Installation method and device for cab heat insulation pad

Abstract

The invention discloses an installation method and device for a cab heat insulation pad, and relates to the technical field of vehicle manufacturing. The method comprises the steps that collection information of a stud in a cab of a target vehicle is obtained, the collection information comprises image information, and the stud is used for installing a heat insulation pad in the cab of the target vehicle; determining point cloud data of the stud based on the collected information; based on the point cloud data, pose information of the stud is determined, and the pose information comprises position information and pose information of the stud; and based on the pose information, a control instruction is generated, and the control instruction is used for controlling the target object to install the heat insulation pad on the stud. The technical problem of low stud recognition and positioning precision in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle manufacturing, and in particular, to an installation method and device for a cab heat insulation pad. Background Art

[0002] A stud is a type of connecting piece and is widely used in the fastening connection of metal components. The application scenarios of studs are diverse, and common ones include automobiles, airplanes, electronic devices, household appliances, furniture, building structures, etc. In industrial production, the stud is fixed to the connecting piece by tightening the threaded part. During the assembly process, the stud needs to be inserted into a predetermined position with a certain accuracy. Therefore, in order to accurately position the stud, factories usually adopt a vision positioning system to position and identify the stud with a 3D vision sensor. Among them, the 3D vision sensor is usually installed at the end of the robotic arm or on the robot, and the vision positioning system is used to position and identify the target part to complete subsequent precise operations such as grasping and assembling. Usually, the 3D vision sensor uses principles such as structured light, binocular stereo vision, and lidar to achieve the positioning and identification of the target part.

[0003] In the prior art, the Chinese patent disclosed in CN111248532A discloses a point cloud feature recognition method. When using a 3D vision sensor to perform visual positioning on a target part, it extracts features from the point cloud data through a point cloud feature extraction module and matches the features through a feature matching module, thereby realizing point cloud feature recognition. However, this solution requires a large number of feature points, and the extraction and matching of feature points are relatively complex, with high accuracy requirements for the 3D vision sensor, and cannot meet the accuracy requirements for stud positioning in industrial production. The Chinese patent disclosed in CN111666240A discloses a stud assembly method based on visual positioning. It performs visual positioning on the stud through a 3D vision sensor, and then tightens the stud to a predetermined position through a visual assembly robot. However, this method only performs visual positioning through a 3D vision sensor and cannot solve the recognition problem in stud assembly, resulting in low assembly efficiency.

[0004] In summary, the recognition and positioning systems in the prior art cannot meet the requirements for accurate recognition and positioning of studs in industrial production, and there are problems such as low recognition and positioning accuracy and low assembly efficiency.

[0005] In response to the above problems, no effective solution has been proposed yet. Summary of the Invention

[0006] An embodiment of the present invention provides an installation method and device for a cab heat insulation pad to at least solve the technical problem of low accuracy of stud recognition and positioning in the prior art.

[0007] According to one aspect of an embodiment of the present invention, there is provided a method for installing a cab heat insulation pad, including: obtaining acquisition information of studs in the cab of a target vehicle, where the acquisition information includes image information, and the studs are used for installing the heat insulation pad in the cab of the target vehicle; determining point cloud data of the studs based on the acquisition information; determining pose information of the studs based on the point cloud data, where the pose information includes position information and attitude information of the studs; generating a control instruction based on the pose information, and the control instruction is used to control a target object to install the heat insulation pad onto the studs.

[0008] Optionally, obtaining image information of the studs in the cab of the target vehicle includes: in response to the image information being in an unclear state, adjusting the position and angle of a visual sensor to obtain the image information; or in response to the image information being in a clear state, obtaining the image information.

[0009] Optionally, determining the pose information of the studs based on the point cloud data includes: splicing the point cloud data to obtain a 3D point cloud model of the studs; determining the pose information of the studs based on the 3D point cloud model.

[0010] Optionally, determining the point cloud data of the studs based on the acquisition information includes: obtaining lidar data information of the studs, where the lidar data includes: distance data information, three-dimensional point cloud data information, reflection intensity data information, and angle data information of the studs; fusing the lidar data information with the acquisition information to obtain fused acquisition information; determining the point cloud data of the studs based on the fused acquisition information.

[0011] Optionally, fusing the lidar data information with the acquisition information to obtain fused acquisition information includes: obtaining inertial measurement unit data information of the studs, where the inertial measurement unit data information includes: acceleration information and acceleration information of the studs; fusing the lidar data information, the inertial measurement unit data information with the acquisition information to obtain fused acquisition information.

