Vehicle location degree detection method, system and device and storage medium

Abstract

The invention relates to the field of vehicle inspection, and discloses a vehicle location degree detection method, system and device and a storage medium, and the method comprises the steps: obtaining hole site image data of a target vehicle; wherein the hole position image data is determined by carrying out image acquisition on a positioning hole in the tail part of the top cover of the target vehicle; determining location degree data based on the hole position image data; wherein the position degree data is used for describing an absolute deviation value of the positioning hole in a plane coordinate system; performing deviation detection based on the location degree data to obtain a deviation detection result; wherein the deviation detection result is used for describing whether the actual position of the positioning hole meets a target welding condition or not; the deviation detection result comprises a first detection result and a second detection result; and guiding the laser welding process based on the deviation detection result. Therefore, the falling deviation of the top cover before welding execution is accurately identified, the laser welding quality defect caused by poor location degree is effectively avoided, and the production efficiency and the quality stability of automobile manufacturing are improved.

Description

Technical Field

[0001] This application relates to the field of vehicle inspection technology, and in particular to a vehicle position detection method, system, device and storage medium. Background Technology

[0002] In automobile manufacturing, laser brazing is often used to weld roof assemblies and side panel assemblies. In this process, the positioning accuracy of the roof assembly is a key factor that directly affects the subsequent welding quality.

[0003] In related technologies, methods for detecting the positioning accuracy of the vehicle include periodically collecting the three-coordinate dimensions of the entire vehicle to prevent positioning deviations, and directly positioning the roof assembly and side panel assembly using a mechanical positioning plate. However, both of these methods suffer from low inspection efficiency and low accuracy, necessitating a method that can accurately monitor the vehicle's positioning accuracy. Summary of the Invention

[0004] This application aims to at least partially solve one of the technical problems in related technologies. To this end, this application proposes a vehicle position detection method, apparatus, computer equipment, storage medium, and program product. The main technical solutions adopted in this application include: Firstly, this application provides a vehicle positional accuracy detection method, which includes: acquiring hole position image data of a target vehicle; wherein the hole position image data is determined by image acquisition of positioning holes at the rear of the roof of the target vehicle; determining positional accuracy data based on the hole position image data; wherein the positional accuracy data is used to describe the absolute deviation value of the positioning holes in a planar coordinate system; performing deviation detection based on the positional accuracy data to obtain a deviation detection result; wherein the deviation detection result is used to describe whether the actual position of the positioning holes meets the target welding conditions; and the deviation detection result includes a first detection result and a second detection result; and guiding the laser welding process based on the deviation detection result. In the above embodiment, by acquiring images of the positioning holes of the roof and automatically calculating their positional deviations, and then automatically deciding whether to start welding based on the deviation results, the roof positioning deviations before welding are accurately identified in the real-time production process, effectively avoiding laser welding quality defects, increased rework time, and the risk of vehicle scrapping caused by poor positional accuracy, thereby improving the production efficiency and quality stability of automobile manufacturing.

[0005] Optionally, determining the positional accuracy data based on the hole location image data includes: performing edge detection based on the hole location image data to obtain the contour data of the positioning hole; using the contour data to perform center fitting calculation to obtain the center coordinate data of the positioning hole in the planar coordinate system; and calculating the difference between the center coordinate data and preset standard center data to obtain the positional accuracy data. Through the above steps based on image processing and coordinate calculation, the positional information of the positioning hole can be accurately extracted from the acquired hole location image and converted into a deviation value that can be compared with a standard, providing reliable input data for subsequent deviation detection.

[0006] Optionally, the target welding conditions include a predefined standard deviation threshold; deviation detection is performed based on positional data to obtain deviation detection results, including: obtaining a first detection result when the positional data does not meet the standard deviation threshold; and obtaining a second detection result when the positional data meets the standard deviation threshold. By comparing quantified positional data with a defined standard deviation threshold, an objective conclusion of pass or fail can be drawn. This automated comparison method improves the processing efficiency of the production line, eliminates the uncertainty of manual judgment, provides a clear basis for the control of subsequent welding processes, and improves the controllability of welding quality.

