Assembling method, device and equipment for uniformizing gap between vehicle door and vehicle body and medium

Abstract

The invention relates to the technical field of vehicle assembling, in particular to a vehicle door and vehicle body gap uniformization assembling method and device, equipment and a medium, and the method comprises the steps that multiple intersection points formed at a gap between a vehicle door and a vehicle body irradiated by stripe light beams in the assembling process are obtained; generating point cloud data between the vehicle door and the vehicle body according to the coordinates of the plurality of intersection points, and calculating a relative position relation between the vehicle door and the vehicle body according to the point cloud data; displacement between the vehicle door and the vehicle body is determined according to the relative position relation, and the displacement between the vehicle door and the vehicle body is decomposed into displacement vectors in different directions; and fitting the displacement vectors in different directions based on a least square method, determining a target assembly position for uniformizing the gap between the vehicle door and the vehicle body according to a fitting result, and assembling the vehicle door based on the target assembly position. Therefore, the problem of how to improve the assembly precision of the gap between the vehicle door and the vehicle body is solved.

Description

Technical Field

[0001] This application relates to the technical field of vehicle assembly, and particularly to an assembly method, device, equipment and medium for uniformizing the gap between a car door and a vehicle body. Background Art

[0002] In the modern automobile manufacturing process, the assembly accuracy between the car door and the vehicle body is directly related to the appearance quality, sealing performance, structural strength and safety performance of the vehicle. The uniformity of the gap between the car door and the vehicle body is a key indicator. When the gap between the car door and the vehicle body is uneven, it will affect the sealing performance, resulting in problems such as noise or water ingress in the vehicle. In addition, uneven gaps will also have a negative impact on the appearance of the vehicle body, reducing the appearance quality of the vehicle and the consumer experience.

[0003] In related technologies, it is usually relied on manual measurement or fixed templates to determine the gap between the car door and the vehicle body. This method not only has low efficiency and poor accuracy, but also has manual errors, making it difficult to ensure high precision and consistency. Moreover, the adjustment of the relative position between the door and the vehicle body mostly relies on rough mechanical adjustment or manual correction, and real-time automatic adjustment cannot be achieved. Summary of the Invention

[0004] This application provides an assembly method, device, equipment and medium for uniformizing the gap between a car door and a vehicle body to solve the problem of how to improve the assembly accuracy of the gap between the car door and the vehicle body.

[0005] The first aspect of the embodiments of this application provides an assembly method for uniformizing the gap between a car door and a vehicle body, including the following steps: obtaining a plurality of intersection points formed by a fringe beam irradiating the gap between the car door and the vehicle body during the assembly process; generating point cloud data between the car door and the vehicle body according to the coordinates of the plurality of intersection points, and calculating the relative position relationship between the car door and the vehicle body according to the point cloud data; determining the displacement between the car door and the vehicle body according to the relative position relationship, and decomposing the displacement between the car door and the vehicle body into displacement vectors in different directions; fitting the displacement vectors in different directions based on the least squares method, determining the target assembly position for uniformizing the gap between the car door and the vehicle body according to the fitting result, and assembling the car door based on the target assembly position.

[0006] Optionally, before obtaining a plurality of intersection points formed by a fringe beam irradiating the gap between the car door and the vehicle body during the assembly process, it includes: obtaining an assembly instruction for the car door; using the assembly instruction to control the robot to move to the target position of the car door, wherein the robot drives the car door to move to the target position of the vehicle body; controlling the end effector of the robot to adjust the height of the car door to be the same as the height of the vehicle body, and controlling the camera at the end of the robot's manipulator to emit a fringe beam to irradiate the gap between the car door and the vehicle body.

[0007] Optionally, before controlling the end - effector camera of the robot to emit a striped beam to irradiate the gap between the car door and the vehicle body, it further includes: calibrating the manipulator and the end - effector to obtain the transformation relationship between the internal coordinate system of the manipulator and the end - coordinate system, calibrating the camera installed at the end of the manipulator, and establishing the mapping relationship between the camera and the manipulator coordinate system based on the transformation relationship; establishing the global coordinate system of the whole vehicle through the calibration points on the vehicle body and the mapping relationship, and establishing the mapping relationship between the whole vehicle and the manipulator coordinate system according to the global coordinate system of the whole vehicle.

[0008] Optionally, calculating the relative position relationship between the car door and the vehicle body according to the point cloud data includes: extracting multiple feature points representing the intersection points of the car door and the vehicle body contour in the point cloud data; calculating the relative position relationship between the car door and the vehicle body according to the coordinates of the multiple feature points.

[0009] Optionally, calculating the relative position relationship between the car door and the vehicle body according to the coordinates of the multiple feature points includes: calculating the spatial relationship between the feature points according to the coordinates of the multiple feature points; calculating the spatial vector between the feature points according to the spatial relationship between the feature points; determining the relative position relationship between the car door and the vehicle body based on the spatial vector between the feature points.

[0010] Optionally, fitting the displacement vectors in different directions based on the least - squares method includes: calculating the overall displacement amount between the car door and the vehicle body according to the displacement vectors in different directions; optimizing the displacement vectors in different directions according to the overall displacement amount, and fitting the optimized displacement vectors in different directions based on the least - squares method.

