Vehicle-mounted awning installation detection method, device, equipment and storage medium

Abstract

The application discloses a vehicle-mounted awning installation detection method, device and equipment and a storage medium, and belongs to the technical field of vehicle manufacturing. The vehicle-mounted awning installation detection method comprises the following steps: acquiring a first point cloud of a test hole group and a second point cloud of a standard hole group of a vehicle-mounted awning to be assembled; determining first geometric feature parameters and first inter-hole topological relationship parameters of the test hole group according to the first point cloud; determining second geometric feature parameters and second inter-hole topological relationship parameters in the standard hole group according to the second point cloud; and determining whether the vehicle-mounted awning meets a third installation detection condition according to a plurality of first deviations, first weights, second deviations and second weights in the case that the plurality of first geometric feature parameters meet a first installation detection condition and the first inter-hole topological relationship meets a second installation detection condition. Through layer-by-layer judgment and comprehensive verification of the multi-level installation detection conditions, the application improves the coverage range of the detection of the test hole group, and is beneficial to improving the reliability of the detection result.

Description

Technical Field

[0001] This application relates to the technical field of vehicle manufacturing, and particularly relates to an installation detection method, device, equipment and storage medium for an in-vehicle sunroof. Background Art

[0002] As a key component in the vehicle body structure, the positioning and installation accuracy of the in-vehicle sunroof directly affects the assembly quality, sealing performance of the whole vehicle and the user experience. Therefore, before the assembly of the in-vehicle sunroof, it is of great significance to effectively detect and evaluate the accuracy of the positioning holes and the spatial layout of the hole groups of the in-vehicle sunroof for improving the assembly accuracy, assembly efficiency and use reliability.

[0003] Since multiple positioning holes on the in-vehicle sunroof usually serve as the core positioning reference and constraint reference for the sunroof assembly, they play a key positioning and limiting role in the assembly process of the in-vehicle sunroof. In the related art, during the assembly process of the in-vehicle sunroof, the geometric dimensions and spatial positions of multiple positioning holes are usually detected to ensure that the positioning holes meet the preset assembly standards. For example, it is determined whether the geometric dimensions and spatial positions of multiple positioning holes are qualified by preset threshold judgment.

[0004] However, since there is a spatial cooperative constraint relationship among multiple positioning holes during the assembly process, when there is a slight deviation in the relative distance or spatial structure between the holes, it may affect the assembly accuracy of the in-vehicle sunroof. The above method of isolated detection and evaluation of multiple positioning holes has poor recognition ability for such problems, and it is easy to have misjudgment situations such as "within the threshold but not assemblable" or "outside the threshold but actually assemblable". Summary of the Invention

[0005] This application provides an installation detection method, device, equipment and storage medium for an in-vehicle sunroof to solve the technical problems existing in the related art. Specifically, the following technical solutions are included.

[0006] In a first aspect, this application provides an installation and testing method for a vehicle-mounted sunroof. The method includes: acquiring a first point cloud of a test hole group and a second point cloud of a standard hole group of a vehicle-mounted sunroof to be assembled, wherein a plurality of standard positioning holes in the standard hole group correspond one-to-one with a plurality of test positioning holes in the test hole group; determining a first geometric feature parameter of each test positioning hole in the test hole group based on the first point cloud, and determining a first inter-hole topological relationship parameter of the test hole group based on a plurality of first geometric feature parameters corresponding to the plurality of test positioning holes; determining a second geometric feature parameter of each standard positioning hole in the standard hole group based on the second point cloud, and determining a first inter-hole topological relationship parameter of the test hole group based on a plurality of first geometric feature parameters corresponding to the plurality of standard positioning holes. Geometric feature parameters determine the second inter-hole topological relationship parameters of the standard hole group; when the plurality of first geometric feature parameters satisfy the first installation detection condition and the first inter-hole topological relationship satisfies the second installation detection condition, the vehicle-mounted sunroof is determined to meet the third installation detection condition based on a plurality of first deviations, a first weight of the plurality of first deviations, a second deviation, and a second weight of the second deviation. Any one of the plurality of first deviations is the deviation between any one of the plurality of first geometric feature parameters and the corresponding second geometric feature parameter, and the second deviation indicates the deviation between the first inter-hole topological relationship parameters and the second inter-hole topological relationship parameters.

[0007] In some possible implementations, the first installation detection condition is that any one of the plurality of first geometric feature parameters falls within the corresponding first calibration tolerance range.

[0008] In some possible implementations, the method further includes: if the plurality of first geometric feature parameters do not meet the first installation detection conditions, stopping the assembly operation of the vehicle-mounted sunroof and generating a first prompt message, the first prompt message being used to indicate that there is a first geometric feature parameter that exceeds the tolerance among the plurality of first geometric feature parameters.

[0009] In some possible implementations, the second installation detection condition is that the second deviation falls within the second calibration tolerance range.

[0010] In some possible implementations, the method further includes: if the topological relationship between the second holes does not meet the second installation detection conditions, stopping the assembly operation of the vehicle-mounted sunroof and generating a second prompt message, the second prompt message being used to indicate that the topological relationship parameter between the first holes is out of tolerance.

[0011] In some possible implementations, determining the first hole-to-hole topological relationship parameters of the test hole group based on the multiple first geometric feature parameters corresponding to the multiple test positioning holes includes: determining a first structural skeleton of the multiple test positioning holes, and dividing the multiple test positioning holes into multiple pairs of first holes based on the first structural skeleton; determining a first geometric relationship parameter for each of the multiple first hole pairs based on the multiple first geometric feature parameters; and determining the first hole-to-hole topological relationship parameters based on the multiple first geometric relationship parameters of the multiple first hole pairs, wherein the first hole-to-hole topological relationship parameters are a set of the multiple first geometric relationship parameters.

[0012] In some possible implementations, the second spatial topological relationship parameter is a set of multiple second geometric relationship parameters, which are determined based on the multiple second geometric feature parameters, and the multiple second geometric relationship parameters correspond one-to-one with the multiple first geometric relationship parameters; the second deviation is obtained by performing an overall difference measurement on the multiple corresponding first geometric relationship parameters and the multiple second geometric relationship parameters.