[0007] Optionally, the laser welding process is guided by the deviation detection results, including: when the deviation detection result is the first detection result, triggering an alarm signal and controlling the production line of the target vehicle to stop; when the deviation detection result is the second detection result, triggering an execution signal to control the normal start of the laser welding process. By executing the shutdown alarm or welding start operation according to the deviation detection result, a closed-loop control from detection to execution is achieved. When the detection is unqualified, an alarm can be triggered immediately and the line can be stopped to prevent defects from flowing into the welding process, avoiding rework or scrap losses; when the detection is qualified, welding can be seamlessly started, which not only ensures welding quality but also improves the efficiency of the production process.

[0008] Secondly, this application provides a visual positional monitoring system for implementing any of the methods described above. The system includes: an image acquisition module for acquiring hole position image data of a target vehicle; wherein the image acquisition module is fixedly installed above the laser welding station; a data processing module for determining positional data based on the hole position image data; wherein the positional data describes the absolute deviation value of the positioning hole in a planar coordinate system; a judgment and control module for performing deviation detection based on the positional data, obtaining deviation detection results, and generating target control instructions to guide the laser welding process based on the deviation detection results; wherein the target control instructions include welding instructions and alarm instructions; and a display and alarm module for displaying the positional data and deviation detection results, and executing audible and visual alarm operations in response to the alarm instructions. This system deeply integrates visual inspection technology into the automotive welding production line. Through the coordinated work of the four modules—image acquisition, data processing, judgment and control, and display and alarm—it can automatically and in real-time complete the accurate measurement and judgment of the positional accuracy of the roof of each vehicle. Accurately identifying the top cover positioning deviation before welding effectively avoids laser welding quality defects caused by poor positioning, increased subsequent rework time, and the risk of scrapping the entire vehicle, thereby improving the production efficiency and quality stability of automobile manufacturing.

[0009] Optionally, the image acquisition module includes at least two acquisition units, and each acquisition unit includes an acquisition device and a supplementary lighting device. By setting at least two acquisition units, images of multiple positioning holes can be acquired simultaneously, improving detection efficiency. Furthermore, each acquisition unit is equipped with a supplementary lighting device, which reduces the impact of light interference on image quality, further improving the accuracy of hole position image data. This allows for illumination in situations of insufficient or uneven ambient light, ensuring that positioning hole features are clearly discernible and reducing the impact of the shooting environment on image quality.

[0010] Optionally, the system also includes a laser welding module to guide the laser welding process based on deviation detection results, thereby achieving precise control over the welding quality between the roof assembly and the side assembly of the target vehicle. This ensures that welding is only performed after the positional accuracy has been verified, eliminating quality defects caused by welding under unacceptable positional accuracy conditions. This fundamentally guarantees the reliability and consistency of welding quality, achieving precise control over the final welding quality.

[0011] Thirdly, this application also provides a computer device including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the above methods.

[0012] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of any of the methods described above.