[0011] The second - aspect embodiment of the present application provides an assembly device for uniformizing the gap between the car door and the vehicle body, including: a first acquisition module, configured to acquire multiple intersection points formed by the striped beam irradiating the gap between the car door and the vehicle body during the assembly process; a calculation module, configured to generate point cloud data between the car door and the vehicle body according to the coordinates of the multiple intersection points, and calculate the relative position relationship between the car door and the vehicle body according to the point cloud data; a decomposition module, configured to determine the displacement between the car door and the vehicle body according to the relative position relationship, and decompose the displacement between the car door and the vehicle body into displacement vectors in different directions; an assembly module, configured to fit the displacement vectors in different directions based on the least - squares method, determine the target assembly position for uniformizing the gap between the car door and the vehicle body according to the fitting result, and assemble the car door based on the target assembly position.

[0012] Optionally, the assembly device for uniformizing the gap between the vehicle door and the vehicle body further includes: a second acquisition module, configured to acquire the assembly instruction of the vehicle door before acquiring multiple intersection points formed by the stripe beam irradiating the gap between the vehicle door and the vehicle body during the assembly process; a control module, configured to control the robot to move to the target position of the vehicle door by using the assembly instruction, wherein the robot drives the vehicle door to move to the target position of the vehicle body; control the end effector of the robot to adjust the height of the vehicle door to be consistent with the height of the vehicle body, and control the camera at the end of the robot manipulator to emit a stripe beam to irradiate the gap between the vehicle door and the vehicle body.

[0013] Optionally, the assembly device for uniformizing the gap between the vehicle door and the vehicle body further includes: a calibration module, configured to calibrate the manipulator and the end effector before controlling the camera at the end of the robot to emit a stripe beam to irradiate the gap between the vehicle door and the vehicle body, so as to obtain the conversion relationship between the internal coordinate system of the manipulator and the end coordinate system, calibrate the camera installed at the end of the manipulator, and establish the mapping relationship between the camera and the manipulator coordinate system based on the conversion relationship; a establishment module, configured to establish the global coordinate system of the whole vehicle through the calibration points on the vehicle body and the mapping relationship, and establish the mapping relationship between the whole vehicle and the manipulator coordinate system according to the global coordinate system of the whole vehicle.

[0014] Optionally, the calculation module is further configured to extract multiple feature points representing the intersection points of the vehicle door and the vehicle body contours from the point cloud data; calculate the relative position relationship between the vehicle door and the vehicle body according to the coordinates of the multiple feature points.

[0015] Optionally, the calculation module is further configured to calculate the spatial relationship between the feature points according to the coordinates of the multiple feature points; calculate the spatial vector between the feature points according to the spatial relationship between the feature points; determine the relative position relationship between the vehicle door and the vehicle body based on the spatial vector between the feature points.

[0016] Optionally, the assembly module is further configured to calculate the overall displacement amount between the vehicle door and the vehicle body according to the displacement vectors in different directions; optimize the displacement vectors in different directions according to the overall displacement amount, and fit the optimized displacement vectors in different directions based on the least squares method.

[0017] An embodiment of the third aspect of the present application provides an electronic device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the program to implement the assembly method for uniformizing the gap between the vehicle door and the vehicle body as described in the above embodiment.

[0018] An embodiment of the fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, and the program is executed by a processor to be used to implement the assembly method for uniformizing the gap between the vehicle door and the vehicle body as described in the above embodiment.

[0019] The fifth aspect of the present application provides a computer program, which, when executed, is used to implement the assembly method for uniformizing the gap between the vehicle door and the vehicle body as described in the above embodiments.

[0020] Therefore, the present application has the following beneficial effects:

[0021] In the embodiments of the present application, by obtaining the intersection coordinates of the stripe beam formed at the gap between the vehicle door and the vehicle body to construct point cloud data, the relative position relationship between the vehicle door and the vehicle body can be accurately obtained, avoiding the errors caused by simple measurement tools, determining the displacement between the vehicle door and the vehicle body according to the relative position relationship, decomposing the displacement into displacement vectors in multiple directions, and using the least squares method for fitting optimization, the optimal assembly position of the vehicle door can be accurately determined, making the gap between the vehicle door and the vehicle body more uniform, thereby improving the assembly accuracy.

[0022] The additional aspects and advantages of the present application will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present application. Description of the Drawings

[0023] The above and / or additional aspects and advantages of the present application will become obvious and easy to understand from the following description of the embodiments in conjunction with the drawings, where:

[0024] Figure 1 is a flowchart of an assembly method for uniformizing the gap between a vehicle door and a vehicle body according to an embodiment of the present application;

[0025] Figure 2 is a flowchart of feature point extraction according to an embodiment of the present application;

[0026] Figure 3 is an example diagram of the relative position relationship between a vehicle door and a vehicle body according to an embodiment of the present application;

[0027] Figure 4 is an angle deviation diagram formed around the x-axis and the z-axis according to an embodiment of the present application;

[0028] Figure 5 is an angle deviation diagram formed around the y-axis according to an embodiment of the present application;

[0029] Figure 6 is a flowchart of target assembly position calculation according to an embodiment of the present application;

[0030] Figure 7 is an effect diagram of gap uniformization based on the least squares according to an embodiment of the present application;

[0031] Figure 8A detailed flowchart of the assembly for uniformizing the gap between a car door and a vehicle body according to an embodiment of the present application;

[0032] Figure 9 An analysis diagram of the assembly gap between a car door and a vehicle body according to an embodiment of the present application;

[0033] Figure 10 An example diagram of an assembly device for uniformizing the gap between a car door and a vehicle body according to an embodiment of the present application;

[0034] Figure 11 A schematic structural diagram of an electronic device according to an embodiment of the present application. Detailed implementation manners

[0035] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, and should not be construed as limiting the present application.