[0012] Optionally, determining the pose information of the studs based on the point cloud data includes: obtaining lidar data, where the lidar data includes: distance data, three-dimensional point cloud data, reflection intensity data, and angle data; fusing the lidar data with the point cloud data; splicing the point cloud data to obtain a 3D point cloud model of the studs; determining the pose information of the studs based on the 3D point cloud model.

[0013] Optionally, before determining the point cloud data of the studs based on the acquisition information, the method includes: obtaining the environmental state of the studs in the cab of the target vehicle, where the environmental state includes at least one of the following: shaking state, stable state; in response to the environmental state being a shaking state, re-obtaining the acquisition information.

[0014] Optionally, before determining the point cloud data of the stud based on the acquired information, the method includes: obtaining the environmental state of the stud in the cab of the target vehicle, where the environmental state includes at least one of the following: shaking state, stable state, normal lighting state, and abnormal lighting state; in response to the environmental state satisfying the first preset condition as the shaking state or the abnormal lighting state, removing abnormal points from the currently acquired acquisition information, and reacquiring the acquisition information when the current environmental state of the stud satisfies the second preset state.

[0015] According to another aspect of the embodiments of the present invention, there is also provided a stud installation device for a cab heat insulation pad, including: an acquisition module for acquiring the acquisition information of the studs in the cab of the target vehicle, where the acquisition information includes image information, and the studs are used to install the heat insulation pad in the cab of the target vehicle; a data conversion module for determining the point cloud data of the studs based on the acquisition information; a determination module for determining the pose information of the studs based on the point cloud data, where the pose information includes the position information and the attitude information of the studs; an installation module for generating a control instruction based on the pose information, and the control instruction is used to control the target object to install the heat insulation pad onto the studs.

[0016] According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, where the computer-readable storage medium includes a stored executable program, and when the executable program runs, it controls the device where the computer-readable storage medium is located to execute the methods in the various embodiments of the present invention.

[0017] In the embodiments of the present invention, by combining image acquisition information with 3D point cloud technology, the pose information of the studs in the cab is accurately obtained, and based on the pose information, the studs of the cab heat insulation pad are installed, reducing the rework rate caused by incorrect position recognition, optimizing the assembly process, thereby achieving the technical effect of providing key technical support for the automatic installation of the cab heat insulation pad, and further solving the technical problem of low accuracy of stud recognition and positioning in the prior art. Description of the Drawings

[0018] The drawings described herein are used to provide a further understanding of the present invention, form a part of this application, and the illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0019] Figure 1 is a flowchart of an optional installation method for a cab heat insulation pad according to an embodiment of the present invention;

[0020] Figure 2 is a flowchart of an optional installation method for a cab heat insulation pad according to an embodiment of the present invention;

[0021] Figure 3It is a structural block diagram of an optional installation device for a cab heat insulation pad according to an embodiment of the present invention. Detailed implementation manners

[0022] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0024] According to an embodiment of the present invention, an embodiment of a stud installation method for a cab heat insulation pad is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0025] Embodiments of the method can be executed in an electronic device including a memory and a processor or a similar computing device. Taking running on an electronic device as an example, the electronic device may include one or more processors (the processor may include, but is not limited to, a processing device such as a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Digital Signal Processing (DSP) chip, a MicroController Unit (MCU), a Field Programmable Gate Array (FPGA), a Neural-network Processor Unit (NPU), a Tensor Processing Unit (TPU), an Artificial Intelligence (AI) type processor, etc.) and a memory for storing data. Optionally, the above-mentioned electronic device may further include a transmission device, an input / output device, and a display device for communication functions. Those of ordinary skill in the art can understand that the above structural description is only illustrative and does not limit the structure of the above electronic device. For example, the electronic device may further include more or fewer components than the above structural description, or have a different configuration from the above structural description.

[0026] The memory can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the stud installation method for the cab heat insulation pad in the embodiments of the present invention. The processor executes various functional applications and data processing by running the computer program stored in the memory, that is, implements the above-mentioned stud installation method for the cab heat insulation pad. The memory may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memories. In some instances, the memory may further include a memory remotely located relative to the processor, and these remote memories can be connected to the mobile terminal through a network. Examples of the above network include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0027] The transmission device is used to receive or send data via a network. Specific examples of the above-mentioned network may include a wireless network provided by a communication provider of a mobile terminal. In one example, the transmission device includes a network adapter (Network Interface Controller, abbreviated as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device can be a Radio Frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0028] The display device can be, for example, a touch-screen liquid crystal display (Liquid Crustal Display, LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display enables a user to interact with the user interface of the mobile terminal. In some embodiments, the above-mentioned mobile terminal has a Graphical User Interface (GUI), and the user can perform human-computer interaction with the GUI through finger contacts and / or gestures on the touch-sensitive surface. The human-computer interaction function herein may optionally include the following interactions: creating web pages, drawing, word processing, creating electronic documents, games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital videos, playing digital music, and / or web browsing, etc. The executable instructions for performing the above human-computer interaction functions are configured / stored in a computer program product or a readable storage medium executable by one or more processors.