[0013] Fifthly, the present invention provides a computer program product, including a computer program that, when executed by a processor, implements the steps of any of the above methods. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0015] Figure 1a This is a schematic diagram of each workstation in the production line provided in the related art of this application; Figure 1b This is a schematic diagram of the components of the target vehicle provided in the related art of this application; Figure 1c This is a schematic diagram of a visual positional monitoring system provided in the scenario example of this application; Figure 1d This is a diagram illustrating the composition of a visual positional monitoring system provided in the scenario example of this application. Figure 1e This is a schematic diagram illustrating the composition of the acquisition unit provided in the scenario example of this application; Figure 1f This is a flowchart of a vehicle position detection method according to an embodiment of this application; Figure 1g This is a schematic diagram illustrating an image acquisition operation of a positioning hole according to an embodiment of this application; Figure 2 This is a system block diagram of a visual position detection system according to an embodiment of this application; Figure 3 This is an internal structural diagram of a computer device provided according to an embodiment of this application. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0017] Specifically, in the production line, please refer to... Figure 1a and 1bWhen the target vehicle is inspected at the first station, the body has a complete side panel assembly, meaning the left and right side panels (yellow parts in the diagram) are ready. When the vehicle arrives at the second station, the system positions the roof assembly (blue parts) between the left and right side panels. No welding or positioning is performed at this station. The vehicle is then transported to the third station (the laser welding station). At the third station, a roof pressure plate is lowered to secure the roof assembly to the vehicle body. Then, the welding equipment performs laser welding at the junction of the left and right side panels and the roof assembly, completing the connection between the body and the roof. During transport to the third station, due to shaking during transport or dimensional fluctuations in the side panel and roof assembly, the position of the roof assembly may fluctuate upon arrival at the third station, affecting the positional accuracy between the roof and the side panels. However, since there is no final confirmation step after each roof assembly placement, the laser welding process continues even with placement deviations, leading to welding quality defects and increased offline rework time and costs. In severe cases, if laser welding results in large-area segmented welding or off-center welding that cannot be repaired, it may even lead to the scrapping of the entire vehicle.

[0018] To address this situation, relevant technologies employ two main methods for detecting positioning accuracy. One relies on periodically collecting coordinate measuring machine (CMM) data of the entire vehicle. When fluctuations in the side opening dimensions are detected, the cause of these fluctuations is traced and rectified. However, this method requires frequent CMM measurements of the entire vehicle during daily production, increasing measurement time and costs, and potentially expanding the scope of investigation and rectification after problems arise. Another approach uses non-flexible positioning, employing a mechanical positioning plate to directly determine the position between the roof assembly and the side assembly. If the roof assembly is not centered on the left or right side of the vehicle body and deviates from the theoretical tolerance range, this deviation cannot be identified in advance. The robot will still carry the laser welder and weld along the original trajectory, meaning the defect may only be discovered after welding is complete, preventing problems from being prevented before they occur.

[0019] Due to the limitations of related technologies, a new solution is needed to proactively avoid welding defects, rework, and even scrapping without requiring additional resources for vehicle coordinate measuring.

[0020] For example, please refer to Figure 1c and Figure 1d This specification provides a scenario example of a visual positional monitoring system, which can be used to perform vehicle positional detection on a target vehicle 100. The visual positional monitoring system includes an image acquisition module 110, a data processing module 120, and an image display and alarm system 130.

[0021] The image acquisition module 110 is responsible for acquiring the hole position image data of the target vehicle's positioning holes and is fixedly installed above the laser welding station. Specifically, the image acquisition module 110 includes at least two acquisition units (two are shown as an example in the figure), and each acquisition unit is equipped with an acquisition device and a supplementary lighting device. For example, please refer to... Figure 1e The acquisition equipment includes a vision lens 101 and a vision camera 103. The vision camera 103 can be a 500W pixel camera with a lateral field of view of 125mm and a resolution of (125mm / 2448pix)*5=0.255mm / pixel, meeting the accuracy requirement of ±0.5mm. Specifically, the vision lens 101 is mounted on the front end of the vision camera 103, and the two are assembled together and mounted on the steel structure beam of the vision system mounting column 107 via a vision camera lens mounting bracket 105. Based on the constraints of the actual production line, the actual acquisition distance between the vision camera 103 and the target vehicle 100 can be 1576mm. The supplementary lighting equipment can be a vision camera supplementary light 109, installed next to the acquisition equipment, with an actual acquisition distance of up to 1600mm from the target vehicle 100, capable of adapting to low-light working environments.

[0022] The data processing module 120 calculates positional data, i.e., the absolute deviation value of the positioning hole in the planar coordinate system, based on the aforementioned hole position image data. This deviation represents the actual position of the hole from the standard position. For example, the data control system may include an industrial computer, a vision control PLC (Programmable Logic Controller), and a graphics card. The industrial computer, the vision control PLC, and the NVIDIA graphics card are all communicatively connected to the acquisition device in the image acquisition module 110.