[0036] The assembly method, device, electronic device, and storage medium for uniformizing the gap between a car door and a vehicle body according to an embodiment of the present application will be described below with reference to the accompanying drawings. In view of the problems mentioned in the above background art, the present application provides an assembly method for uniformizing the gap between a car door and a vehicle body. In this method, by obtaining the intersection coordinates formed by the fringe beam at the gap between the car door and the vehicle body to construct point cloud data, the relative position relationship between the car door and the vehicle body can be accurately obtained, avoiding the errors caused by simple measurement tools, and determining the displacement between the car door and the vehicle body according to the relative position relationship, decomposing the displacement into displacement vectors in multiple directions, and using the least squares method for fitting optimization, the optimal assembly position of the car door can be accurately determined, making the gap between the car door and the vehicle body more uniform, thereby improving the assembly accuracy.

[0037] Specifically, Figure 1 A flowchart of an assembly method for uniformizing the gap between a car door and a vehicle body provided by an embodiment of the present application.

[0038] As Figure 1 shown, the assembly method for uniformizing the gap between the car door and the vehicle body includes the following steps:

[0039] In step S101, obtain a plurality of intersections formed by the fringe beam irradiating at the gap between the car door and the vehicle body during the assembly process.

[0040] Among them, the striped light beam can be emitted by a camera. In the embodiments of the present application, a suitable camera can be selected for installation according to the size and gap requirements between the vehicle door and the vehicle body. During actual execution, the camera emits a certain number of striped light rays (such as 6 rays), and forms multiple intersection points by irradiating the gap between the vehicle door and the vehicle body, so as to obtain corresponding point cloud data.

[0041] It should be noted that when installing the striped light camera in the embodiments of the present application, it is necessary to ensure that the position and angle of the striped light camera can cover the gap area between the vehicle door and the vehicle body, and can clearly capture the intersection points of the contours of the vehicle door and the vehicle body. To ensure the high precision of the point cloud data, during the installation process, it is necessary to adjust the flip angle, pitch angle and yaw angle of the striped light camera to ensure that the light irradiation is perpendicular to the contour line of the vehicle door or reaches a predetermined angle.

[0042] In an embodiment of the present application, before obtaining multiple intersection points formed by the striped light beam irradiating the gap between the vehicle door and the vehicle body during the assembly process, it includes: obtaining the assembly instruction of the vehicle door; using the assembly instruction to control the robot to move to the target position of the vehicle door, wherein the robot drives the vehicle door to move to the target position of the vehicle body; controlling the end effector of the robot to adjust the height of the vehicle door to be the same as the height of the vehicle body, and controlling the camera at the end of the robot manipulator to emit a striped light beam to irradiate the gap between the vehicle door and the vehicle body.

[0043] It can be understood that the embodiments of the present application can control the robot A to move the vehicle door to the designated position based on the assembly instruction of the vehicle door. Through path planning technology, the path planning technology uses an algorithm (A* algorithm) to calculate the optimal path to ensure that the robot avoids obstacles and combines the dynamic constraints of the robot and environmental constraints to ensure that the workpiece can move smoothly. Thus, it can quickly and accurately reach the target position according to the preset path and target position, and accurately move the vehicle door to the designated target position.

[0044] Furthermore, in the embodiments of the present application, after reaching the designated position, the robot A can accurately move the workpiece along the Z direction according to the operation requirements. This movement is carried out by precisely controlling the position of the end effector of the robot. The robot continuously adjusts its motion trajectory through closed-loop control to ensure that the movement accuracy of the workpiece reaches ±0.1 mm. During actual execution, the robot uses sensor data to further correct the position, and finally moves the vehicle door to a position parallel to the space where the vehicle body is to be installed and ensures the same height. After the movement is completed, the robot A sends a signal indicating that the task has been completed and prompts the robot B to start the vehicle door assembly work.

[0045] In an embodiment of the present application, before controlling the camera at the end of the robot to emit a stripe beam to irradiate the gap between the car door and the vehicle body, the following steps are further included: calibrating the manipulator and the end effector to obtain the conversion relationship between the internal coordinate system of the manipulator and the end coordinate system, calibrating the camera installed at the end of the manipulator, and establishing the mapping relationship between the camera and the manipulator coordinate system based on the conversion relationship; establishing the global coordinate system of the whole vehicle through the calibration points on the vehicle body and the mapping relationship, and establishing the mapping relationship between the whole vehicle and the manipulator coordinate system according to the global coordinate system of the whole vehicle.

[0046] It can be understood that, before controlling the camera at the end of the robot to emit a stripe beam to irradiate the gap between the car door and the vehicle body, the embodiment of the present application can also achieve precise positioning of the assembly through the hand-eye calibration technology (the camera is at the end of the manipulator). Specifically, in the embodiment of the present application, the manipulator and the end effector are calibrated to obtain the conversion relationship between the internal coordinate system of the manipulator and the end coordinate system. At the same time, the camera installed at the end of the manipulator is calibrated to establish the mapping between the camera and the manipulator coordinate system. The global coordinate system of the whole vehicle is established through the calibration points on the vehicle body to realize the mapping between the whole vehicle and the manipulator coordinate system, ensuring the accurate spatial position of the assembly point.