[0013] Secondly, this application provides an installation and testing device for a vehicle-mounted sunroof. The device includes an acquisition module, a determination module, and an identification module. The acquisition module is configured to acquire a first point cloud of a group of test holes and a second point cloud of a group of standard holes in a vehicle-mounted sunroof to be assembled, wherein a plurality of standard positioning holes in the group of standard holes correspond one-to-one with a plurality of test positioning holes in the group of test holes. The determination module is configured to determine a first geometric feature parameter of each test positioning hole in the group of test holes based on the first point cloud, and determine a first inter-hole topological relationship parameter of the group of test holes based on the plurality of first geometric feature parameters corresponding to the plurality of test positioning holes; determine a second geometric feature parameter of each standard positioning hole in the group of standard holes based on the second point cloud, and determine a first inter-hole topological relationship parameter of the group of test holes based on the plurality of first geometric feature parameters corresponding to the plurality of test positioning holes; and determine a second geometric feature parameter of each standard positioning hole in the group of standard holes based on the second point cloud, and determine a second inter-hole topological relationship parameter of the group of test holes based on the plurality of first geometric feature parameters corresponding to the plurality of test positioning holes. The second hole topological relationship parameters of the standard hole group are determined by multiple second geometric feature parameters corresponding to the standard positioning holes; the identification module is configured to determine whether the vehicle-mounted sunroof meets the third installation detection condition based on multiple first deviations, the first weight of the multiple first deviations, the second deviation, and the second weight of the second deviation when the multiple first geometric feature parameters meet the first installation detection condition and the first hole topological relationship meets the second installation detection condition. Any one of the multiple first deviations is the deviation between any one of the multiple first geometric feature parameters and the corresponding second geometric feature parameter, and the second deviation indicates the deviation between the first hole topological relationship parameter and the second hole topological relationship parameter.

[0014] In some possible implementations, the first installation detection condition is that any one of the plurality of first geometric feature parameters falls within the corresponding first calibration tolerance range.

[0015] In some possible implementations, the device further includes a prompting module; the prompting module is configured to stop the assembly operation of the vehicle-mounted sunroof and generate a first prompting message when the plurality of first geometric feature parameters do not meet the first installation detection conditions, the first prompting message being used to indicate that there is a first geometric feature parameter that exceeds the tolerance among the plurality of first geometric feature parameters.

[0016] In some possible implementations, the second installation detection condition is that the second deviation falls within the second calibration tolerance range.

[0017] In some possible implementations, the device further includes a prompting module; the prompting module is configured to stop the assembly operation of the vehicle-mounted sunroof and generate a second prompting message when the topological relationship between the second holes does not meet the second installation detection conditions, the second prompting message being used to indicate that the topological relationship parameter between the first holes is out of tolerance.

[0018] In some possible implementations, when the determining module determines the first hole-to-hole topological relationship parameters of the test hole group based on the multiple first geometric feature parameters corresponding to the multiple test positioning holes, it is configured to: determine the first structural skeleton of the multiple test positioning holes, and divide the multiple test positioning holes into multiple pairs of first holes based on the first structural skeleton; determine the first geometric relationship parameters of each of the multiple first hole pairs based on the multiple first geometric feature parameters; and determine the first hole-to-hole topological relationship parameters based on the multiple first geometric relationship parameters of the multiple first hole pairs, wherein the first hole-to-hole topological relationship parameters are a set of the multiple first geometric relationship parameters.

[0019] In some possible implementations, the second spatial topological relationship parameter is a set of multiple second geometric relationship parameters, which are determined based on the multiple second geometric feature parameters, and the multiple second geometric relationship parameters correspond one-to-one with the multiple first geometric relationship parameters; the second deviation is obtained by performing an overall difference measurement on the multiple corresponding first geometric relationship parameters and the multiple second geometric relationship parameters.

[0020] Thirdly, this application provides an electronic device that includes the apparatus described in the second aspect of this application or any possible implementation thereof.

[0021] Fourthly, this application provides a computer program (product) including computer program / instructions, which are executed by a processor to cause a vehicle to implement the method of the first aspect of this application or any possible implementation of the first aspect.

[0022] Fifthly, this application provides a computer-readable storage medium storing program instructions for detecting the installation of a vehicle sunroof, which, when executed by one or more processors, causes the vehicle to implement the method of the first aspect of this application or any possible implementation of the first aspect.

[0023] The beneficial effects of the technical solution provided in this application include at least the following: The technical solution provided in this application achieves three-level installation inspection of vehicle-mounted sunroofs through first, second, and third installation inspection conditions, greatly improving the comprehensiveness of installation inspection and the reliability of inspection results. Specifically, the first installation inspection condition first determines whether the first geometric feature parameters of each test positioning hole meet the assembly requirements, and the second installation inspection condition determines whether the inter-hole topological relationship between the test hole group and the standard hole group meets the assembly requirements. If both the first and second installation inspection conditions are met, the third installation inspection condition comprehensively determines whether the overall vehicle-mounted sunroof meets the final assembly feasibility requirements. This covers the geometric accuracy inspection of a single test positioning hole and the spatial coordination relationship inspection between multiple test positioning holes, effectively avoiding misjudgments caused by isolated inspections and improving the accuracy and practicality of vehicle-mounted sunroof assembly inspection. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of an implementation scenario provided in the embodiments of this application; Figure 2 This is a flowchart of the installation and testing method for a vehicle-mounted panoramic sunroof provided in an embodiment of this application; Figure 3 This is a schematic diagram of the installation and testing device for a vehicle-mounted sunroof provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of an electronic device for testing the installation of a vehicle-mounted panoramic sunroof, as provided in an embodiment of this application. Detailed Implementation

[0026] 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.

[0027] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0028] Figure 1 This is a schematic diagram of an implementation scenario provided in an embodiment of this application. (Reference) Figure 1 The implementation scenarios provided in this application include a scanning unit 11 and a control unit 12.

[0029] The scanning unit 11 is used, but is not limited to, to scan the outer surface, inner surface, and edge contours of the vehicle sunroof to be assembled, in order to obtain scanning data reflecting the actual geometric state of the vehicle sunroof after production and processing. Optionally, the scanning unit 11 can be any type of 3D acquisition device, such as a 3D laser scanner or a structured light 3D sensor, and this application makes no restrictions in this regard.

[0030] The control unit 12 communicates with the scanning unit 11 via wired or wireless means, enabling the control unit 12 to determine the installation compatibility level between the vehicle sunroof and the mounting carrier based on the scanning data of the vehicle sunroof acquired by the scanning unit 11 and the design data of the vehicle sunroof. The design data of the vehicle sunroof may be pre-stored in the control unit 12, or it may be obtained by the control unit 12 from an external storage device, a host computer, a cloud server, or the vehicle's central control system via wired or wireless communication; this application makes no limitations in this regard.

[0031] Optionally, the control unit may be, for example, an in-vehicle controller, a control unit, or any other type of in-vehicle terminal or cloud server capable of performing control functions; this application makes no restrictions in this regard.

[0032] Those skilled in the art should understand that the above-described scanning unit 11 and control unit 12 are merely examples. Other existing or future scanning units and control units that are applicable to this application should also be included within the scope of protection of this application, and are hereby incorporated by reference.

[0033] Figure 2 This is a flowchart illustrating the installation and testing method for a vehicle-mounted panoramic sunroof provided in this application embodiment. This method can, for example, be performed by… Figure 1 The control unit shown performs the actions, and this application makes no limitations in this regard. See also Figure 2 The installation and testing method for vehicle-mounted sunroofs provided in this application embodiment may include steps S210-S240.