[0023] The image display and alarm system 130 includes a judgment and control module and a display and alarm module. The judgment and control module can be a vision control cabinet, capable of detecting deviations based on positional data and generating either welding instructions or alarm instructions to guide the continuation or pause of the laser welding process. The display and alarm module can consist of a real-time detection display screen and a buzzer alarm light, displaying positional data and deviation detection results, and triggering an audible and visual alarm upon receiving an alarm instruction.

[0024] According to an embodiment of this application, a vehicle position detection method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0025] This embodiment provides a vehicle position detection method, such as Figure 1f As shown, the method includes the following steps: S110. Obtain the hole position image data of the target vehicle.

[0026] The target vehicle is the one where laser welding of the roof assembly and body assembly is required at the laser welding station. The hole position image data refers to a digital image reflecting the actual position of the roof when it is lowered, which can be determined by image acquisition of the positioning holes at the rear of the roof of the target vehicle. These positioning holes can be circular through holes used for auxiliary positioning or installation, reflecting whether the rear of the roof is aligned with the actual position of the vehicle body.

[0027] Specifically, the acquisition equipment can be used to take pictures of the positioning holes after the vehicle arrives at the designated work station in order to obtain hole position image data in the camera coordinate system.

[0028] For example, after the target vehicle completes the roof assembly installation at the second station, it is transported to the laser welding station via a conveyor system. At this time, a vehicle body arrival signal and a descent signal will be generated sequentially. When the vehicle is in place at the laser welding station (triggered by the vehicle body arrival signal) and the relevant fixtures are lowered into place, the main line programmable logic controller (PLC) of the entire production line control system will send a detection signal to trigger the acquisition equipment to start the acquisition process.

[0029] Furthermore, taking the target vehicle having two positioning holes and the data acquisition device being two industrial cameras as an example, please refer to... Figure 1g As shown in the figure, two positioning holes are located at the rear of the target vehicle's roof assembly, and two industrial cameras are correspondingly installed above the laser welding station. Specifically, in response to the detection signal, each industrial camera is aimed at one positioning hole to capture an image, thereby obtaining image data of the two positioning holes as the hole position image data of the target vehicle.

[0030] S120. Determine positional data based on borehole image data.

[0031] Among them, positional data can refer to an actual value that can quantify the degree of deviation between the actual center position and the theoretical standard position, and can be used to describe the absolute deviation value of the positioning hole in the plane coordinate system.

[0032] Specifically, after obtaining the hole location image data, image processing and coordinate calculations can be performed on the image data to extract the precise center position of the positioning hole. Then, the difference between this center position and the pre-stored standard position is calculated to obtain quantified positional data.

[0033] For example, positional data can be determined based on hole location image data using the following method: First, edge detection is performed based on the hole location image data to obtain the contour data of the positioning hole. Then, the center of the positioning hole is calculated using the contour data to obtain the center coordinate data of the positioning hole in the planar coordinate system. Finally, the difference between the center coordinate data and the preset standard center data is calculated to obtain the positional data.

[0034] The standard center data refers to the center coordinates of the positioning holes on the target vehicle when they are in precise installation positions. This can be obtained in advance by calibrating the positioning holes on a standard template vehicle. For example, calibration can be performed before the actual welding. That is, a template vehicle with a precisely positioned roof, ensuring laser welding quality, is selected as the standard template vehicle. Then, an acquisition device is used to acquire standard hole position images of the calibration holes at the same location on the rear of the roof of this standard template vehicle. Image processing and coordinate calculations are then performed to obtain the coordinates of the center of the calibration holes in the camera coordinate system, for example, denoted as (X...). 1s , Y 1s ) and (X 2s , Y 2s The coordinate values ​​are then stored in the system as preset standard center data.