[0047] In step S102, the point cloud data between the car door and the vehicle body is generated according to the coordinates of multiple intersection points, and the relative position relationship between the car door and the vehicle body is calculated according to the point cloud data.

[0048] Based on the above embodiment, the camera irradiates the gap between the car door and the vehicle body through the emitted stripe beam and captures multiple intersection points. The coordinates of these intersection points constitute the point cloud data between the car door and the vehicle body. Each intersection point represents a spatial position between the car door and the vehicle body, and multiple intersection points depict the gap and its shape between the car door and the vehicle body through the relationship of spatial vectors.

[0049] Further, in the embodiment of the present application, calculating the relative position relationship between the car door and the vehicle body according to the point cloud data includes: extracting multiple feature points representing the intersection points of the contours of the car door and the vehicle body from the point cloud data; calculating the relative position relationship between the car door and the vehicle body according to the coordinates of the multiple feature points.

[0050] It can be understood that after the point cloud data of the car door and the vehicle body is collected, the embodiment of the present application needs to extract key feature points from these point cloud data. Among them, the feature points are usually the intersection points of the contours of the car door and the vehicle body, which can represent the gap information between the car door and the vehicle body. In the actual execution process, the extraction process of the feature points needs to ensure their accuracy and representativeness in space. Through the accurate extraction of the feature points, a reliable data basis can be provided for subsequent spatial vector matching and algorithm optimization. The extracted feature points represent the spatial position of the gap between the car door and the vehicle body, laying a foundation for calculating the gap uniformity, as Figure 2 shown.

[0051] After the feature points are extracted, the embodiments of the present application can calculate and match the spatial relationships between these feature points. By calculating the spatial vectors between the feature points, the geometric relationship between the vehicle door and the vehicle body can be obtained. Specifically, the relative position relationship between the vehicle door and the vehicle body is calculated according to the coordinates of multiple feature points, including: calculating the spatial relationship between the feature points according to the coordinates of multiple feature points; calculating the spatial vectors between the feature points according to the spatial relationship between the feature points; and determining the relative position relationship between the vehicle door and the vehicle body based on the spatial vectors between the feature points.

[0052] It can be understood that the spatial vectors can be used to represent information such as the displacement and rotation angle between the vehicle door and the vehicle body. During the spatial vector matching process, the embodiments of the present application perform precise matching on the feature points through a matching algorithm to calculate the relative position relationship between each feature point. As a possible implementation manner, the matching algorithm can be an algorithm based on geometric constraints, such as the minimization of Euclidean distance or the preliminary fitting of the least squares method, for determining the relative position of the vehicle door and the vehicle body, as Figure 3 shown.

[0053] In step S103, according to the relative position relationship, the displacement between the vehicle door and the vehicle body is determined, and the displacement between the vehicle door and the vehicle body is decomposed into displacement vectors in different directions.

[0054] It can be understood that through the spatial vector matching of the above embodiments, the relative position relationship between the vehicle door and the vehicle body can be obtained. The embodiments of the present application can decompose the displacement between the vehicle door and the vehicle body into displacement components in different directions (such as the displacement amounts in the x, y, and z directions), and calculate the displacement amount in each direction. Thus, the complex spatial displacement is converted into quantifiable and easily calculable components, as Figure 4 and Figure 5 shown.

[0055] In step S104, the displacement vectors in different directions are fitted based on the least squares method, the target assembly position for uniformizing the gap between the vehicle door and the vehicle body is determined according to the fitting result, and the vehicle door is assembled based on the target assembly position.

[0056] In an embodiment of the present application, fitting the displacement vectors in different directions based on the least squares method includes: calculating the overall displacement amount between the vehicle door and the vehicle body according to the displacement vectors in different directions; optimizing the displacement vectors in different directions according to the overall displacement amount, and fitting the optimized displacement vectors in different directions based on the least squares method.

[0057] It can be understood that after the displacement components are calculated, the embodiments of the present application can integrate these displacement components and obtain the overall displacement of the door and the vehicle body through the method of weighted average. The integration process needs to consider the gap widths and displacements in each direction to ensure that each component is calculated in an optimal state to obtain the best gap uniformity, as Figure 6 shown, where the projection vector refers to the projection result of the irradiation light in a specific direction. Then, the embodiments of the present application can use the least squares method to fit and optimize the displacement components between the door and the vehicle body, and calculate the optimal positions of the door and the vehicle body by minimizing the sum of the squares of the displacement errors in each direction. Thus, the embodiments of the present application adjust the door position by the least squares method to minimize the gap error, thereby ensuring the uniformity of the gap between the door and the vehicle body in multiple directions, as Figure 7 shown. This optimization process is applicable to the fine adjustment of the door position during the assembly process, can automatically handle the deviations caused by assembly errors, make the gap between the door and the vehicle body more uniform, thereby improving the assembly accuracy and optimizing the production process.