[0034] Step S210: Obtain the first point cloud of the test hole group and the second point cloud of the standard hole group of the vehicle roof to be assembled. Multiple standard positioning holes in the standard hole group correspond one-to-one with multiple test positioning holes in the test hole group.

[0035] For example, the test hole group includes multiple test positioning holes, each of which is, for example, an actual positioning hole machined on the vehicle sunroof to be assembled, used for, but not limited to, achieving positioning, docking, and assembly constraints between the vehicle sunroof and the vehicle body sheet metal and frame structure. The standard hole group includes multiple standard positioning holes, and there is a one-to-one correspondence between the multiple standard positioning holes and the multiple test positioning holes. Each of the multiple standard positioning holes is, for example, a pre-calibrated ideal positioning hole, and the geometric dimensions, spatial position, and relative relationships between holes of each standard positioning hole strictly conform to the design requirements, used for, but not limited to, serving as a reference benchmark in the testing process, for example, comparing and analyzing with the corresponding test positioning hole to quantify the deviation between the two.

[0036] The acquisition of the first point cloud is achieved, for example, through a 3D vision acquisition device, such as, but not limited to, a 3D vision sensor, LiDAR, structured light camera, industrial CT scanner, etc. The device can be selected based on factors such as actual detection accuracy requirements, production line speed, and cost budget; this application does not impose any restrictions in this regard. The first point cloud is, for example, a collection of a large number of discrete first spatial points, each containing 3D coordinate information (x, y, z). Optionally, each first spatial point may also include auxiliary information such as its grayscale value and reflectivity, used, but not limited to, to support the optimization of denoising and feature extraction of the first point cloud. Preprocessing operations include, but are not limited to, denoising, filtering, downsampling, and alignment.

[0037] In some embodiments, the first point cloud is obtained by feature extraction from the first original point cloud of the vehicle roof to be assembled. The method for feature extraction of the first original point cloud is shown in the following formula (1): (1) in, For the first point cloud; For any original spatial point in the first original point cloud; This is the first original point cloud; The calibrated curvature threshold can be adjusted according to the actual application scenario; Let be the curvature of any point in the original space.

[0038] Optionally, the acquisition of the second point cloud may include, for example, pre-collecting the second original point cloud of a standard vehicle-mounted roof, extracting features from the second original point cloud to obtain the second point cloud. The method for extracting features from the second original point cloud is referred to formula (1), which will not be elaborated here. Alternatively, based on the design model of the vehicle-mounted roof, such as a CAD model, the second point cloud of the standard aperture group can be generated by software. Here, the standard vehicle-mounted roof is the vehicle-mounted roof that fully meets the design requirements.

[0039] It is important to note that regardless of the method used, the coordinate system, point cloud density, and feature extraction criteria of the second point cloud must be consistent with those of the first point cloud to ensure comparability between the two, thus establishing a one-to-one correspondence between the standard hole group and the test hole group. For example, if the test hole group has three positioning holes, numbered 1#, 2#, and 3#, the corresponding standard hole group also has three standard positioning holes, also numbered 1#, 2#, and 3#. Test positioning hole 1# corresponds to standard positioning hole 1#, test positioning hole 2# corresponds to standard positioning hole 2#, and so on. This ensures that each test positioning hole can find a unique corresponding reference benchmark, avoiding misalignment in deviation calculations and affecting the accuracy of the detection results.

[0040] Step S220: Determine the first geometric feature parameters of each test positioning hole in the test hole group based on the first point cloud, and determine the first hole topological relationship parameters of the test hole group based on the multiple first geometric feature parameters corresponding to the multiple test positioning holes.

[0041] For example, the first geometric feature parameter is used, but is not limited to, to characterize the geometric properties of each test positioning hole itself, and to determine, but is not limited to, whether each test positioning hole meets the assembly requirements. Multiple test positioning holes correspond to multiple first geometric feature parameters, and the multiple first geometric feature parameters correspond one-to-one with the multiple test positioning holes.

[0042] In some embodiments, the first geometric feature parameters include, but are not limited to, one or more of the following: center coordinates, aperture, ellipse fitting parameters, normal vector direction, roundness, area, and hole wall perpendicularity of each test positioning hole. The first geometric feature parameters corresponding to each test positioning hole are, for example, a collection of multiple different types of geometric parameters.

[0043] In this case, the first geometric feature parameters of each test positioning hole in the test hole group are determined based on the first point cloud. For example, the center coordinates, hole diameter, ellipse fitting parameters, normal vector direction, roundness, area, hole wall perpendicularity and / or edge contour deviation of each test positioning hole are extracted based on the first point cloud.

[0044] For example, the center coordinates of each test positioning hole can be extracted by centroid calculation, as shown in formula (2) below: (2) in, This is the first point cloud; Let be any spatial point in the first point cloud.

[0045] The method for extracting the center coordinates of each test positioning hole also includes point cloud fitting, for example: firstly, the point cloud data of each test positioning hole is segmented from the first point cloud, and the point cloud of each test positioning hole is separated from the point cloud of other regions by using region growing algorithms, threshold segmentation algorithms, etc.; then, the point cloud of each segmented test positioning hole is fitted by the least squares method and the RANSAC (random sample consensus) algorithm. For example, for circular positioning holes, the center of each test positioning hole is fitted, and the three-dimensional coordinates of the center are the center coordinates of each test positioning hole; for elliptical positioning holes, the center of the ellipse is fitted as the center coordinates of each test positioning hole.

[0046] The method for extracting the diameter of each test positioning hole is as follows: taking the center coordinates of each test positioning hole as a reference, extract the coordinates of the edge points of each test positioning hole in a plane perpendicular to the axis of each test positioning hole, calculate the distance from the edge point to the center coordinates, and take the average of these distances as the radius of each test positioning hole. Twice the radius is the diameter.

[0047] The ellipse fitting parameters for each test positioning hole include, for example, the length of the major axis, the length of the minor axis, and the direction angle of the major axis. The extraction method is as follows: perform ellipse fitting on the point cloud of each test positioning hole, and use the least squares method, RANSAC algorithm, etc. to fit the standard equation of the ellipse. Calculate the length of the major axis, the length of the minor axis, and the angle (direction angle) between the major axis and the x-axis of the preset coordinate system based on the standard equation. These parameters together constitute the ellipse fitting parameters, which are used to characterize the geometric shape and spatial attitude of each elliptical test positioning hole.

[0048] The method for extracting the normal vector direction of each test positioning hole is as follows: perform plane fitting on the edge point cloud or hole wall point cloud of each test positioning hole to obtain the hole opening plane of each test positioning hole. The normal vector of this plane is the normal vector direction of each test positioning hole, as shown in the following formula (3): (3) in, B is any spatial point in the first point cloud; C is the center coordinate of each test positioning hole.