[0035] Subsequently, during the formal welding process, the system performs preprocessing such as grayscale conversion and filtering / denoising based on the hole position image data of the target vehicle to eliminate interference information in the image. Next, edge detection is performed on the processed hole position image data. By identifying abrupt changes in pixel grayscale values ​​in the image, the contour boundary of the positioning hole is determined, obtaining the contour data of the positioning hole. Then, this contour data is used to perform center fitting calculations. By performing geometric operations on the pixels on the contour boundary, the center coordinates of the positioning hole in the planar coordinate system are determined. For example, this can be denoted as (X... 1c ,Y 1c ) and (X 2c ,Y 2c Finally, the calculated current center coordinates are compared with the preset standard center coordinates one by one to calculate the difference, that is, the difference between the actual coordinates and the standard coordinates in the X and Y directions are calculated respectively. For example, the first difference in the X direction is ΔX1 = X 1c -X 1s The second difference in the Y direction, ΔY1 = Y 1c -Y 1s The third difference in the X direction, ΔX2 = X 2c -X 2s The fourth difference in the Y direction, ΔY2 = Y 2c -Y 2s The first, second, third, and fourth differences constitute the positional accuracy data describing the deviation of the positioning hole.

[0036] Through the above steps based on image processing and coordinate calculation, the position information of the positioning hole can be accurately extracted from the acquired hole position image and converted into a deviation value that can be compared with the standard, providing reliable input data for subsequent deviation detection.

[0037] S130. Based on the positional data, deviation detection is performed to obtain the deviation detection result.

[0038] The deviation detection result can refer to a qualitative judgment on whether the target vehicle currently meets the welding precision requirements, and can be used to describe whether the actual position of the positioning hole meets the target welding conditions. For example, it can include a first detection result and a second detection result. The first detection result indicates that the position is unqualified and does not meet the welding conditions, while the second detection result indicates that the position is qualified and meets the welding conditions. The target welding conditions can refer to the positional accuracy requirements set to ensure the quality of laser welding. For example, taking the positional data as two-dimensional coordinates, the target welding conditions can include that the absolute values ​​of the coordinate deviations of the positional data in the X and Y directions must not exceed a predefined standard deviation threshold.

[0039] Specifically, the calculated positional data can be compared with the system's preset standard deviation threshold to obtain a deviation detection result regarding whether the position is qualified or not.

[0040] For example, the deviation detection result can be obtained by the following methods: obtaining a first detection result when the positional data does not meet the standard deviation threshold; or obtaining a second detection result when the positional data meets the standard deviation threshold.

[0041] The standard deviation threshold can refer to the maximum range of deviations allowed from the standard position of the positioning hole. Considering welding accuracy, the standard deviation threshold can be set to less than or equal to 0.5 mm.

[0042] Specifically, the four differences (ΔX1, ΔY1, ΔX2, and ΔY2) in the positional data can be compared with a standard deviation threshold (e.g., ±0.5 mm). If the absolute value of any one of the differences, i.e., |ΔX1|, |ΔY1|, |ΔX2|, and |ΔY2|, is greater than 0.5 mm, it is determined that the standard deviation threshold is not met, resulting in a first test result indicating non-compliance. Conversely, only when the absolute value of all differences is less than or equal to 0.5 mm can it be determined that the standard deviation threshold is met, resulting in a second test result indicating compliance.

[0043] By comparing quantified positional data with a defined standard deviation threshold, an objective conclusion of whether a test is qualified or unqualified can be drawn. This automated comparison method not only improves the processing efficiency of the production line but also eliminates the uncertainty of manual judgment, providing a clear basis for the control of subsequent welding processes and improving the controllability of welding quality.

[0044] S140, Guide the laser welding process based on deviation detection results.

[0045] Specifically, after obtaining the deviation detection results indicating the actual positional status, the system can further generate two types of target control commands—welding commands or alarm commands—based on different deviation detection results, directly intervening in or affecting the execution of subsequent laser welding processes.