[0029] Figure 1 is a method according to an embodiment of the present invention, as Figure 1 shown, the method includes the following steps:

[0030] Step S102, obtain the acquisition information of the studs in the cab of the target vehicle, where the acquisition information includes image information, and the studs are used to install the heat insulation pad in the cab of the target vehicle.

[0031] Step S104, based on the acquisition information, determine the point cloud data of the studs.

[0032] Step S106, based on the point cloud data, determine the pose information of the studs, where the pose information includes the position information and the attitude information of the studs.

[0033] Step S108, based on the pose information, generate a control instruction, and the control instruction is used to control the target object to install the heat insulation pad on the studs.

[0034] In step S102, the interior of the cab is photographed from multiple angles by a 3D vision sensor to obtain the image information containing the studs, ensuring that the studs can be fully captured even in a complex or occluded environment.

[0035] In step S104, the acquired image information is converted into point cloud data to construct a three-dimensional model of the stud. The point cloud data can provide the accurate spatial position and details of the stud, which is beneficial to subsequent pose analysis.

[0036] In step S106, using the point cloud data processing algorithm, the pose information of the stud, including position and orientation, is analyzed and determined. High-precision pose information is the basis for the automatic installation of the heat insulation pad, ensuring the accuracy of the installation.

[0037] In step S108, based on the pose information of the stud, control instructions are generated. These instructions will guide the automatic assembly system (such as a collaborative robot) on how to accurately install the heat insulation pad onto the stud, including operations such as positioning, grasping, aligning, and fixing the heat insulation pad. The generation of the control instructions takes into account the dynamic changes of the stud and the uncertainties during the assembly process, ensuring the automation, efficiency, and accuracy of the assembly process.

[0038] Based on steps S102 - S108, by integrating multi-view image acquisition, point cloud data processing, and robot control technologies, the problems of inaccurate position recognition and low efficiency in the traditional installation of heat insulation pads on studs are solved, providing strong technical support for the automation on the vehicle assembly line.

[0039] As an alternative implementation, obtaining the image information of the studs in the cab of the target vehicle includes:

[0040] Step S201, in response to the image information being in an unclear state, adjust the position and angle of the vision sensor to obtain the image information.

[0041] Step S202, in response to the image information being in a clear state, obtain the image information.

[0042] In step S201, first evaluate the quality of the image information obtained from the vision sensor. If the image information is determined to be in an unclear state, it may be due to factors such as improper angle between the sensor and the stud, too far distance, or poor environmental lighting conditions. At this time, the system will automatically or manually adjust the position and angle of the vision sensor to optimize the image acquisition conditions. The goal of the adjustment is to ensure that the sensor can capture the stud from the most favorable angle for recognition, while avoiding shadows or occlusion by other objects, so as to obtain clear and detailed image information. In step S202, once it is confirmed that the stud image information is in a clear state, that is, the shape, position, and orientation of the stud can be accurately presented in the image, the sensor will immediately capture and save this high-quality image information. Clear image information is the key basis for subsequent point cloud data processing and stud pose recognition, ensuring the accuracy and reliability of the overall system.

[0043] Based on steps S201 - S202, through the above - mentioned optional implementation manners, even in a challenging cab interior environment, high - quality stud images can be continuously captured, providing solid data support for subsequent stud recognition and automated heat - insulation pad assembly, and further improving the accuracy and efficiency of the assembly.

[0044] Optionally, based on the point - cloud data, determine the pose information of the stud, including:

[0045] Step S211, splice the point - cloud data to obtain a 3D point - cloud model of the stud;

[0046] Step S212, based on the 3D point - cloud model, determine the pose information of the stud.

[0047] In step S211, use a point - cloud splicing algorithm to merge the point - cloud data collected from different angles to generate a complete and high - precision 3D point - cloud model. The point - cloud splicing takes into account the relative positions and postures between various sensors, as well as the time synchronization of the point - cloud data, ensuring that the merged 3D model can accurately reflect the true position of the stud in the cab and the surrounding environment.