[0049] The roundness and area of ​​each test positioning hole are extracted as follows: For circular positioning holes, the difference between the maximum and minimum distances from the edge points of each testing positioning hole to the center of the circle is calculated; the smaller the difference, the better the roundness. The area is calculated based on the point cloud fitting of each testing positioning hole. For elliptical positioning holes, the area is calculated based on the ellipse fitting parameters.

[0050] The perpendicularity of the hole wall of each test positioning hole is used to characterize the perpendicularity between the axis of each test positioning hole and the plane of the hole opening. The extraction method is to obtain the hole axis by fitting the point cloud of the hole wall, and calculate the angle between the hole axis and the normal vector of the hole opening plane. The smaller the angle, the better the perpendicularity.

[0051] The first hole topological relationship parameter is used, but is not limited to, to characterize the spatial relative relationship between multiple test positioning holes, and can reflect the rationality and consistency of the hole group topological structure of the test hole group.

[0052] For example, a method for determining the topological relationship parameters between the first holes of a test hole group based on multiple first geometric feature parameters corresponding to multiple test positioning holes includes, for example, the steps S221-S223 shown below: Step S221: Determine the first structural skeleton of the multiple test positioning holes, and divide the multiple test positioning holes into multiple first hole pairs according to the first structural skeleton.

[0053] The first structural framework is used, but is not limited to, to organize multiple test positioning holes into a logically related hole group topology, clarifying the connection relationships between the multiple test positioning holes. The determination of the first structural framework can be selected according to the distribution characteristics of the positioning holes and design requirements, such as the minimum spanning tree method, the proximity relationship construction method, and the distance sorting method.

[0054] The following section uses the minimum spanning tree method as an example to explain in detail the process of determining the first structural skeleton and the method of dividing the first hole pair: First, obtain the center coordinates of multiple test positioning holes, treating each test positioning hole as a node. Then, calculate the Euclidean distance between any two nodes to obtain the distance matrix between all nodes. Next, use minimum spanning tree algorithms such as Kruskal's algorithm and Prim's algorithm to construct a minimum spanning tree based on the distance matrix. This minimum spanning tree contains all nodes, and the sum of the distances of all edges in the tree is minimized. Finally, each edge in the minimum spanning tree corresponds to two nodes, i.e., two test positioning holes. Divide the two test positioning holes corresponding to each edge into a first hole pair, thus obtaining multiple first hole pairs.

[0055] For example, if there are 4 test positioning holes in the test hole group, numbered 1#, 2#, 3# and 4#, and the structural skeleton constructed by the minimum spanning tree method contains 3 edges, namely 1#-2#, 2#-3# and 3#-4#, then the corresponding first hole pairs are (1#, 2#), (2#, 3#) and (3#, 4#), for a total of 3 first hole pairs.

[0056] It should be noted that the division of the first pair of wells must ensure coverage of all test positioning wells and avoid duplicate divisions. That is, each test positioning well must belong to at least one first pair, and any two test positioning wells can be divided into at most one first pair. This avoids redundant calculations of subsequent geometric relationship parameters due to duplicate well pairs, which would affect detection efficiency. Furthermore, the division method of the first pair of wells must be consistent with the division method of the second pair of wells in the standard well group, ensuring a one-to-one correspondence between the first and second geometric relationship parameters, laying the foundation for subsequent overall difference measurement.

[0057] Step S222: Determine the first geometric relationship parameter of each of the multiple first hole pairs based on the multiple first geometric feature parameters.

[0058] The first geometric relationship parameter is used to characterize the spatial relative relationship between the two test positioning holes in a single first hole pair. It forms the basis for the topological relationship parameters between first holes. Each first hole pair in a plurality of first hole pairs corresponds to one first geometric relationship parameter, and multiple first hole pairs correspond to multiple first geometric relationship parameters, with a one-to-one correspondence between the multiple first geometric relationship parameters and the multiple first hole pairs. The type of the first geometric relationship parameter can be set according to assembly requirements and detection accuracy, such as including but not limited to the distance, orientation angle, and normal vector angle between each first hole pair. The specific calculation method is as follows.

[0059] The distance between each pair of first holes, that is, the Euclidean distance between the center coordinates of the two test positioning holes in each pair of first holes, is calculated using the formula (4) shown below: (4) in, The distance between each pair of first holes; , The coordinates of the center of the two test positioning holes are given for each first hole alignment.

[0060] The orientation angle between each pair of first holes, that is, the angle between the line connecting the centers of the two test positioning holes in each pair of first holes and a certain axis (such as the x-axis) of the preset coordinate system, is calculated using the formula (5) shown below: (5) in, The direction angle between each pair of first holes; The difference between the center coordinates of the two test positioning holes in each first hole pair; The unit vector for the preset coordinate axes.

[0061] The angle between the normal vectors of each pair of first holes, that is, the angle between the normal vectors of the two test positioning holes in each pair of first holes, is calculated using the formula (6) shown below: (6) in, Let be the angle between the normal vectors of each pair of first holes; Let be the normal vector of the i-th test positioning hole; Let be the normal vector of the j-th test positioning hole.

[0062] In addition to the parameters mentioned above, the first geometric relationship parameters may also include the plane angle between each first hole pair, spatial twist, etc., which can be supplemented according to the actual assembly requirements. This application does not impose any restrictions in this regard.

[0063] Step S223: Determine the topological relationship parameters between the first holes based on the multiple first geometric relationship parameters of the multiple first hole pairs.

[0064] As mentioned earlier, the first hole-to-hole topological relationship parameters are a set of multiple first geometric relationship parameters. That is, all the first geometric relationship parameters corresponding to each first hole pair are integrated together to form a parameter set that can comprehensively characterize the overall spatial topology of the test hole group. This set can be stored in matrix, vector, or list form, facilitating subsequent comparison with the second hole-to-hole topological relationship parameters of the standard hole group to calculate the second deviation.

[0065] For example, if a test hole group has three pairs of first holes, and the first geometric relationship parameters of each pair include distance D, orientation angle θ, and normal vector angle α, then the topological relationship parameters between the first holes can be represented by a 3×3 matrix. Each row of the matrix corresponds to the three geometric relationship parameters of a pair of first holes, i.e.: [[D1, θ1, α1], [D2, θ2, α2], [D3, θ3, α3]]. Here, D1, θ1, and α1 represent the distance, orientation angle, and normal vector angle of the first pair of first holes, respectively; D2, θ2, and α2 represent the corresponding parameters of the second pair of first holes; and D3, θ3, and α3 represent the corresponding parameters of the third pair of first holes. This matrix clearly and intuitively reflects the spatial relative relationships of all pairs of holes in the test hole group, constituting the overall topological structure of the test hole group.

[0066] It should be noted that the set of topological relationship parameters between the first hole must be consistent with the set of topological relationship parameters between the second hole in the subsequent standard hole group. For example, if the topological relationship parameters between the first hole are stored in matrix form, the topological relationship parameters between the second hole must also be stored in matrix form with the same dimensions and parameter order to ensure that the two can be compared and the differences can be calculated in a one-to-one correspondence.

