball head bolts and the two shaft bolts to move or rotate according to the difference amount.

[0017] Further, the robot moving the sensor to the installation area and pressing the adjusted fasteners into the corresponding holes of the installation part to lock includes:

[0018] The robot moves the sensor to the installation area and presses the adjusted fasteners into the corresponding holes of the installation part;

[0019] The robot rotates the double-headed bolts on each fastener to abut against the installation part and locks them with nuts.

[0020] Further, the theoretical installation position and the actual installation position include the position of the installation hole, the flatness of the installation surface, and the inclination angle of the installation surface;

[0021] Further, determining the difference amount between the theoretical installation position and the actual installation position of the sensor further includes:

[0022] The robot obtains the coordinates of the vehicle zero point in the robot coordinate system;

[0023] Calculating the coordinates of the theoretical installation position in the robot coordinate system based on the coordinates of the vehicle zero point in the robot coordinate system;

[0024] Determining the difference amount according to the coordinates of the theoretical installation position in the robot coordinate system and the actual installation position of the sensor, where the actual installation position of the sensor is the coordinates of the sensor in the robot coordinate system.

[0025] An embodiment of the present invention provides a method for installing a vehicle sensor. This installation method determines the difference amount between the theoretical installation position and the actual installation position of the sensor. The robot grabs the sensor and adjusts each fastener on the sensor according to the difference amount. The robot moves the sensor to the theoretical installation position and presses the adjusted fasteners into the corresponding holes of the installation part to lock. The above installation method can ensure the installation accuracy of the sensor and improve the safety of autonomous driving. Description of the Drawings

[0026] Through the following description of the embodiments of the present invention with reference to the accompanying drawings, the above and other objects, features, and advantages of the present invention will become more apparent. In the drawings:

[0027] Figure 1 It is a flowchart of the installation method of the vehicle sensor according to the embodiment of the present invention;

[0028] Figure 2 It is a flowchart of the robot locking the sensor to the mounting part according to the embodiment of the present invention;

[0029] Figure 3 It is a schematic structural diagram of the mounting part according to the embodiment of the present invention;

[0030] Figure 4 It is a schematic structural diagram of the robot grasping the sensor according to the embodiment of the present invention;

[0031] Figure 5 It is a top view of the sensor according to the embodiment of the present invention;

[0032] Figure 6 It is a schematic structural diagram of the sensor according to the embodiment of the present invention;

[0033] Figure 7 It is a schematic structural diagram of the ball head bolt connecting with the sensor and the mounting part according to the embodiment of the present invention;

[0034] Figure 8 It is a schematic structural diagram of the shaft bolt connecting with the sensor according to the embodiment of the present invention.

[0035] Reference numerals:

[0036] 1 - robotic arm; 11 - side limiting platform; 12 - middle limiting platform; 2 - sensor; 21 - sensor body; 22 - ball head bolt; 221 - ball head; 23 - shaft bolt; 231 - rotating shaft; 24 - double - end bolt; 25 - abutting platform; 26 - nut; 3 - mounting part; 31 - mounting hole. Detailed implementation manners

[0037] The following is a description of the present application based on the embodiments, but the present application is not limited to these embodiments. In the following detailed description of the present application, some specific details are described in detail. Those skilled in the art can fully understand the present application without the description of these details. In order to avoid obscuring the essence of the present application, well - known methods, processes, flows, elements, and circuits are not described in detail.

[0038] In addition, those of ordinary skill in the art should understand that the accompanying drawings provided herein are for illustrative purposes only, and the drawings are not necessarily drawn to scale.

[0039] Unless otherwise clearly defined and limited, the terms "installation", "connection", "attachment", "fixation", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0040] Unless the context clearly requires otherwise, words such as "including" and "comprising" throughout the application document shall be construed in an inclusive sense rather than an exclusive or exhaustive sense; that is, it is the meaning of "including but not limited to".

[0041] In the description of this application, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0042] Figure 1 It is the installation method of the vehicle sensor in this embodiment. This installation method calculates the difference value between the actual installation position and the theoretical installation position, and compensates and adjusts the sensor 2 according to the difference value during installation, so as to achieve the fixation of the sensor 2 within the allowable error range of the installation part 3, which can avoid readjustment after the vehicle comes off the production line and can also avoid compensation at the algorithm level of the vehicle.

[0043] As Figure 1 shown, the installation method includes:

[0044] Step S100, determining the difference amount between the theoretical installation position and the actual installation position of the sensor.