[0048] In step S212, based on the constructed 3D point - cloud model, use point - cloud processing and feature - recognition algorithms to determine the specific pose information of the stud, including identifying the center position of the stud, the axial direction of the stud, and the rotation angle of the stud relative to the reference coordinate system. Approximate the shape of the stud by fitting a cylinder, and compare and analyze the positions and directions of each cylindrical feature point to finally obtain the accurate position and pose of the stud, providing key data support for subsequent heat - insulation pad assembly.

[0049] Based on steps S211 - S212, through such a method, even in the face of complex cab interior structures and potential occlusion situations, the pose information of each stud can be accurately determined, thus ensuring that the automated heat - insulation pad assembly process is both efficient and accurate.

[0050] Optionally, based on the acquisition information, determine the point - cloud data of the stud, including:

[0051] Step S221, obtain the lidar data information of the stud, where the lidar data includes: distance data information of the stud, three - dimensional point - cloud data information, reflection intensity data information, and angle data information.

[0052] Step S222, fuse the lidar data information with the acquisition information to obtain the fused acquisition information.

[0053] Step S223, based on the fused acquisition information, determine the point - cloud data of the stud.

[0054] In step S221, a lidar is used to perform high-precision scanning on the stud, and lidar data including distance data information, three-dimensional point cloud data information, reflection intensity data information, and angle data information is obtained. The distance data provides a direct distance measurement between the stud and the sensor. The three-dimensional point cloud data describes the geometric shape and spatial distribution of the stud. The reflection intensity data reflects the properties of the stud material, and the angle data information indicates the direction of the stud relative to the lidar.

[0055] In step S222, the obtained lidar data is fused with the image information captured by the vision sensor. Through sensor data fusion algorithms, such as registration based on feature matching, weighted fusion based on probability density functions, etc., the accurate distance and angle information of the lidar is combined with the visual semantic information of the image to generate a comprehensive data set containing the position, shape, and environmental context of the stud.

[0056] In step S223, based on the fused acquisition information, the point cloud data of the stud is determined through point cloud data processing techniques, including but not limited to steps such as point cloud registration, feature point extraction, noise reduction, and smoothing, to ensure the accuracy and reliability of the point cloud data to support subsequent stud pose analysis.

[0057] Based on steps S221 - S223, by combining the data of the lidar and the vision sensor, this method can not only overcome the limitations that may exist in a single sensor under certain conditions, but also enhance the richness and accuracy of the point cloud data, providing an important guarantee for accurately identifying the stud pose and efficiently assembling the heat insulation pad.

[0058] Optionally, the lidar data information is fused with the acquisition information to obtain the fused acquisition information, including:

[0059] Step S231, obtaining the inertial measurement unit data information of the stud. The inertial measurement unit data information includes: the acceleration information and the acceleration information of the stud.

[0060] Step S232, fusing the lidar data information, the inertial measurement unit data information with the acquisition information to obtain the fused acquisition information.

[0061] In step S231, the inertial measurement unit (IMU) data information of the stud in the cab of the target vehicle is obtained. The IMU data information mainly includes the acceleration information and angular velocity information of the stud. These information can reflect the dynamic characteristics of the stud, including its motion state and attitude changes. The acceleration information helps to understand whether the stud is in a stationary state or under what acceleration it is moving, while the angular velocity information provides real-time data on the rotation or tilt of the stud.

[0062] In step S232, the lidar data information, IMU data information, and the image acquisition information obtained by the vision sensor are fused. During the fusion process, various advanced algorithms can be used, such as the Kalman filter, extended Kalman filter, or particle filter technology for multi-sensor data fusion, to comprehensively analyze and correct the information provided by different sensors. The lidar provides static position and shape data, the IMU provides dynamic attitude and motion information, and the image acquisition information contains rich visual features. By fusing this information, a more comprehensive and dynamic three-dimensional model can be constructed to accurately reflect the real-time position and attitude of the stud in the cab.

[0063] Based on steps S231 - S232, the fused acquisition information will contain the static and dynamic characteristics of the stud, providing richer and more accurate data support for subsequent point cloud data processing and stud pose recognition, which helps to achieve a more efficient and precise automated assembly process.

[0064] Optionally, based on the point cloud data, determine the pose information of the stud, including:

[0065] Step S241, obtain lidar data, where the lidar data includes: distance data, three-dimensional point cloud data, reflection intensity data, and angle data.

[0066] Step S242, fuse the lidar data with the point cloud data.

[0067] Step S243, splice the point cloud data to obtain a 3D point cloud model of the stud.

[0068] Step S244, based on the 3D point cloud model, determine the pose information of the stud.