[0067] Step S230: Determine the second geometric feature parameters of each standard positioning hole in the standard hole group based on the second point cloud, and determine the second hole topological relationship parameters of the standard hole group based on the multiple second geometric feature parameters corresponding to the multiple standard positioning holes.

[0068] For example, the second geometric feature parameter is the geometric attribute parameter of a single standard positioning hole in the standard hole group. Multiple standard positioning holes correspond to multiple second geometric feature parameters, and there is a one-to-one correspondence between the multiple second geometric feature parameters and the multiple standard positioning holes. The multiple second geometric feature parameters also correspond one-to-one with the multiple first geometric feature parameters, and the type, extraction method, and calculation standard of any one of the multiple second geometric feature parameters are completely consistent with the corresponding first geometric feature parameter, which will not be elaborated here.

[0069] The second inter-hole topological relationship parameter is a set of multiple second geometric relationship parameters, used to characterize the spatial relative relationship between multiple standard positioning holes in the standard hole group, serving as a benchmark for testing the topological relationship of the hole group. Its determination process is completely consistent with that of the first inter-hole topological relationship parameter, and will not be repeated here.

[0070] Step S240: If multiple first geometric feature parameters satisfy the first installation detection conditions and the topological relationship between the first holes satisfies the second installation detection conditions, determine whether the vehicle-mounted sunroof satisfies the third installation detection conditions based on multiple first deviations, the first weights of the multiple first deviations, and the second weights of the second deviations and the second deviations.

[0071] Among them, any one of the multiple first deviations is the deviation between any one of the multiple first geometric feature parameters and its corresponding second geometric feature parameter, that is, the difference between the first geometric feature parameter of each test positioning hole and the second geometric feature parameter of the corresponding standard positioning hole, used to characterize the degree to which the geometric accuracy of a single positioning hole deviates from the ideal state. The second deviation indicates the deviation between the topological relationship parameters between the first holes and the topological relationship parameters between the second holes, used to characterize the degree to which the hole group structure of the test hole group deviates from the ideal state.

[0072] Since there are multiple first and second geometric feature parameters, and they correspond one-to-one, there are also multiple first deviations. These multiple first deviations correspond one-to-one with multiple test positioning holes, and one-to-one with multiple first geometric feature parameters and multiple second geometric feature parameters. For example, if the first geometric feature parameters of a single test positioning hole include center coordinates (x_test, y_test, z_test), hole diameter D_test, and normal vector n_test, and the second geometric feature parameters of the corresponding standard positioning hole include center coordinates (x_ref, y_ref, z_ref), hole diameter D_ref, and normal vector n_ref, then the corresponding first deviations include: center coordinate deviation (Δx=x_test-x_ref, Δy=y_test-y_ref, Δz=z_test-z_ref), hole diameter deviation ΔD=D_test-D_ref, and normal vector angle deviation Δα=α_test-α_ref (α_test is the angle between the normal vector of the test positioning hole and the normal vector of the standard positioning hole).

[0073] The method for calculating the first deviation varies depending on the type of parameter. For numerical parameters (such as aperture, distance, area, etc.), the absolute difference or relative difference is used for calculation. For vector parameters (such as center coordinates, normal vector, etc.), the vector difference is used for calculation, or the angle between vectors is calculated as the deviation. For shape parameters (such as roundness, ellipse fitting parameters, etc.), the difference between the actual parameter and the ideal parameter is used as the deviation.

[0074] It should be noted that the calculation of the first deviation must be specific, meaning that each first geometric feature parameter is only compared and calculated with its corresponding second geometric feature parameter to avoid errors in deviation calculation due to cross-comparison. Furthermore, the unit of the first deviation must be consistent with the unit of the corresponding geometric feature parameter; for example, the unit of aperture deviation is mm, the unit of center coordinate deviation is mm, and the unit of normal vector angle deviation is degrees (°).

[0075] The second deviation indicates the discrepancy between the first and second hole topological relationship parameters, i.e., the difference between the overall topological structure of the test hole group and the overall topological structure of the standard hole group, and is used to characterize the degree of deviation of the spatial cooperative constraint relationship of the hole group. As mentioned above, the second deviation is obtained by measuring the overall difference between multiple one-to-one corresponding first geometric relationship parameters and multiple second geometric relationship parameters. The input consists of multiple pairs of one-to-one corresponding first and second geometric relationship parameters, and the output is a unique numerical value used to characterize the degree of deviation of the overall topological structure of the hole group. The methods for measuring the overall difference include, but are not limited to, the difference norm, the sum of squared differences, and the absolute value of the differences, which are calculation methods used to indicate multiple sets of one-to-one corresponding parameters as input and output an overall difference value.

[0076] Optionally, the first installation test condition is, for example, a pre-configured rule for determining whether the geometric features of each test positioning hole meet the assembly requirements. For example, the first installation test condition is that any one of a plurality of first geometric feature parameters falls within the corresponding first calibration tolerance range. The first calibration tolerance is a tolerance range pre-calibrated based on factors such as the assembly requirements, design standards, and processing accuracy of the vehicle-mounted sunroof. Each first geometric feature parameter corresponds to a first calibration tolerance range. When there are multiple first geometric feature parameters, the first calibration tolerance range corresponding to each first geometric feature parameter is one of multiple ranges corresponding to the multiple first geometric feature parameters. The value of the first calibration tolerance range can be adjusted according to the actual application scenario, and this application does not impose any restrictions in this regard.

[0077] In some embodiments, if the first geometric feature parameter of each test positioning hole is the first center coordinate, then the second geometric feature parameter corresponding to the first geometric feature parameter is the second center coordinate of the corresponding standard positioning hole, and the first calibration tolerance range is, for example, a three-dimensional tolerance space constructed based on the allowable deviation values ​​of the second center coordinate and the calibrated first center coordinate on the x, y, and z axes of the three-dimensional spatial coordinate system.

[0078] Based on this, if multiple first geometric feature parameters are multiple first center coordinates, and the three-dimensional tolerance space is multiple three-dimensional tolerance spaces that correspond one-to-one with the multiple first center coordinates, the method for determining whether multiple first geometric feature parameters meet the first installation detection conditions is as follows: if each center coordinate among the multiple first center coordinates falls into the corresponding three-dimensional tolerance space, then the multiple first center coordinates meet the first installation detection conditions. The method for determining whether any center coordinate among the multiple first center coordinates falls into the corresponding three-dimensional tolerance space is as shown in the following formula (7): (7) Where x, y, and z are the values ​​of the first center coordinates on the x, y, and z axes of the three-dimensional coordinate system, respectively; , , These are the values ​​of the second center coordinates on the x, y, and z axes of the three-dimensional coordinate system, respectively. , , These are the allowable deviations of the first center coordinates on the x, y, and z axes of the three-dimensional coordinate system, respectively. The specific values ​​can be adjusted according to the actual application scenario.