[0058] Furthermore, the embodiments of the present application can accurately adjust the assembly positions of the door and the vehicle body according to the fitting results to ensure the gap uniformity between the door and the vehicle body. Thus, through automatic adjustment, the installation quality of the door is guaranteed, the assembly of each door meets the standards, the gap uniformity is optimized, and the assembly work of the door and the vehicle body can be completed quickly and efficiently, avoiding the errors caused by manual intervention and greatly improving the production efficiency.

[0059] In summary, the assembly method for uniformizing the gap between the door and the vehicle body in the embodiments of the present application accurately adjusts the gap between the door and the vehicle body, successfully solves the problem of uneven gap between the door and the vehicle body, realizes automatic and accurate gap adjustment, not only improves the assembly accuracy of the door and the vehicle body, but also improves the production efficiency and product quality, as Figure 8 shown, and specifically includes the following steps:

[0060] Step 1: Select a suitable fringe light camera for installation according to the dimensions and gap requirements of the door and the vehicle body. When installing the camera, it is necessary to ensure that the position and angle of the camera can cover the gap area between the door and the vehicle body and can clearly capture the intersection points of the door and the vehicle body contours.

[0061] Step 2: While avoiding obstacles, the robot quickly and accurately reaches the target position through path planning technology and precisely moves the door to the specified target position.

[0062] Step 3: After reaching the specified position, robot A precisely moves the workpiece in the Z direction according to the operation requirements, moves the door to a position parallel to the space where the door is to be installed on the vehicle body, and ensures that the heights are the same.

[0063] Step 4: After the point cloud data of the car door and the vehicle body are collected, it is first necessary to extract key feature points from these point cloud data and calculate and match the spatial relationships between these feature points. By calculating the spatial vectors between the feature points, the geometric relationship between the car door and the vehicle body can be obtained.

[0064] Step 5: Decompose the displacement between the car door and the vehicle body into displacement components in different directions (such as displacement amounts in the x, y, and z directions), calculate the displacement amount in each direction, integrate these displacement components, and use the least squares method to fit the displacement components between the car door and the vehicle body to obtain the target assembly position.

[0065] Step 6: Assemble the car door based on the target assembly position.

[0066] The following combines specific examples to elaborate in detail on the assembly method for uniformizing the gap between the car door and the vehicle body in the embodiments of the present application, specifically as follows:

[0067] The embodiments of the present application use a fringe light camera. The fringe light camera irradiates the gap between the car door and the vehicle body by emitting a series of fringe light beams, and generates point cloud data through the intersection points of the reflected light rays between the camera and the object. These data will provide accurate geometric information for subsequent spatial analysis and gap adjustment. The fringe light camera needs to be installed at the end of robot B and be perpendicular to the contour lines of the car door and the vehicle body. The fringe light camera should be able to emit multiple parallel light beams and ensure that the light accurately irradiates the gap area between the car door and the vehicle body. By manually or automatically adjusting the pitch angle, yaw angle, and roll angle of the camera, ensure that the intersection points of the light beams with the contour lines of the car door and the vehicle body are clearly visible, and avoid measurement errors caused by angle deviations.

[0068] Robot A uses path planning technology. The path planning technology uses an algorithm (A* algorithm) to calculate the optimal path to ensure that the robot avoids obstacles while taking into account the dynamic limitations of the robot and environmental constraints to ensure that the workpiece can move smoothly. Thus, it can quickly and accurately reach the target position according to the preset path and target position, and precisely move the workpiece to the specified target position. After reaching the specified position, robot A accurately moves the workpiece in the Z direction according to the operation requirements. This movement is carried out by precisely controlling the position of the end effector of the robot. The robot continuously adjusts its motion trajectory through closed-loop control to ensure that the movement accuracy of the workpiece reaches ±0.1 mm. During this process, the robot uses sensor data to further correct the position, and finally moves the car door to a position parallel to the space where it is to be installed on the vehicle body and ensures the same height. After the movement is completed, robot A sends a signal indicating that the task has been completed and prompts robot B to start the car door assembly work. At this time, the steps of hand-eye calibration are started.

[0069] Further, a calibration board is used to perform hand-eye calibration on the 3D scanning device, so that the 3D coordinates obtained by subsequent fitting are coordinates relative to the robot base coordinate system, facilitating the unification of the coordinate system. Before hand-eye calibration, the internal parameters of the 3D scanning device are calibrated first. The calibration board is used to record the imaging characteristics of the device, and the internal parameter matrix of the device is obtained. The internal parameter matrix can be expressed as:

[0070]

[0071] where f x and f y are the focal lengths, and c x and c y are the principal point coordinates.

[0072] Fix the calibration board at a certain known position, which is relatively stationary with respect to the robot base coordinate system. Operate the end of the manipulator carrying the 3D scanning device to make the 3D scanning device accurately capture the calibration board, and record the position coordinates P=(P1, P2,..., P 24 ) of 20 feature points on the calibration board. Given that the position coordinates of all feature points relative to the robot base coordinate system are Q=(Q1, Q2,..., Q 24 ), the corresponding relationship between P and Q is:

[0073] Q = AXP

[0074] where A is the transformation matrix of the end of the manipulator relative to the robot base, and X is the transformation matrix of the 3D scanning device relative to the end of the manipulator.