[0069] In step S241, the lidar is used to collect the stud data in the target area. The lidar data includes distance data, three-dimensional point cloud data, reflection intensity data, and angle data. These data can provide the precise position, shape, and the characteristics of the surface material of the stud in space, which are the basis for constructing the 3D model of the stud.

[0070] In step S242, the lidar data is fused with the previously obtained point cloud data (such as the point cloud data obtained from other sensors or previous scans). During the fusion process, a point cloud registration algorithm is required to ensure that all data is based on the same reference coordinate system, thereby constructing a complete and consistent point cloud data set.

[0071] In step S243, the fused point cloud data is spliced to obtain a 3D point cloud model of the stud. This usually includes steps such as point cloud downsampling, feature matching, and point cloud registration to reduce data redundancy, improve processing speed, and ensure the accuracy and integrity of the model.

[0072] In step S244, based on the constructed 3D point cloud model, a point cloud processing algorithm is applied to determine the pose information of the stud. This includes identifying the center point, axial direction, tilt angle, etc. of the stud, and may involve techniques such as cylinder fitting, feature point extraction, and pose estimation. Finally, the precise position and pose of the stud in three-dimensional space are output.

[0073] Based on steps S241 - S244, through the fusion and further processing of lidar data and point cloud data, more accurate and comprehensive stud pose information can be provided, effectively supporting precise positioning and pose adjustment in the automated assembly process, thereby improving the assembly efficiency and quality.

[0074] As an optional embodiment, before determining the point cloud data of the stud based on the acquired information, the method includes:

[0075] Step S251, obtaining the environmental state of the stud in the cab of the target vehicle, where the environmental state includes at least one of the following: shaking state, stable state.

[0076] Step S252, in response to the environmental state being the shaking state, reacquiring the acquired information.

[0077] In step S251, the environmental state of the stud in the cab of the target vehicle is monitored in real time, specifically including but not limited to the shaking state and stable state of the cab. This can be achieved through sensors (such as accelerometers, gyroscopes, etc.) installed inside the cab, which can capture the minute vibrations or movements of the cab during the assembly process and timely feedback the stability of the environment where the stud is located.

[0078] In step S252, when the monitored environmental state is the shaking state, the system will automatically reacquire the acquired information. This means that if the cab shakes during the assembly process, resulting in possible changes in the position information of the stud or a decline in the quality of the acquired data, the system will immediately trigger the reacquisition process, using devices such as lidar, vision sensors, and IMU to obtain the latest data of the stud again, ensuring that the accuracy of the point cloud model and the stud pose information is not affected by environmental dynamic factors.

[0079] Based on steps S251 - S252, by implementing the above steps, the system can quickly respond to changes in the internal environment of the cab, ensuring that high-quality stud information can be continuously obtained even in a dynamic or unstable environment, providing reliable data support for subsequent stud positioning and heat insulation pad assembly, thereby improving the efficiency and reliability of the overall assembly process.

[0080] As an optional embodiment, before determining the point cloud data of the stud based on the acquired information, the method includes:

[0081] Step S261: Obtain the environmental state of the stud in the cab of the target vehicle. The environmental state includes at least one of the following: shaking state, stable state, normal lighting state, and abnormal lighting state.

[0082] Step S262: In response to the environmental state satisfying the first preset condition, which is the shaking state or the abnormal lighting state, eliminate the abnormal points from the currently collected acquisition information, and re-obtain the acquisition information when the environmental state of the current stud satisfies the second preset state.

[0083] In step S261, the system continuously monitors the environmental state of the stud in the cab of the target vehicle, including whether the cab is in a shaking state, whether the environment is in a stable state, and whether the lighting condition is in the normal lighting state or the abnormal lighting state. The monitoring of these states is crucial for accurately identifying the stud because shaking or abnormal lighting may introduce additional noise and affect the quality of the image or point cloud data.

[0084] In step S262, if the monitored environmental state satisfies the first preset condition, that is, the cab is in a shaking state or the lighting condition is abnormal, the system will eliminate the abnormal points from the currently collected information. This step involves data analysis and filtering techniques, such as setting thresholds or using statistical methods to identify and remove the point cloud data points that are significantly deviated from the normal values due to environmental interference. The data in the shaking state may show discontinuous or jumping characteristics, and in the abnormal lighting state, the data may be affected by high noise or low contrast. Eliminating the abnormal points can effectively improve the purity and reliability of the point cloud data and avoid recognition errors caused by environmental factors. Immediately afterwards, the system will restart the acquisition process and wait for the environmental state to satisfy the second preset condition, that is, the cab is stable and in the normal lighting condition. At this time, the system re-obtains high-quality acquisition information, including clear images and accurate point cloud data, to ensure that the identification and pose determination of the stud are not interfered.