[0045] The sensor 2 can be any measurement and detection structure on the vehicle. The installation part 3 is a structure such as the body sheet metal or bumper on the vehicle for installing and fixing the sensor 2. In this embodiment, the theoretical installation position of the sensor 2 refers to the installation position of the sensor 2 on the vehicle during the modeling and design stages. This theoretical installation position is based on the coordinates of the zero point of the vehicle during modeling. Further, the theoretical installation position of the sensor 2 includes the theoretical position of the installation part 3 on the vehicle and the theoretical position of the sensor 2 on the installation part 3, including the theoretical position of the installation hole 31, the theoretical flatness of the installation part 3, the theoretical inclination angle, etc., as Figure 3 shown.

[0046] The actual installation position of sensor 2 refers to the installation position of sensor 2 on the vehicle in the state of the actual vehicle. Specifically, the actual installation position of sensor 2 includes the actual position of the mounting part 3 on the vehicle, including the actual position of the mounting hole 31, the actual flatness of the mounting part 3, the actual inclination angle, etc.

[0047] As Figure 1 shown, before determining the difference amount in step S100, the installation method further includes:

[0048] Step S10: Input the theoretical installation position of the sensor into the robot.

[0049] Since the information of the theoretical installation position of sensor 2 is determined during the vehicle modeling design. Therefore, the staff can directly input the theoretical installation position of sensor 2 into the robot in advance.

[0050] Step S20: The robot detects and obtains the actual installation position of the sensor.

[0051] The robot has a detection probe. After the mounting part 3 (such as the body sheet metal, bumper, etc.) enters the assembly line and is installed on the vehicle, the robot can detect and obtain the actual installation position of sensor 2 in the state of the actual vehicle (that is, when the mounting part 3 is installed on the vehicle) through the detection probe. In this case, the actual installation position of sensor 2 is based on the coordinates of the robot zero point. Therefore, when the robot calculates and confirms the difference value in the subsequent calculation, it is necessary to convert the theoretical installation position into the coordinates in the robot coordinate system, and then perform the calculation, so that the difference value can be accurately obtained for the robot to accurately adjust the sensor.

[0052] Since the robot has a calculation and processing element, such as a CPU. After obtaining the theoretical installation position and the actual installation position of sensor 2 in the robot, the difference value can be calculated through the calculation and processing element. The difference is also the deviation. The difference value includes the difference in the position of the mounting hole 31, the difference in flatness, the difference in inclination angle, etc. Further, when determining the calculation of the difference value, the installation tolerance can also be superimposed and calculated, so that the compensation for the installation position of sensor 2 can be accurately realized. That is to say, determining the difference amount needs to be calculated according to the theoretical installation position, the actual installation position and the installation tolerance.

[0053] Specifically, determining the difference amount between the theoretical installation position and the actual installation position of the sensor includes:

[0054] The robot obtains the coordinates of the vehicle zero point in the robot coordinate system.

[0055] The theoretical installation position of the sensor is determined during the vehicle modeling design, and this theoretical installation position is the coordinate relative to the zero position of the vehicle. Therefore, when the robot obtains the theoretical installation position of the sensor, it is necessary to convert the theoretical installation position into the coordinate in the robot coordinate system, so that the robot can detect the coordinate position of the vehicle zero point and obtain the coordinate of the vehicle zero point in the robot coordinate system.

[0056] The coordinate of the theoretical installation position in the robot coordinate system is calculated based on the coordinate of the vehicle zero point in the robot coordinate system.

[0057] The robot obtains the relative relationship between the theoretical installation position of the vehicle and the robot coordinate system according to the coordinate of the vehicle zero point in the robot coordinate system. Therefore, after obtaining the theoretical installation position, the coordinate of the theoretical installation position in the robot coordinate system can be calculated through the above relative relationship.

[0058] The actual installation position of the sensor obtained by the robot's detection is the coordinate in the robot coordinate system. Therefore, when determining the difference between the theoretical installation position and the actual installation position of the sensor, it is necessary to determine the difference according to the coordinate of the theoretical installation position in the robot coordinate system and the actual installation position of the sensor. Thus, the robot can accurately adjust the installation position of the sensor based on this difference in the subsequent process.

[0059] Step S200: The robot grabs the sensor and adjusts each fastener on the sensor according to the difference.