[0046] For example, the laser welding process can be guided by the following method: when the deviation detection result is the first detection result, an alarm signal is triggered and the production line of the target vehicle is stopped; and when the deviation detection result is the second detection result, an execution signal is triggered to control the normal start of the laser welding process.

[0047] Specifically, when the deviation detection result is the first detection result, the system immediately feeds this result back to the production line control system, causing it to stop the welding process at the laser welding station. Simultaneously, it generates an alarm command to trigger the audible and visual alarm, and highlights the alarm information and deviation details on the display screen, allowing production line personnel to manually adjust the top cover position based on the alarm prompts. After adjustment, the system is manually reset to repeat the image acquisition, position calculation, and deviation detection process until the detection result is the second detection result.

[0048] If the deviation detection result is the second detection result, the system can send an execution signal to the production line control system. This execution signal contains welding instructions, enabling the production line control system to initiate the welding process upon receiving the signal. This includes controlling the top cover gripper to clamp the workpiece and controlling the laser welding robot to perform welding operations along a preset trajectory. Once welding is complete, the entire inspection and welding cycle ends, the current target vehicle is transported to the next workstation, and the system resets to begin the inspection cycle for the next vehicle.

[0049] By executing shutdown alarms or welding restarts based on deviation detection results, a closed-loop control system from detection to execution is achieved. When a defect is detected, an alarm is immediately triggered and the line is stopped to prevent the defect from flowing into the welding process, avoiding rework or scrap losses. When a defect is detected and passed, welding is seamlessly started, ensuring welding quality and improving production efficiency.

[0050] In the above implementation, by acquiring images of the top cover positioning holes and automatically calculating their positional deviations, and then automatically deciding whether to start welding based on the deviation results, the top cover positioning deviations before welding are accurately identified in the real-time production process. This effectively avoids laser welding quality defects caused by poor positioning, increased rework time, and the risk of scrapping the entire vehicle, thereby improving the production efficiency and quality stability of automobile manufacturing.

[0051] It should be understood that although the steps in the flowchart above are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart above may include multiple steps or stages, which are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0052] This application also provides a visual positional monitoring system 200 for implementing the above-described vehicle positional detection method; please refer to the appendix. Figure 2 The system includes: an image acquisition module 210, a data processing module 220, a judgment and control module 230, and a display and alarm module 240.

[0053] The image acquisition module 210 refers to a functional module capable of acquiring image data of the hole positions on the target vehicle, and it is fixedly installed above the laser welding station. It is important to note that its installation position has been designed and adjusted to ensure that its field of view completely and clearly covers the area of ​​the positioning holes to be inspected, and that its relative position to the target vehicle after it stops moving remains fixed, thereby ensuring consistency in image acquisition conditions for each inspection and improving the stability and repeatability of the inspection.

[0054] Optionally, the image acquisition module 210 includes at least two acquisition units 211, and each acquisition unit includes an acquisition device 212 and a supplementary lighting device 214.

[0055] The acquisition unit can refer to a standalone image acquisition device. For example, it can be a device with shooting capabilities, such as a vision camera or an industrial camera, capable of acquiring images of a single positioning hole on a target vehicle to obtain hole position image data containing the features of that positioning hole. The supplementary lighting device can refer to a device that provides auxiliary lighting for image acquisition, such as a supplementary light for a vision camera.

[0056] By setting up at least two acquisition units, images of multiple positioning holes can be acquired simultaneously, improving detection efficiency. Each acquisition unit is equipped with a supplementary lighting device, which can reduce the impact of light interference on image quality and further improve the accuracy of hole position image data. It can be used to provide illumination when the ambient light is insufficient or uneven, ensuring that the features of the positioning holes are clearly distinguishable and reducing the impact of the shooting environment on image quality.

[0057] For example, when the target vehicle is positioned at the laser welding station, the image acquisition module 210 responds to the detection signal sent by the main line PLC, and each acquisition unit inside it starts synchronously, aiming at the positioning holes at the rear of the target vehicle's roof assembly to take pictures. With the assistance of the supplementary lighting equipment, clear images of each positioning hole are quickly acquired, thus obtaining the hole position image data of the target vehicle.