[0075] Manipulate the end of the manipulator to change its pose to obtain the new coordinates U=(U1, U2,..., U 24 ) of the feature points. Then the corresponding relationship between the new coordinates U and Q is:

[0076] Q = BXU

[0077] where B is the new transformation matrix of the end of the manipulator relative to the robot base. Thus:

[0078] AXP = BXU

[0079] X can be solved, that is, the transformation matrix of the 3D scanning device relative to the end of the manipulator, and all the work of hand-eye calibration is completed. Through hand-eye calibration, the precise alignment of the camera and robot coordinate systems is ensured, enabling the point cloud data collected by the camera to be precisely matched with the actions of the robot. This can ensure accurate control of the gap position between the car door and the body. And it enables the robot and the camera to work more coordinately, reducing the deviation between visual data and mechanical actions, and greatly improving the overall accuracy of assembly.

[0080] During the detection of the gap between the car door and the vehicle body, the point cloud data obtained by the stripe light camera contains various intersection points between the car door and the vehicle body. To accurately describe the gap characteristics between the car door and the vehicle body, it is first necessary to extract key feature points from this point cloud data. These feature points are usually the intersection points of the car door contour line and the vehicle body contour line. Through point cloud data analysis, the embodiments of the present application can identify the edges of the gap and extract the feature points related to the gap. To perform efficient gap extraction, the point cloud data between the car door and the vehicle body is denoised to remove abnormal points. The SOR (Statistical Outlier Removal) algorithm is used to reduce data interference caused by sensor errors. For the preprocessed point cloud data in the point cloud data of the car door and the vehicle body, we use the SIFT (Scale-Invariant Feature Transform) algorithm for feature point extraction. The SIFT algorithm is widely used in the field of computer vision and has high scale invariance and rotation invariance, which is suitable for the recognition of irregular objects with large geometric deformations. The SIFT algorithm can detect key points in local regions of images or point cloud data and can identify stable feature points of the car door and vehicle body contours. Regardless of the angle, illumination change, or local deformation of the car door, SIFT can effectively extract important feature points. The gap between the car door and the vehicle body is complex and may be deformed due to small errors during the assembly process. The scale invariance and rotation invariance of SIFT enable it to maintain high accuracy in this dynamically changing environment.

[0081] For the extracted feature points, further optimization of the point cloud data is carried out to remove the "noise" in the point cloud data through filtering and denoising. Common methods include denoising algorithms based on local geometric features. The embodiments of the present application use voxel grid filtering for further removal of noise points. For the obtained multiple point cloud data, point cloud registration algorithms (such as the ICP algorithm) are used to align and match the point cloud data from multiple perspectives, so as to obtain consistent spatial data. And by calculating the spatial vectors between the feature points, the relative position between the car door and the vehicle body and the gap distances in all directions between the car door and the car hole are obtained. As Figure 9 shown, in this step, the embodiments of the present application use geometric operations of vector cross products to determine the direction, size, and deviation of the gap, thereby providing a scientific basis for adjusting the position of the car door.

[0082] After the initial detection of the gap between the car door and the car body cavity, the error between the position of each feature point and the expected position is calculated. These error values will be used as inputs for least squares fitting. By minimizing the sum of the squares of all error values, the position of the car door is adjusted. The least squares method can automatically calculate the optimal position of the car door based on the known gap data to minimize the gap between the car door and the vehicle body. When dealing with complex geometric relationships, the least squares method may involve solving non-linear equations, and the optimal position is obtained through iterative solution methods (such as the Gauss-Newton method). Least squares optimization can minimize the sum of squared errors by fitting the gap data between the car door and the vehicle body, making the gaps in all directions between the car door and the vehicle body as appropriate as possible, thereby achieving an ideal assembly effect. Through the precise calculation of the least squares method, the adjustment of the gap between the car door and the vehicle body has achieved a high-precision effect. This process not only reduces errors but also improves the consistency of assembly and ensures the assembly quality of all vehicles. The application of the least squares method makes the gap adjustment process fully automated, without manual intervention, reduces human errors, and improves production efficiency and automation level.

[0083] According to the assembly method for uniformizing the gap between the car door and the vehicle body proposed in the embodiment of the present application, by obtaining the intersection coordinates formed by the fringe beam at the gap between the car door and the vehicle body to construct point cloud data, the relative position relationship between the car door and the vehicle body can be accurately obtained, avoiding the errors caused by simple measuring tools, determining the displacement between the car door and the vehicle body based on the relative position relationship, decomposing the displacement into displacement vectors in multiple directions, and using the least squares method for fitting and optimization, the optimal assembly position of the car door can be accurately determined, making the gap between the car door and the vehicle body more uniform, thereby improving the assembly accuracy.

[0084] Next, an assembly device for uniformizing the gap between the car door and the vehicle body proposed in the embodiment of the present application will be described with reference to the accompanying drawings.

[0085] Figure 10 It is a block diagram of the assembly device for uniformizing the gap between the car door and the vehicle body according to the embodiment of the present application.

[0086] As Figure 10 shown, the assembly device 10 for uniformizing the gap between the car door and the vehicle body includes: a first acquisition module 101, a calculation module 102, a decomposition module 103, and an assembly module 104.