[0085] Based on steps S261 - S262, this process ensures that even under adverse environmental conditions, the system can obtain the acquisition information that meets the requirements through dynamic adjustment and data filtering. Eliminating the abnormal points and continuously monitoring the environmental state are the key measures to improve the recognition accuracy of the stud and enhance the robustness of the system, which have a significant positive impact on the stability of the automated assembly process. By effectively handling environmental interference, the system can complete the assembly task of the front and rear heat insulation pads more intelligently and efficiently.

[0086] Figure 2 It is a flowchart of another installation method of the cab heat insulation pad according to an embodiment of the present invention. As Figure 2 shown, the method includes the following steps:

[0087] Step S201, in response to the image information being in an unclear state, adjust the position and angle of the vision sensor to obtain the image information.

[0088] Step S202, in response to the image information being in a clear state, obtain the image information.

[0089] Step S211, splice the point cloud data to obtain a 3D point cloud model of the stud;

[0090] Step S212, based on the 3D point cloud model, determine the pose information of the stud.

[0091] Step S221, obtain the lidar data information of the stud, where the lidar data includes: distance data information, three-dimensional point cloud data information, reflection intensity data information, and angle data information of the stud.

[0092] Step S222, fuse the lidar data information with the acquisition information to obtain the fused acquisition information.

[0093] Step S223, based on the fused acquisition information, determine the point cloud data of the stud.

[0094] Step S231, obtain the inertial measurement unit data information of the stud, and the inertial measurement unit data information includes: acceleration information and acceleration information of the stud.

[0095] Step S232, fuse the lidar data information, inertial measurement unit data information with the acquisition information to obtain the fused acquisition information.

[0096] Step S241, obtain the lidar data, where the lidar data includes: distance data, three-dimensional point cloud data, reflection intensity data, and angle data.

[0097] Step S242, fuse the lidar data with the point cloud data.

[0098] Step S243, splice the point cloud data to obtain a 3D point cloud model of the stud.

[0099] Step S244, based on the 3D point cloud model, determine the pose information of the stud.

[0100] Step S251, obtain the environmental state of the stud in the cab of the target vehicle, and the environmental state includes at least one of the following: shaking state, stable state.

[0101] Step S252, in response to the environmental state being a shaking state, re-obtain the acquisition information.

[0102] Step S261, obtaining the environmental state of the stud in the cab of the target vehicle, where the environmental state includes at least one of the following: a shaking state, a stable state, a normal lighting state, and an abnormal lighting state.

[0103] Step S262, in response to the environmental state satisfying the first preset condition of being a shaking state or an abnormal lighting state, outliers are removed from the currently collected information, and the collected information is re-acquired when the environmental state of the current stud satisfies the second preset state.

[0104] Based on the above steps S201 to S262, in the embodiment of the present invention, please ensure the clarity of the image by dynamically adjusting the angle of the visual sensor, and enhance the accuracy of the point cloud model by combining the laser radar data. Even in challenging environments such as shaking cabs or poor lighting, abnormal points can be effectively eliminated and high-quality data can be re-acquired, which significantly improves the accuracy and robustness of stud position recognition. Multi-sensor information fusion and intelligent environmental monitoring are used to construct a high-fidelity 3D point cloud model, which provides precise guidance for the automated assembly of front and rear thermal insulation pads, greatly optimizes the assembly process, and reduces the error assembly rate, thereby achieving the technical effect of improving production efficiency and product quality, and thus solving the technical problem of low stud identification and positioning accuracy in the prior art.

[0105] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0106] In an embodiment of the present invention, a device for installing a cab thermal insulation pad is also provided, and the device is used to implement the above-mentioned embodiments and preferred embodiments, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0107] Figure 3 1 is a structural block diagram of a device for installing a cab heat insulation pad according to one embodiment of the present invention. Figure 3 As shown, the device comprises:

[0108] An acquisition module 301, configured to acquire acquisition information of studs in the cab of a target vehicle, where the acquisition information includes image information, and the studs are used to install a heat insulation pad in the cab of the target vehicle;

[0109] A data conversion module 302, configured to determine point cloud data of the studs based on the acquisition information;

[0110] A determination module 303, configured to determine pose information of the studs based on the point cloud data, where the pose information includes position information and attitude information of the studs;

[0111] An installation module 304, configured to generate a control instruction based on the pose information, where the control instruction is used to control a target object to install the heat insulation pad onto the studs.

[0112] Optionally, the acquisition module 301 is further configured to acquire image information of the studs in the cab of the target vehicle, including: in response to the image information being in an unclear state, adjusting the position and angle of a visual sensor to acquire the image information; or in response to the image information being in a clear state, acquiring the image information.