[0079] In the above method, a three-dimensional tolerance space is constructed by the deviation value between the second center coordinate and the calibrated first center coordinate. This allows for a comprehensive determination of the center position of a single test positioning hole from a three-dimensional spatial perspective, avoiding misjudgments or omissions caused by relying solely on a single axial deviation. This improves the reliability of the identification results for whether the coordinate center positions of multiple test positioning holes meet the assembly requirements.

[0080] In other embodiments, the vehicle-mounted sunroof installation detection method provided in this application further includes: stopping the vehicle-mounted sunroof assembly operation and generating a first prompt message when multiple first geometric feature parameters do not meet the first installation detection conditions. The first prompt message is used to indicate that there is a first geometric feature parameter that exceeds the tolerance among the multiple first geometric feature parameters.

[0081] The first geometric feature parameter being out of tolerance refers to the first geometric feature parameter exceeding the corresponding first calibration tolerance range. The first prompt information can be in the form of text prompts, audible and visual alarms, pop-up prompts, etc. The specific content can include the number of the test positioning hole corresponding to the out-of-tolerance first geometric feature parameter, the type of out-of-tolerance geometric feature parameter, the specific value of the out-of-tolerance, the corresponding first calibration tolerance range, etc., so that operators can promptly discover problems, troubleshoot faults, repair or replace out-of-tolerance test positioning holes, and avoid affecting the subsequent assembly process.

[0082] The second installation and testing conditions are pre-configured based on factors such as the assembly requirements, design standards, and processing accuracy of the vehicle-mounted sunroof. These conditions are used to determine the topological relationship between the first holes, i.e., to determine whether the topological structure of the test hole group meets the assembly requirements. The value of the second calibration tolerance range can be adjusted according to the actual application scenario. This application does not impose any restrictions in this regard.

[0083] In some embodiments, the second installation test condition is that the second deviation falls within the second calibration tolerance range. For example, if the second deviation falls within the second calibration tolerance range, it means that the deviation between the topology of the test hole group and the ideal structure meets the assembly requirements, and the topological relationship between the first holes meets the second installation test condition; if the second deviation does not fall within the second calibration tolerance range, it means that the deviation between the topology of the test hole group and the ideal structure does not meet the assembly requirements, and the topological relationship between the first holes does not meet the second installation test condition.

[0084] For example, the test hole group includes multiple first hole pairs, the multiple first hole pairs correspond to multiple first geometric relationship parameters, any one of the multiple first geometric relationship parameters is the first distance and the first direction angle between the corresponding first hole pairs, the multiple first hole pairs correspond to multiple first distances and multiple first direction angles, and there is a one-to-one correspondence between the multiple first distances, the multiple first direction angles, and the multiple first hole pairs.

[0085] The standard hole group includes multiple second hole pairs, which correspond to multiple second geometric relationship parameters. Any one of the multiple second geometric relationship parameters is the second distance and the second orientation angle between the corresponding second hole pairs. The multiple second hole pairs correspond to multiple second distances and multiple second orientation angles, and there is a one-to-one correspondence between the multiple second distances, multiple second orientation angles, and multiple second hole pairs.

[0086] Because there is a one-to-one correspondence between the test hole group and the standard hole group, there is a one-to-one correspondence between multiple first distances, multiple first orientation angles, multiple first hole pairs, multiple second distances, multiple second orientation angles, and multiple second hole pairs.

[0087] In this case, the topological relationship between the first holes is a set of multiple first distances and multiple orientation angles, and the topological relationship between the second spaces is a set of multiple second distances and multiple second orientation angles. The method for determining the second deviation is, for example, the following formula (8): (8) in, The second bias is used, but is not limited to, to characterize the consistency of the pore topology between the test pore group and the standard pore group. The smaller the value, the higher the consistency of the pore topology between the test pore group and the standard pore group; conversely, the lower the consistency of the pore topology between the test pore group and the standard pore group. For multiple second distances of multiple first hole pairs; For multiple second distances between multiple second hole pairs; For multiple second direction angles of multiple first hole pairs; For multiple second hole pairs, there are multiple second direction angles; It is the Frobenius norm.

[0088] In some embodiments, the vehicle-mounted sunroof installation and testing method provided in this application further includes: when the topological relationship between the second holes does not meet the second installation and testing conditions, stopping the vehicle-mounted sunroof assembly operation and generating a second prompt message. The second prompt message is used to indicate that the topological relationship parameters between the first holes are out of tolerance. The out-of-tolerance topological relationship parameters between the first holes refer to one or more pairs of first holes in the test hole group having a relative relationship that exceeds the corresponding second calibration range, such as the distance, orientation angle, or normal vector angle between the first hole pairs. The presentation of the second prompt message is consistent with the first prompt message. Specific content may include the specific value of the second deviation, the second calibration tolerance range, and the number of the first hole pair that may have an out-of-tolerance error, etc., to facilitate operators in troubleshooting the cause of the out-of-tolerance topological relationship between the first holes. For example, the distance deviation or orientation angle deviation of a certain first hole pair may be too large, thereby allowing for adjustment and repair of the relevant test positioning holes.

[0089] The third installation test condition is used to comprehensively determine whether the overall vehicle sunroof meets the final assembly feasibility requirements. The method for determining whether the vehicle sunroof meets the third installation test condition based on multiple first deviations, the first weight of multiple first deviations, and the second weight of second deviations is as follows: multiple first deviations and second deviations are weighted and fused according to the first weight and the second weight to obtain a comprehensive deviation value. Whether the comprehensive deviation value falls within the third calibration tolerance range determines whether the vehicle sunroof meets the third installation test condition.

[0090] Among them, there are multiple second deviations, and each of the multiple second deviations corresponds one-to-one with multiple first hole pairs and multiple second hole pairs. Any of the multiple second deviations indicates the deviation between the first geometric relationship parameter of the corresponding first hole pair and the second geometric relationship parameter of the corresponding second hole pair. The calculation method of the comprehensive deviation is, for example, referred to the following formula (9): (9) in, For comprehensive deviation; It is the first weight; The second weight is a multiple second weight, and the multiple second weights correspond one-to-one with multiple second deviations, multiple first hole pairs, and multiple second hole pairs. The deviation of the center coordinates of the i-th test positioning hole among multiple test positioning hole positions, i.e., the first deviation; ) represents the deviation between the first hole pair numbered ij and the corresponding second hole pair among multiple first hole pairs, i.e., the second deviation.

[0091] It should be noted that the calculation method of the comprehensive deviation shown in formula (9) is exemplary and not restrictive. The calculation method of the comprehensive deviation is different depending on the type of the first geometric relationship parameter in the topological relationship between the first holes, according to the first geometric feature parameter. For example, if the first geometric feature parameter of each test positioning hole includes area, aperture, and normal vector direction, the left side of "+" in formula (9) also includes terms corresponding to area, aperture, and normal vector direction; if the first geometric relationship parameter of each first hole pair in multiple first hole pairs also includes direction angle and normal vector angle, the right side of "+" in formula (9) also includes terms corresponding to direction angle and normal vector angle.