[0058] The data processing module 220 refers to a functional module capable of data analysis and calculation, used to determine positional accuracy data based on borehole image data. The positional accuracy data describes the absolute deviation of the positioning borehole in a planar coordinate system. Specifically, the data processing module 220 performs image processing and coordinate calculations on the obtained borehole image data to extract the precise center position of the positioning borehole. It then performs a difference operation with the pre-stored standard position to obtain quantified positional accuracy data.

[0059] The judgment control module 230 can refer to a functional module that performs judgments, which can be used to perform deviation detection based on positional data, obtain deviation detection results, and generate target control instructions to guide the laser welding process based on the deviation detection results.

[0060] Among them, target control instructions can refer to instructions that can directly control the subsequent actions of the production line, including welding instructions to allow and start welding operations and alarm instructions to alert for problems and stop production.

[0061] Specifically, the judgment control module 230 compares the calculated positional data with the system's preset standard deviation threshold to obtain a deviation detection result regarding whether the position is qualified. If the deviation detection result indicates that the position is qualified, a welding command is generated and fed back to the production line control system to allow subsequent welding processes to proceed normally. If the deviation detection result indicates that the position is unqualified, an alarm command is generated and sent to the display alarm module 240 and the production line control system to trigger an alarm and stop the line.

[0062] The display alarm module 240 can refer to a functional module that includes a display device and an alarm device, capable of displaying positional data and deviation detection results, and executing audible and visual alarm operations in response to alarm commands. For example, the display alarm module 240 may include a real-time detection display screen and a buzzer alarm light. The display screen can dynamically display the image of the current vehicle positioning hole, the calculated positional deviation value, historical production data, and alarm records. When an alarm command is received from the judgment control module 230, the buzzer alarm light will immediately activate, issuing a clear warning to the on-site operators through flashing lights and a sound.

[0063] Optionally, the system also includes a laser welding module 250, which guides the laser welding process based on deviation detection results to achieve precise control of the welding quality between the roof assembly and the side assembly of the target vehicle.

[0064] Specifically, the laser welding module 250 may include laser welding equipment and a top cover gripper device. When the control module 230 generates a welding command, the laser welding module 250 can first control the top cover gripper device to position and clamp the assembly parts of the top cover assembly and the side panel assembly, and then start the laser welding equipment to perform the welding operation, ensuring that the precisely assembled workpiece is stably welded. If the laser welding module 250 receives an alarm command, it will remain in standby mode until the deviation detection result is qualified before starting. This ensures that welding is performed only after the position accuracy is verified, eliminating quality defects caused by welding under unqualified position conditions, thereby fundamentally guaranteeing the reliability and consistency of welding quality and achieving precise control over the final welding quality.

[0065] In the above implementation, the system deeply integrates visual inspection technology into the automotive welding production line. Through the coordinated operation of four modules—image acquisition, data processing, judgment control, and display alarm—it can automatically and in real-time accurately measure and judge the position of the roof of each vehicle. It accurately identifies roof placement deviations before welding, effectively avoiding laser welding quality defects, increased rework time, and the risk of vehicle scrapping due to poor position, thus improving the production efficiency and quality stability of automobile manufacturing.

[0066] For specific limitations regarding a vehicle position detection system, please refer to the limitations of a vehicle position detection method described above, which will not be repeated here. Each module in the aforementioned vehicle position detection system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0067] In this embodiment, a vehicle position detection system is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0068] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application, such as... Figure 3 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processor can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations. Figure 3 Take a processor 10 as an example.

[0069] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0070] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0071] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0072] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0073] The computer device also includes an input device 30 and an output device 40. The processor 10, memory 20, input device 30, and output device 40 can be connected via a bus or other means. Figure 3 Taking the example of a connection between China and Israel via a bus.