[0113] Optionally, the determination module 303 is further configured to determine pose information of the studs based on the point cloud data, including: splicing the point cloud data to obtain a 3D point cloud model of the studs; and determining the pose information of the studs based on the 3D point cloud model.

[0114] Optionally, the data conversion module 302 is further configured to determine point cloud data of the studs based on the acquisition information, including: acquiring lidar data information of the studs, where the lidar data includes: distance data information, 3D point cloud data information, reflection intensity data information, and angle data information of the studs; fusing the lidar data information with the acquisition information to obtain fused acquisition information; and determining the point cloud data of the studs based on the fused acquisition information.

[0115] Optionally, the data conversion module 302 is further configured to fuse the lidar data information with the acquisition information to obtain fused acquisition information, including: acquiring inertial measurement unit data information of the studs, where the inertial measurement unit data information includes: acceleration information and acceleration information of the studs; and fusing the lidar data information, the inertial measurement unit data information with the acquisition information to obtain the fused acquisition information.

[0116] Optionally, the determination module 303 is further configured to determine pose information of the studs based on the point cloud data, including: acquiring lidar data, where the lidar data includes: distance data, 3D point cloud data, reflection intensity data, and angle data; fusing the lidar data with the point cloud data; splicing the point cloud data to obtain a 3D point cloud model of the studs; and determining the pose information of the studs based on the 3D point cloud model.

[0117] Optionally, the obtaining module 301 is further configured to obtain the environmental state of the stud in the cab of the target vehicle, where the environmental state includes at least one of the following: shaking state, stable state; in response to the environmental state being the shaking state, re-obtain the acquisition information.

[0118] Optionally, the obtaining module 301 is further configured to obtain the environmental state of the stud in the cab of the target vehicle, where the environmental state includes at least one of the following: shaking state, stable state, normal illumination state, and abnormal illumination state; in response to the environmental state meeting the first preset condition being the shaking state or the abnormal illumination state, remove the abnormal points from the currently collected acquisition information, and re-obtain the acquisition information when the environmental state of the current stud meets the second preset state.

[0119] It should be noted that the above-mentioned various modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to this: the above-mentioned modules are all located in the same processor; or, the above-mentioned various modules are located in different processors in any combination form.

[0120] According to one embodiment of the present invention, there is also provided an electronic device, including: a memory storing an executable program; a processor for running the program, where when the program runs, it executes the above-mentioned method for installing the stud for the cab heat insulation pad.

[0121] Optionally, in this embodiment, the above-mentioned processor can be set to execute the following steps through a computer program:

[0122] Step S102, obtain the acquisition information of the stud in the cab of the target vehicle, where the acquisition information includes image information, and the stud is used to install the heat insulation pad in the cab of the target vehicle.

[0123] Step S104, based on the acquisition information, determine the point cloud data of the stud.

[0124] Step S106, based on the point cloud data, determine the pose information of the stud, where the pose information includes the position information and the attitude information of the stud.

[0125] Step S108, based on the pose information, generate a control instruction, and the control instruction is used to control the target object to install the heat insulation pad on the stud.

[0126] According to one embodiment of the present invention, there is also provided a computer-readable storage medium, where the computer-readable storage medium includes a stored executable program, and when the executable program runs, it controls the device where the storage medium is located to execute the above-mentioned method for installing the stud for the cab heat insulation pad.

[0127] Optionally, in this embodiment, the above-mentioned storage medium can be set to store a computer program for executing the following steps:

[0128] Step S102: Obtain the acquisition information of the studs in the cab of the target vehicle. The acquisition information includes image information, and the studs are used to install the heat insulation pad in the cab of the target vehicle.

[0129] Step S104: Determine the point cloud data of the studs based on the acquisition information.

[0130] Step S106: Determine the pose information of the studs based on the point cloud data. The pose information includes the position information and the attitude information of the studs.

[0131] Step S108: Generate a control instruction based on the pose information. The control instruction is used to control the target object to install the heat insulation pad onto the studs.

[0132] Optionally, in this embodiment, the above storage medium may include but is not limited to: USB flash drive, read-only memory (ROM for short), random access memory (RAM for short), mobile hard disk, magnetic disk or optical disc, etc., various media that can store computer programs.

[0133] According to one embodiment of the present invention, there is also provided a computer program product, including a computer program, which when executed by a processor, implements the above-mentioned stud installation method for the cab heat insulation pad.