[0092] The first weight is pre-calibrated and is used to characterize the importance of multiple first deviations in the comprehensive judgment; the second weight is also pre-calibrated and is used to characterize the importance of the second deviation in the comprehensive judgment. The values ​​of the first weight and the second weight are both in the range of [0, 1], and the sum of the first weight and the second weight is 1. They can be set according to the assembly requirements of the vehicle-mounted sunroof, the importance ratio of single hole accuracy and hole group topology.

[0093] For example, if the accuracy of a single hole has a greater impact on the assembly quality than the topology of the hole group, then the first weight is set to be greater than the second weight; if the topology of the hole group has a greater impact on the assembly quality than the accuracy of a single hole, then the first weight is set to be less than the second weight; if the two have equal influence, then the first weight is set to be equal to the second weight.

[0094] For example, the third installation test condition is that the comprehensive deviation value falls within the third calibration tolerance range. The third calibration tolerance is a tolerance range pre-calibrated based on the overall assembly requirements of the vehicle-mounted sunroof, and its value is related to the calculation method of the comprehensive deviation value. If the comprehensive deviation value falls within the third calibration tolerance range, the vehicle-mounted sunroof is determined to meet the third installation test condition, indicating that the single-hole accuracy and hole group topology of the vehicle-mounted sunroof meet the requirements, the overall assembly feasibility is good, and subsequent assembly operations can proceed. If the comprehensive deviation value exceeds the third calibration tolerance range, the vehicle-mounted sunroof is determined to not meet the third installation test condition, indicating that the overall assembly feasibility of the vehicle-mounted sunroof is poor, the assembly operation needs to be stopped, and a third prompt message is generated, prompting the operator to conduct a comprehensive inspection and repair of the vehicle-mounted sunroof.

[0095] The technical solution provided in this application achieves three-level installation inspection of vehicle-mounted sunroofs through first, second, and third installation inspection conditions, greatly improving the comprehensiveness of installation inspection and the reliability of inspection results. Specifically, the first installation inspection condition first determines whether the first geometric feature parameters of each test positioning hole meet the assembly requirements, and the second installation inspection condition determines whether the inter-hole topological relationship between the test hole group and the standard hole group meets the assembly requirements. If both the first and second installation inspection conditions are met, the third installation inspection condition comprehensively determines whether the overall vehicle-mounted sunroof meets the final assembly feasibility requirements. This covers the geometric accuracy inspection of a single test positioning hole and the spatial coordination relationship inspection between multiple test positioning holes, effectively avoiding misjudgments caused by isolated inspections and improving the accuracy and practicality of vehicle-mounted sunroof assembly inspection.

[0096] In some other possible implementations, this application also provides an installation detection device for a vehicle-mounted panoramic sunroof. Figure 3 This is a schematic diagram of the installation and testing device for a vehicle-mounted panoramic sunroof provided in an embodiment of this application. (Reference) Figure 3 The vehicle-mounted sunroof installation detection device provided in this application embodiment includes an acquisition module 310, a determination module 320, and an identification module 330.

[0097] The acquisition module 310 is configured to acquire the first point cloud of the test hole group and the second point cloud of the standard hole group in the vehicle-mounted sunroof to be assembled, wherein multiple standard positioning holes in the standard hole group correspond one-to-one with multiple test positioning holes in the test hole group.

[0098] The determination module 320 is configured to determine the first geometric feature parameters of each test positioning hole in the test hole group based on the first point cloud, and to determine the first hole topological relationship parameters of the test hole group based on the multiple first geometric feature parameters corresponding to the multiple test positioning holes; and to determine the second geometric feature parameters of each standard positioning hole in the standard hole group based on the second point cloud, and to determine the second hole topological relationship parameters of the standard hole group based on the multiple second geometric feature parameters corresponding to the multiple standard positioning holes.

[0099] The identification module 330 is configured to determine whether the vehicle roof meets the third installation detection condition based on multiple first deviations, a first weight of the multiple first deviations, a second deviation, and a second weight of the second deviation, when multiple first geometric feature parameters meet the first installation detection condition and the topological relationship between the first holes meets the second installation detection condition. Any first deviation among the multiple first deviations is the deviation between any first geometric feature parameter among the multiple first geometric feature parameters and the corresponding second geometric feature parameter. The second deviation indicates the deviation between the topological relationship parameter between the first holes and the topological relationship parameter between the second holes.

[0100] In some possible implementations, the first installation detection condition is that any one of a plurality of first geometric feature parameters falls within the corresponding first calibration tolerance range.

[0101] In some possible implementations, the device further includes a prompting module; the prompting module is configured to stop the assembly operation of the vehicle-mounted sunroof and generate a first prompting message when multiple first geometric feature parameters do not meet the first installation detection conditions, the first prompting message being used to indicate that there is a first geometric feature parameter that exceeds the tolerance among the multiple first geometric feature parameters.

[0102] In some possible implementations, the second installation test condition is that the second deviation falls within the second calibration tolerance range.

[0103] In some possible implementations, the device further includes a prompting module; the prompting module is configured to stop the assembly operation of the vehicle-mounted sunroof and generate a second prompting message when the topological relationship between the second holes does not meet the second installation detection conditions, the second prompting message being used to indicate that the topological relationship parameters between the first holes are out of tolerance.

[0104] In some possible implementations, when determining the inter-hole topological relationship parameters of the test hole group based on the multiple first geometric feature parameters corresponding to the multiple test positioning holes, the determining module 320 is configured to: determine the first structural skeleton of the multiple test positioning holes, and divide the multiple test positioning holes into multiple pairs of first holes based on the first structural skeleton; determine the first geometric relationship parameters of each of the multiple first hole pairs based on the multiple first geometric feature parameters; and determine the inter-hole topological relationship parameters based on the multiple first geometric relationship parameters of the multiple first hole pairs, wherein the inter-hole topological relationship parameters are a set of multiple first geometric relationship parameters.

[0105] In some possible implementations, the second spatial topological relation parameter is a set of multiple second geometric relation parameters, which are determined based on multiple second geometric feature parameters, and the multiple second geometric relation parameters correspond one-to-one with multiple first geometric relation parameters; the second deviation is obtained by measuring the overall difference between the one-to-one correspondence between the multiple first geometric relation parameters and the multiple second geometric relation parameters.

[0106] It should be understood that the vehicle-mounted sunroof installation testing device and the vehicle-mounted sunroof installation testing method provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the vehicle-mounted sunroof installation testing method embodiments.

[0107] In some other possible implementations, this application also provides an electronic device for detecting the installation of a vehicle-mounted panoramic sunroof. Figure 4 This is a schematic diagram of the electronic device for vehicle-mounted panoramic sunroof installation testing provided in an embodiment of this application. See also... Figure 4 The electronic device for vehicle-mounted sunroof installation detection provided in this application embodiment includes the following structure.