[0060] The robot has a robotic arm 1, which can perform operations such as clamping the sensor 2 and tightening the fasteners. After calculating and determining the difference, the robot can grab the sensor 2 through the robotic arm 1 to move the sensor 2. In one embodiment, the robotic arm 1 of the robot includes a side limiting platform 11 and a middle limiting platform 12, as Figure 4 shown. The robot grabs and moves the sensor 2 through the side limiting platform 11 and the middle limiting platform 12, so that the contact surface between the sensor 2 and the mounting part 3 and the fasteners are exposed, facilitating moving to the installation position for fixed installation.

[0061] In this embodiment, the sensor 2 includes a sensor body 21, two ball head bolts 22 and two shaft bolts 23. The two ball head bolts 22 are ball-connected at two diagonal positions of the sensor body 21, and the two shaft bolts 23 are rotatably connected at the other two diagonal positions of the sensor body 21. The included angle between the connecting shafts of the two shaft bolts 23 is 90°, as Figure 5 and Figure 6As shown in the figure. The ball head bolt 22 can realize the rotation and movement adjustment in the X, Y, and Z directions of itself. The two shaft bolts 23 are arranged at a 90-degree angle. One shaft bolt 23 can realize the rotation and movement adjustment in the X direction of itself, and the other shaft bolt 23 can realize the rotation and movement adjustment in the Y direction of itself.

[0062] When the mounting member 3 is offset when installed on the vehicle, it will cause the sensor 2 installed thereon to be offset. Thus, when the theoretical position of the mounting member 3 is offset, the sensor 2 can compensate for the position, flatness, and inclination angle of the mounting hole 31 on the mounting member 3 by adjusting the angles and positions of the ball head bolt 22 and the shaft bolt 23 during installation. Thereby, the accuracy of the installation position of the sensor 2 can be ensured.

[0063] After the ball head bolt 22 and the shaft bolt 23 rotate and move, they can be coaxially arranged with the hole positions on the mounting member 3. At this time, when the ball head bolt 22 and the shaft bolt 23 in this state position are installed and locked into the corresponding hole positions, the connection between the sensor 2 and the mounting member 3 is realized, ensuring the accuracy of the installation position of the sensor 2. Among them, the robot can control and adjust the rotation and movement sizes of the ball head bolt 22 and the shaft bolt 23 through the robotic arm 1, and its size can be adjusted according to the corresponding difference amount. In this embodiment, during the installation process of the sensor 2, the robot detects and calculates to obtain the difference amount between the theoretical installation position and the actual installation position, and then the robot adjusts the angles and positions of the fasteners on the sensor 2 according to the difference amount to realize the compensation of the offset position, improve the installation accuracy of the sensor 2, and reduce the labor cost.

[0064] Step S300: The robot moves the sensor to the installation area and presses the adjusted fasteners into the corresponding hole positions of the mounting member and locks them.

[0065] After the robot adjusts each fastener according to the difference amount, it moves the sensor 2 to the installation area, then presses the mounting member 3 into the corresponding hole positions of the mounting member 3 and locks it, completing the fixation of the sensor 2 and the mounting member 3.

[0066] As Figure 2 shown, the robot moving the sensor 2 to the installation area and pressing the adjusted fasteners into the corresponding hole positions of the mounting member 3 and locking them includes:

[0067] Step S310: The robot moves the sensor to the installation area and presses the adjusted fasteners into the corresponding hole positions of the mounting member.

[0068] When the robot adjusts each fastener according to the amount of difference and moves it to the installation area, each fastener (ball head bolt 22 and shaft bolt 23) is coaxial with the corresponding installation hole 31 on the installation part 3. Then the robot can press the fastener into the corresponding hole position, which is convenient for subsequent locking. When the robot presses the fastener into the corresponding hole position, it still needs to be determined according to the amount of difference between the actual installation position and the theoretical installation position to determine the installation height of the sensor, etc.

[0069] Step S320: The robot rotates the double-headed bolts on each fastener to abut against the installation part and locks them with nuts.

[0070] As Figure 7 shown, the ball head bolt 22 has a ball head 221 and a screw rod connected to the ball head 221. A double-headed bolt 24 is connected to the screw rod. The double-headed bolt 24 has internal threads and external threads, and an abutting platform 25 extends outward at the middle position. The ball head bolt 22 is ball-connected to the sensor 2 through the ball head 221, and the double-headed bolt 24 is threadedly connected to the screw rod. As Figure 8 shown, the shaft bolt 23 includes a rotating shaft 231 having a rotating hole and a screw rod perpendicularly connected to the rotating shaft 231. A double-headed bolt 24 is connected to the screw rod. The double-headed bolt 24 has internal threads and external threads, and an abutting platform 25 extends outward at the middle position. The shaft bolt 23 is rotationally connected to the sensor 2 through the rotating shaft 231, and the double-headed bolt 24 is threadedly connected to the screw rod.