[0087] Among them, the first acquisition module 101 is used to acquire multiple intersection points formed when the stripe beam irradiates the gap between the car door and the vehicle body during the assembly process; the calculation module 102 is used to generate point cloud data between the car door and the vehicle body according to the coordinates of the multiple intersection points, and calculate the relative position relationship between the car door and the vehicle body according to the point cloud data; the decomposition module 103 is used to determine the displacement between the car door and the vehicle body according to the relative position relationship, and decompose the displacement between the car door and the vehicle body into displacement vectors in different directions; the assembly module 104 is used to fit the displacement vectors in different directions based on the least squares method, determine the target assembly position for uniformizing the gap between the car door and the vehicle body according to the fitting result, and assemble the car door based on the target assembly position.

[0088] In an embodiment of the present application, the assembly device 10 for uniformizing the gap between the car door and the vehicle body further includes: a second acquisition module, configured to acquire an assembly instruction of the car door before acquiring multiple intersection points formed when the stripe beam irradiates the gap between the car door and the vehicle body during the assembly process; a control module, configured to use the assembly instruction to control the robot to move to the target position of the car door, wherein the robot drives the car door to move to the target position of the vehicle body; control the end effector of the robot to adjust the height of the car door to be the same as the height of the vehicle body, and control the camera at the end of the robot manipulator to emit a stripe beam to irradiate the gap between the car door and the vehicle body.

[0089] In an embodiment of the present application, the assembly device 10 for uniformizing the gap between the car door and the vehicle body further includes: a calibration module, configured to calibrate the manipulator and the end effector before controlling the camera at the end of the robot to emit a stripe beam to irradiate the gap between the car door and the vehicle body, so as to obtain the conversion relationship between the internal coordinate system of the manipulator and the end coordinate system, calibrate the camera installed at the end of the manipulator, and establish a mapping relationship between the camera and the manipulator coordinate system based on the conversion relationship; a establishment module, configured to establish a global vehicle coordinate system through the calibration points on the vehicle body and the mapping relationship, and establish a mapping relationship between the vehicle and the manipulator coordinate system according to the global vehicle coordinate system.

[0090] In an embodiment of the present application, the calculation module 102 is further configured to extract multiple feature points representing the intersection points of the car door and the vehicle body contours from the point cloud data; calculate the relative position relationship between the car door and the vehicle body according to the coordinates of the multiple feature points.

[0091] In an embodiment of the present application, the calculation module 102 is further configured to calculate the spatial relationship between the feature points according to the coordinates of the multiple feature points; calculate the spatial vectors between the feature points according to the spatial relationship between the feature points; determine the relative position relationship between the car door and the vehicle body based on the spatial vectors between the feature points.

[0092] In one embodiment of the present application, the assembly module 104 is further configured to calculate the overall displacement amount between the vehicle door and the vehicle body according to the displacement vectors in different directions; optimize the displacement vectors in different directions according to the overall displacement amount, and fit the optimized displacement vectors in different directions based on the least squares method.

[0093] It should be noted that the foregoing explanation of the assembly method embodiment for the evenness of the gap between the vehicle door and the vehicle body also applies to the assembly device for the evenness of the gap between the vehicle door and the vehicle body in this embodiment, and will not be elaborated here.

[0094] According to the assembly device for the evenness of the gap between the vehicle door and the vehicle body provided by the embodiment of the present application, by acquiring the intersection coordinates formed by the fringe beam at the gap between the vehicle door and the vehicle body to construct point cloud data, the relative position relationship between the vehicle door and the vehicle body can be accurately obtained, avoiding the errors caused by simple measuring tools, determining the displacement between the vehicle door and the vehicle body according to the relative position relationship, decomposing the displacement into displacement vectors in multiple directions, and using the least squares method for fitting optimization, the optimal assembly position of the vehicle door can be accurately determined, making the gap between the vehicle door and the vehicle body more uniform, thereby improving the assembly accuracy.

[0095] Figure 11 The structural schematic diagram of the electronic device provided by the embodiment of the present application. The electronic device may include:

[0096] A memory 1101, a processor 1102, and a computer program stored on the memory 1101 and executable on the processor 1102.

[0097] When the processor 1102 executes the program, it implements the assembly method for the evenness of the gap between the vehicle door and the vehicle body provided in the foregoing embodiment.

[0098] Furthermore, the electronic device further includes:

[0099] A communication interface 1103 for communication between the memory 1101 and the processor 1102.

[0100] The memory 1101 is used to store the computer program executable on the processor 1102.

[0101] The memory 1101 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0102] If the memory 1101, the processor 1102, and the communication interface 1103 are implemented independently, the communication interface 1103, the memory 1101, and the processor 1102 can be interconnected through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 11 only a thick line is used in

[0103] to represent it, but it does not mean that there is only one bus or one type of bus.

[0104] Optionally, in a specific implementation, if the memory 1101, the processor 1102, and the communication interface 1103 are integrated on a single chip, the memory 1101, the processor 1102, and the communication interface 1103 can communicate with each other through an internal interface.

[0105] The embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned assembly method for uniformizing the gap between the vehicle door and the vehicle body is implemented.

[0106] The embodiment of the present application further provides a computer program product, including a computer program or instruction, and when the computer program is executed, it is used to implement the assembly method for uniformizing the gap between the vehicle door and the vehicle body as described in the above embodiment.