[0108] Memory 410 stores at least one program instruction for detecting the installation of a vehicle-mounted sunroof. Processor 420 executes the aforementioned program instruction, causing the vehicle to achieve the above-mentioned connection. Figure 2The steps of the described method and its various embodiments are described below. Depending on the implementation, the processor 420 may be one or more types of processors, including but not limited to DSP (digital signal processor), ASIC (application-specific integrated circuit), FPGA (field-programmable gate array), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., and the number of such devices may be determined according to actual needs.

[0109] In some other possible implementations, this application also provides a computer program (product) comprising computer programs / instructions, which are executed by a processor to cause the device to perform the above-described combination. Figure 2 The steps of the described method and its various embodiments.

[0110] In some other possible implementations, this application also provides a computer-readable storage medium storing program instructions for detecting the installation of a vehicle-mounted panoramic sunroof. When these program instructions are executed by one or more processors, they cause the vehicle to achieve the aforementioned connection. Figure 2 The steps of the described method and its various embodiments are described. The computer-readable storage medium can be a readable signal medium or a readable storage medium. A readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0111] It should also be noted that the terms "first," "second," etc. (if applicable) in the specification and claims of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0112] The term "and / or" in the embodiments of this application is merely a parameter describing the relationship between related objects, indicating that there can be three kinds of relationship parameters. For example, A and / or B can represent three cases: A exists alone, A and B exist simultaneously, and B exists alone.

[0113] The above description is only for the purpose of enabling those skilled in the art to understand the technical solution of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application shall be included within the scope of protection of this application.

Claims

1. A method for testing the installation of a vehicle-mounted panoramic sunroof, characterized in that, The method includes: Obtain the first point cloud of the test hole group and the second point cloud of the standard hole group of the vehicle-mounted sunroof to be assembled, wherein multiple standard positioning holes in the standard hole group correspond one-to-one with multiple test positioning holes in the test hole group. The first geometric feature parameter of each test positioning hole in the test hole group is determined based on the first point cloud, and the first hole topological relationship parameter of the test hole group is determined based on the multiple first geometric feature parameters corresponding to the multiple test positioning holes. The second geometric feature parameters of each standard positioning hole in the standard hole group are determined based on the second point cloud, and the second hole inter-hole topological relationship parameters of the standard hole group are determined based on the multiple second geometric feature parameters corresponding to the multiple standard positioning holes. When the plurality of first geometric feature parameters satisfy the first installation detection condition and the first hole topological relationship satisfies the second installation detection condition, the vehicle-mounted sunroof is determined to satisfy the third installation detection condition based on the plurality of first deviations, the first weight of the plurality of first deviations, the second deviation, and the second weight of the second deviation. Any one of the plurality of first deviations is the deviation between any one of the plurality of first geometric feature parameters and the corresponding second geometric feature parameter. The second deviation indicates the deviation between the first hole topological relationship parameter and the second hole topological relationship parameter.

2. The method according to claim 1, characterized in that, The first installation detection condition is that any one of the plurality of first geometric feature parameters falls within the corresponding first calibration tolerance range.

3. The method according to claim 1 or 2, characterized in that, The method further includes: If the plurality of first geometric feature parameters do not meet the first installation detection conditions, the assembly operation of the vehicle-mounted sunroof is stopped and a first prompt message is generated. The first prompt message is used to indicate that there is a first geometric feature parameter that exceeds the tolerance among the plurality of first geometric feature parameters.

4. The method according to claim 1, characterized in that, The second installation and testing condition is that the second deviation falls within the second calibration tolerance range.

5. The method according to claim 1 or 4, characterized in that, The method further includes: If the topological relationship between the second holes does not meet the second installation detection conditions, the assembly operation of the vehicle-mounted sunroof is stopped and a second prompt message is generated. The second prompt message is used to indicate that the topological relationship parameter between the first holes is out of tolerance.

6. The method according to claim 1, characterized in that, The step of determining the first hole-to-hole topological relationship parameters of the test hole group based on the multiple first geometric feature parameters corresponding to the multiple test positioning holes includes: A first structural skeleton is determined for the plurality of test positioning holes, and the plurality of test positioning holes are divided into a plurality of first hole pairs based on the first structural skeleton. Determine the first geometric relationship parameter for each of the plurality of first hole pairs based on the plurality of first geometric feature parameters; The topological relationship parameters between the first holes are determined based on the multiple first geometric relationship parameters of the multiple first hole pairs, wherein the topological relationship parameters between the first holes are a set of the multiple first geometric relationship parameters.

7. The method according to any one of claims 1-6, characterized in that, The second spatial topological relationship parameter is a set of multiple second geometric relationship parameters, which are determined based on the multiple second geometric feature parameters, and the multiple second geometric relationship parameters correspond one-to-one with the multiple first geometric relationship parameters; The second deviation is obtained by measuring the overall difference between multiple first geometric relationship parameters and multiple second geometric relationship parameters that are in one-to-one correspondence.

8. An installation detection device for a vehicle-mounted panoramic sunroof, characterized in that, The device includes an acquisition module, a determination module, and an identification module; The acquisition module is configured to acquire the first point cloud of the test hole group and the second point cloud of the standard hole group in the vehicle-mounted sunroof to be assembled, wherein multiple standard positioning holes in the standard hole group correspond one-to-one with multiple test positioning holes in the test hole group. The determining module is configured to determine the first geometric feature parameter of each test positioning hole in the test hole group based on the first point cloud, and to determine the first hole inter-hole topological relationship parameter of the test hole group based on the multiple first geometric feature parameters corresponding to the multiple test positioning holes. The second geometric feature parameters of each standard positioning hole in the standard hole group are determined based on the second point cloud, and the second hole inter-hole topological relationship parameters of the standard hole group are determined based on the multiple second geometric feature parameters corresponding to the multiple standard positioning holes. The identification module is configured to determine whether the vehicle-mounted sunroof meets a third installation detection condition based on a plurality of first deviations, a first weight of the plurality of first deviations, a second deviation, and a second weight of the second deviation, when the plurality of first geometric feature parameters meet a first installation detection condition and the first hole topological relationship meets a second installation detection condition. Any one of the plurality of first deviations is the deviation between any one of the plurality of first geometric feature parameters and the corresponding second geometric feature parameter, and the second deviation indicates the deviation between the first hole topological relationship parameter and the second hole topological relationship parameter.

9. An electronic device, characterized in that, include: A memory, wherein the memory stores program instructions for detecting the installation of a vehicle-mounted panoramic sunroof; as well as, A processor, when the program instructions are executed by the processor, causes the vehicle to perform the method described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, A computer-readable storage medium stores program instructions for detecting the installation of a vehicle-mounted panoramic sunroof, which, when executed by one or more processors, cause the vehicle to perform the method described in any one of claims 1-7.

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