[0074] Input device 30 can receive input numerical or character information, and generate key signal inputs related to user settings and function control of the computer device, such as a touchscreen, keypad, mouse, trackpad, touchpad, joystick, one or more mouse buttons, trackball, joystick, etc. Output device 40 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The aforementioned display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, displays, and plasma displays. In some alternative embodiments, the display device may be a touchscreen.

[0075] This application also provides a computer-readable storage medium. The methods described in this application can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code downloaded over a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and subsequently stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the methods shown in the above embodiments are implemented.

[0076] This application provides a computer program product including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the method of any embodiment of this application.

[0077] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.

[0078] The apparatus, module, or unit described in the above embodiments can be implemented by a computer chip or entity, or by a product having a certain function. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0079] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0080] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0081] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus, and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0082] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0083] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0084] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0085] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. Especially for the apparatus and system embodiments, since they are basically similar to the method embodiments, the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0086] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

[0087] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method of detecting a position of a vehicle, characterized by, The method comprises: obtaining hole position image data of a target vehicle; wherein the hole position image data is determined by image acquisition of a positioning hole at the rear of the roof of the target vehicle; determining position degree data based on the hole position image data; wherein the position degree data is used to describe the absolute deviation value of the positioning hole in a plane coordinate system; detecting deviation based on the position degree data to obtain a deviation detection result; wherein the deviation detection result is used to describe whether the actual position of the positioning hole meets a target welding condition; and the deviation detection result includes a first detection result and a second detection result; guiding a laser welding process based on the deviation detection result.

2. The method of claim 1, wherein, The determination of the position degree data based on the hole position image data comprises: performing edge detection based on the hole position image data to obtain contour data of the positioning hole; performing center fitting calculation using the contour data to obtain center coordinate data of the positioning hole in the plane coordinate system; performing difference calculation based on the center coordinate data and a preset standard center data to obtain the position degree data.

3. The method of claim 1, wherein, The target welding condition includes a predefined standard deviation threshold; the deviation detection based on the position degree data to obtain a deviation detection result comprises: in the case that the position degree data does not meet the standard deviation threshold, obtaining the first detection result; in the case that the position degree data meets the standard deviation threshold, obtaining the second detection result.

4. The method of claim 1, wherein, The guidance of the laser welding process based on the deviation detection result comprises: when the deviation detection result is the first detection result, triggering an alarm signal and controlling the production line of the target vehicle to stop running; when the deviation detection result is the second detection result, triggering an execution signal to control the laser welding process to start normally.

5. A visual position monitoring system for implementing the method according to any one of claims 1 to 4; characterized in that, The system comprises: an image acquisition module for obtaining hole position image data of a target vehicle; wherein the image acquisition module is fixedly installed above a laser welding station; a data processing module for determining position degree data based on the hole position image data; wherein the position degree data is used to describe the absolute deviation value of the positioning hole in a plane coordinate system; a judgment and control module for detecting deviation based on the position degree data to obtain a deviation detection result, and generating a target control instruction for guiding a laser welding process based on the deviation detection result; wherein the target control instruction includes a welding instruction and an alarm instruction; a display alarm module for displaying the position degree data and the deviation detection result, and performing a sound and light alarm operation in response to the alarm instruction.

6. The system as recited in claim 5, wherein, The image acquisition module comprises at least two acquisition units, and each acquisition unit comprises an acquisition device and a light supplement device.

7. The system as recited in claim 5, wherein, The system further comprises a laser welding module for guiding a laser welding process based on the deviation detection result to complete precise control of the welding quality between the roof assembly and the side wall assembly of the target vehicle.

8. A computer device, comprising: comprises: A memory and a processor, which are connected to each other in communication, the memory has computer instructions stored therein, and the processor executes the computer instructions to perform the steps of the method of any one of claims 1 to 4.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium has computer instructions stored thereon, which are used to make a computer perform the steps of the method of any one of claims 1 to 4.

10. A computer program product, characterised in that, The computer readable storage medium has computer instructions stored thereon, which are used to make a computer perform the steps of the method of any one of claims 1 to 4.

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