[0071] After the robot presses the adjusted and compensated sensor 2 into the installation hole 31 of the installation part 3, the robot can rotate the double-headed bolts 24 on each fastener until the abutting platform 25 abuts against the installation part 3, and then locks them with nuts 26, that is, the fixation of the sensor 2 and the installation part 3 is completed.

[0072] The sensor 2 is tightened by the robotic arm 1 of the robot for the fastener, realizing the full-automatic assembly in the installation process of the sensor 2, saving manpower and improving the installation accuracy.

[0073] For example, when the installation part 3 is installed on a vehicle and the actual installation position of the installation part 3 has a height offset relative to the theoretical installation position, after the robot moves the sensor 2 to the installation position, it presses the fastener into the installation hole 31, then rotates the double-headed bolt 24 until the abutting platform 25 abuts against the installation part 3, and locks it with the nut 26. When the actual installation position of the installation part 3 has an angular offset relative to the theoretical installation position, the robot first rotates and compensates the fastener according to the angular offset amount, then moves the sensor 2 to the installation position, presses the fastener into the corresponding installation hole 31, rotates the double-headed bolt 24 until the abutting platform 25 abuts against the installation part 3, and locks it with the nut 26.

[0074] An embodiment of the present invention provides an installation method for a vehicle sensor. Based on the accuracy requirements of the sensor 2 itself, the influence brought by the actual environment is quantified, and the sensor 2 itself is compensated and adjusted according to the difference value, so as to realize the fixation within the allowable error range between the sensor 2 and the mounting part 3. This installation method is reliable and operable, achieving a high installation consistency of the sensor 2, ensuring the functional integrity and performance stability of the sensor 2. At the same time, this installation method can also avoid readjustment after the vehicle is off the production line and avoid correction at the algorithm level, with a high one-time success rate and resource savings.

[0075] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for installing a vehicle sensor, characterized in that, The installation method includes: Determine the difference between the theoretical installation position and the actual installation position of the sensor; The robot grabs the sensor and adjusts each fastener on the sensor according to the difference; The robot moves the sensor to the installation area and presses the adjusted fasteners into the corresponding hole positions of the installation part and locks them.

2. The installation method according to claim 1, wherein, The installation method further includes: Input the theoretical installation position of the sensor into the robot; The robot detects and obtains the actual installation position of the sensor.

3. The installation method according to claim 2, wherein The determination of the difference between the theoretical installation position and the actual installation position of the sensor includes: Calculate according to the theoretical installation position, the actual installation position and the installation tolerance to determine the difference.

4. The installation method according to claim 1, characterized in that, The sensor includes a sensor body, two ball head bolts and two shaft bolts. The two ball head bolts are ball-connected at two diagonal positions of the sensor body, and the two shaft bolts are rotatably connected at the other two diagonal positions of the sensor body. The included angle between the connecting shafts of the two shaft bolts is 90°.

5. The installation method according to claim 4, characterized in that, The adjustment of each fastener on the sensor according to the difference includes: The robot drives the two ball head bolts and the two shaft bolts to move or rotate according to the difference.

6. The installation method according to claim 1, wherein The robot moves the sensor to the installation area and presses the adjusted fasteners into the corresponding hole positions of the installation part and locks them includes: The robot moves the sensor to the installation area and presses the adjusted fasteners into the corresponding hole positions of the installation part; The robot rotates the double-headed bolts on each fastener to abut against the installation part and locks them with nuts.

7. The installation method according to claim 2, characterized in that The theoretical installation position and the actual installation position include the position of the installation hole, the flatness of the installation surface and the inclination angle of the installation surface.

8. The installation method according to claim 2, characterized in that, The determination of the difference between the theoretical installation position and the actual installation position of the sensor further includes: The robot obtains the coordinates of the vehicle zero point in the robot coordinate system; Calculate the coordinates of the theoretical installation position in the robot coordinate system according to the coordinates of the vehicle zero point in the robot coordinate system; Determine the difference according to the coordinates of the theoretical installation position in the robot coordinate system and the actual installation position of the sensor, and the actual installation position of the sensor is the coordinates of the sensor in the robot coordinate system.

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