[0107] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or N embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0108] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0109] Any process or method description shown in a flowchart or described in other ways herein can be understood to represent a module, segment, or part of code including one or N executable instructions for implementing a customized logical function or process, and the scope of the preferred embodiments of this application includes additional implementations, where the functions can be executed in a manner that is not in the order shown or discussed, including in a substantially simultaneous manner according to the involved functions or in the reverse order, which should be understood by those skilled in the art to which the embodiments of this application belong.

[0110] It should be understood that each part of this application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, the steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware as in another embodiment, any one or a combination of the following well-known technologies in the art can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits with appropriate combinational logic gate circuits, programmable gate arrays, field-programmable gate arrays, etc.

[0111] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the method for implementing the above embodiments can be completed by instructing relevant hardware through a program, and the above program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0112] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. An assembly method for uniformizing the gap between a vehicle door and the vehicle body, characterized in that Including the following steps: Obtaining a plurality of intersection points formed by the fringe beam irradiating the gap between the vehicle door and the vehicle body during the assembly process; Generating point cloud data between the vehicle door and the vehicle body according to the coordinates of the plurality of intersection points, and calculating the relative position relationship between the vehicle door and the vehicle body according to the point cloud data; Determining the displacement between the vehicle door and the vehicle body according to the relative position relationship, and decomposing the displacement between the vehicle door and the vehicle body into displacement vectors in different directions; Fitting the displacement vectors in different directions based on the least squares method, determining the target assembly position for uniformizing the gap between the vehicle door and the vehicle body according to the fitting result, and assembling the vehicle door based on the target assembly position.

2. The assembly method for uniformizing the gap between the vehicle door and the vehicle body according to claim 1, characterized in that, Before obtaining the plurality of intersection points formed by the fringe beam irradiating the gap between the vehicle door and the vehicle body during the assembly process, it includes: Obtaining the assembly instruction of the vehicle door; Using the assembly instruction to control the robot to move to the target position of the vehicle door, wherein the robot drives the vehicle door to move to the target position of the vehicle body; Controlling the end effector of the robot to adjust the height of the vehicle door to be the same as the height of the vehicle body, and controlling the camera at the end of the robot manipulator to emit a fringe beam to irradiate the gap between the vehicle door and the vehicle body.

3. The assembly method for uniformizing the gap between the vehicle door and the vehicle body according to claim 2, characterized in that, Before controlling the camera at the end of the robot to emit a fringe beam to irradiate the gap between the vehicle door and the vehicle body, it further includes: Calibrating the manipulator and the end effector to obtain the conversion relationship between the internal coordinate system of the manipulator and the end coordinate system, calibrating the camera installed at the end of the manipulator, and establishing the mapping relationship between the camera and the manipulator coordinate system based on the conversion relationship; Establishing a vehicle global coordinate system through the calibration points on the vehicle body and the mapping relationship, and establishing the mapping relationship between the vehicle and the manipulator coordinate system according to the vehicle global coordinate system.

4. The assembly method for uniformizing the gap between the vehicle door and the vehicle body according to claim 1, characterized in that, The calculating the relative position relationship between the vehicle door and the vehicle body according to the point cloud data includes: Extracting a plurality of feature points representing the intersection points of the contours of the vehicle door and the vehicle body from the point cloud data; Calculating the relative position relationship between the vehicle door and the vehicle body according to the coordinates of the plurality of feature points.

5. The assembly method for uniformizing the gap between the vehicle door and the vehicle body according to claim 4, wherein The calculating the relative position relationship between the vehicle door and the vehicle body according to the coordinates of the plurality of feature points includes: Calculating the spatial relationship between the feature points according to the coordinates of the plurality of feature points; Calculating the spatial vector between the feature points according to the spatial relationship between the feature points; Determining the relative position relationship between the vehicle door and the vehicle body based on the spatial vector between the feature points.

6. The assembly method for uniformizing the gap between the vehicle door and the vehicle body according to claim 1, wherein, The fitting the displacement vectors in different directions based on the least squares method includes: Calculating the overall displacement amount between the vehicle door and the vehicle body according to the displacement vectors in different directions; Optimizing the displacement vectors in different directions according to the overall displacement amount, and fitting the optimized displacement vectors in different directions based on the least squares method.

7. An assembly device for uniformizing the gap between a vehicle door and a vehicle body, characterized in that, Including: A first acquisition module for obtaining a plurality of intersection points formed by the fringe beam irradiating the gap between the vehicle door and the vehicle body during the assembly process; A calculation module for generating point cloud data between the vehicle door and the vehicle body according to the coordinates of the plurality of intersection points, and calculating the relative position relationship between the vehicle door and the vehicle body according to the point cloud data; A decomposition module, configured to determine the displacement between the vehicle door and the vehicle body according to the relative position relationship, and decompose the displacement between the vehicle door and the vehicle body into displacement vectors in different directions; An assembly module, configured to fit the displacement vectors in different directions based on the least squares method, determine the target assembly position for uniformizing the gap between the vehicle door and the vehicle body according to the fitting result, and assemble the vehicle door based on the target assembly position.

8. An electronic device, characterized in that, Comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the assembly method for uniformizing the gap between the vehicle door and the vehicle body according to any one of claims 1-6.

9. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instruction is executed, the assembly method for uniformizing the gap between the vehicle door and the vehicle body according to any one of claims 1-6 is implemented.

10. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instruction is executed, the assembly method for uniformizing the gap between the vehicle door and the vehicle body according to any one of claims 1-6 is implemented.

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