[0134] Optionally, in this embodiment, the above computer program product may be set to a computer program that executes the following steps:

[0135] Step S102: Obtain the acquisition information of the studs in the cab of the target vehicle. The acquisition information includes image information, and the studs are used to install the heat insulation pad in the cab of the target vehicle.

[0136] Step S104: Determine the point cloud data of the studs based on the acquisition information.

[0137] Step S106: Determine the pose information of the studs based on the point cloud data. The pose information includes the position information and the attitude information of the studs.

[0138] Step S108: Generate a control instruction based on the pose information. The control instruction is used to control the target object to install the heat insulation pad onto the studs.

[0139] In the above embodiments of the present invention, the descriptions of each embodiment have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0140] In several embodiments provided by the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units can be a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be through some interfaces. The indirect couplings or communication connections of units or modules can be in electrical or other forms.

[0141] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0142] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0143] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: USB flash drives, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), mobile hard disks, magnetic disks or optical disks and other various media that can store program codes.

[0144] The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A method for installing a cab heat insulation pad, characterized in that Including: Obtain the acquisition information of the studs in the cab of the target vehicle, where the acquisition information includes image information, and the studs are used to install the heat insulation pad in the cab of the target vehicle; Based on the acquisition information, determine the point cloud data of the studs; Based on the point cloud data, determine the pose information of the studs, where the pose information includes the position information and the attitude information of the studs; Based on the pose information, generate a control instruction, and the control instruction is used to control the target object to install the heat insulation pad on the studs.

2. The method according to claim 1, characterized in that Obtain the image information of the studs in the cab of the target vehicle, including: In response to the image information being in an unclear state, adjust the position and angle of the visual sensor to obtain the image information; or In response to the image information being in a clear state, obtain the image information.

3. The method according to claim 1 or 2, characterized in that, Based on the point cloud data, determine the pose information of the studs, including: Stitch the point cloud data to obtain a 3D point cloud model of the studs; Based on the 3D point cloud model, determine the pose information of the studs.

4. The method according to claim 3, wherein Based on the acquisition information, determine the point cloud data of the studs, including: Obtain the lidar data information of the studs, where the lidar data includes: distance data information, three-dimensional point cloud data information, reflection intensity data information, and angle data information of the studs; Fuse the lidar data information with the acquisition information to obtain the fused acquisition information; Based on the fused acquisition information, determine the point cloud data of the studs.

5. The method according to claim 4, characterized in that Fuse the lidar data information with the acquisition information to obtain the fused acquisition information, including: Obtain the inertial measurement unit data information of the studs, where the inertial measurement unit data information includes: acceleration information and acceleration information of the studs; Fuse the lidar data information, the inertial measurement unit data information with the acquisition information to obtain the fused acquisition information.

6. The method according to claim 4 or 5, characterized in that, Based on the point cloud data, determine the pose information of the studs, including: Obtain lidar data, where the lidar data includes: distance data, three-dimensional point cloud data, reflection intensity data, and angle data; Fuse the lidar data with the point cloud data; Stitch the point cloud data to obtain a 3D point cloud model of the studs; Based on the 3D point cloud model, determine the pose information of the studs.

7. The method according to any one of claims 1, 2, 4, and 5, characterized in that Before determining the point cloud data of the studs based on the acquisition information, the method includes: Obtain the environmental state of the studs in the cab of the target vehicle, where the environmental state includes at least one of the following: shaking state, stable state; In response to the environmental state being a shaking state, re-obtain the acquisition information.

8. The method according to any one of claims 1, 2, 4, and 5, characterized in that Before determining the point cloud data of the studs based on the acquisition information, the method includes: Obtain the environmental state of the studs in the cab of the target vehicle, where the environmental state includes at least one of the following: shaking state, stable state, normal light state, and abnormal light state; In response to the environmental state satisfying a first preset condition, abnormal points are removed from the currently collected acquisition information, and the acquisition information in the case where the environmental state of the current stud satisfies a second preset state is acquired again.

9. An installation device for a cab heat insulation pad, characterized in that, It includes: An acquisition module, configured to acquire acquisition information of a stud in a cab of a target vehicle, where the acquisition information includes image information, and the stud is used to install a heat insulation pad in the cab of the target vehicle; A data conversion module, configured to determine point cloud data of the stud based on the acquisition information; A determination module, configured to determine pose information of the stud based on the point cloud data, where the pose information includes position information and attitude information of the stud; An installation module, configured to generate a control instruction based on the pose information, where the control instruction is used to control a target object to install the heat insulation pad on the stud.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored executable program, where when the executable program runs, it controls the device where the storage medium is located to execute the method according to any one of claims 1 to 8.

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