Body position adjustment method and system

Abstract

The application provides a vehicle body position adjusting method and system, wherein the vehicle body position adjusting method detects real-time distances between the vehicle body and the trolley respectively through a distance measuring module, and captures real-time images of the current positions of the vehicle body and the trolley at a welding station through a visual module, so as to determine a position deviation of the current positions of the vehicle body and the trolley at the welding station compared with preset positions of the vehicle body and the trolley at the welding station through the real-time distances and the real-time images, and determine whether the position deviation is within a deviation threshold, if the position deviation is within the deviation threshold, a moving module is started to quickly move the vehicle body to the preset positions, without manual participation throughout, which is beneficial to improving the efficiency of the vehicle body position adjustment, and if the position deviation exceeds the deviation threshold, an alarm module is started to alarm, which is beneficial to ensuring the welding precision of the vehicle body.

Description

Technical Field

[0001] This invention relates to the field of vehicle body welding technology, and in particular to a vehicle body position adjustment method and system. Background Technology

[0002] In the automotive body-in-white welding station, if there is a positioning deviation between the trolley and the body, it will cause the weld points to shift during the welding process, affecting the welding accuracy. Related technologies can use manual adjustment of the deviation between the trolley and the body, but this is inefficient, affects production cycle time, and the adjustment accuracy cannot be guaranteed, failing to meet the high-precision and high-stability production requirements of automotive welding lines.

[0003] Therefore, a new solution is needed to address the aforementioned technical problems. Summary of the Invention

[0004] This invention provides a method and system for adjusting the vehicle body position, in order to solve the technical problem of how to quickly adjust the positioning deviation between the trolley and the vehicle body.

[0005] This invention provides a vehicle body position adjustment method, the method comprising: The trolley is started, and the trolley transports the car body to the welding station and obtains the car body arrival signal; The distance between the distance measuring module and the vehicle body and the trolley is obtained through the distance measuring module, and the real-time image of the current position of the vehicle body and the trolley is obtained through the vision module. Based on the real-time distance and the real-time image, the positional deviation between the vehicle body and the trolley is determined; If the positional deviation is within the deviation threshold, the moving module is activated to move the vehicle body and the trolley to the preset position. If the position deviation exceeds the deviation threshold, the alarm module will be activated.

[0006] In one embodiment of the present invention, determining the positional deviation between the vehicle body and the trolley based on the real-time distance and the real-time image includes: Based on the real-time distance, a first deviation between the vehicle body and the trolley is determined; Identify the real-time image to determine the second deviation between the vehicle body and the trolley; The first deviation and the second deviation are weighted to obtain the positional deviation.

[0007] In one embodiment of the present invention, the method further includes: Based on the first deviation and the second deviation, the difference between the two deviations is determined; If the deviation difference is within the preset tolerance range, then the positional deviation between the vehicle body and the trolley is determined. If the deviation exceeds the preset tolerance range, the alarm module is activated.

[0008] In one embodiment of the present invention, obtaining the real-time distances between the ranging module and the vehicle body and the trolley respectively through the ranging module includes: The real-time distance includes first distance data and second distance data; The ranging module includes a first ranging element and a second ranging element. The first ranging element is located on the extension line of the welding station along a first direction, and the second ranging element is located on the extension line of the welding station along a second direction. The first distance data between the first rangefinder and the vehicle body in the first direction is obtained through the first rangefinder. The second distance data between the second distance measuring device and the trolley in the second direction is obtained through the second distance measuring device.

[0009] In one embodiment of the present invention, determining the first deviation between the vehicle body and the trolley based on the real-time distance includes: By comparing the first distance data with the first preset distance data, a first distance deviation is obtained; By comparing the second distance data and the second preset distance data, a second distance deviation is obtained; The first deviation is obtained by combining the first distance deviation and the second distance deviation.

[0010] In one embodiment of the present invention, acquiring real-time images of the current positions of the vehicle body and the trolley through a vision module includes: The vision module includes an image capture device, which is located above the welding station; The real-time image is acquired using the image capture device.

[0011] In one embodiment of the present invention, the method further includes: If the signal from the ranging module and / or the vision module is lost, the alarm module is activated.

[0012] The present invention also provides a vehicle body position adjustment system for performing the vehicle body position adjustment method described in any of the preceding claims, the vehicle body position adjustment system comprising: A trolley is used to input or output the vehicle body to the welding station. The ranging module is used to detect the real-time distance between itself and the vehicle body and the trolley, respectively; A vision module is used to capture real-time images of the current positions of the vehicle body and the trolley; A mobile module is used to move the vehicle body and the trolley at the welding station; The alarm module is used for alarm notification. The control module is electrically connected to the trolley, the ranging module, the vision module, the movement module, and the alarm module, respectively. It is used to start the trolley and acquire the vehicle body positioning signal, the real-time distance, and the real-time image. Based on the real-time distance and the real-time image, it determines the positional deviation between the vehicle body and the trolley. If the positional deviation is within a deviation threshold, the movement module is activated to move the vehicle body and the trolley to a preset position. If the positional deviation exceeds the deviation threshold, the alarm module is activated.

[0013] In one embodiment of the present invention, the ranging module includes a first ranging element and a second ranging element, the first ranging element being located on the extension line of the welding station along a first direction, and the second ranging element being located on the extension line of the welding station along a second direction; the vision module includes an image capturing element, the image capturing element being located above the welding station.

[0014] In one embodiment of the present invention, the moving module is located below the welding station, and the moving module includes a first transmission mechanism and a second transmission mechanism. The first transmission mechanism is used to drive the vehicle body and the trolley to move in a first direction, and the second transmission mechanism is used to drive the vehicle body and the trolley to move in a second direction.

[0015] The beneficial effects of this invention are as follows: The present invention proposes a vehicle body position adjustment method and system. The method involves using a ranging module to detect the real-time distance between the vehicle body and the vehicle body and the welding trolley, and using a vision module to capture real-time images of the current positions of the vehicle body and the welding trolley at the welding station. By using the real-time distance and images, the method determines the positional deviation of the vehicle body and the welding trolley at the welding station compared to their preset positions. It then determines whether the positional deviation is within a deviation threshold. If the deviation is within the threshold, a movement module is activated to quickly move the vehicle body to the preset position. This process requires no manual intervention, thus improving the efficiency of vehicle body position adjustment. If the positional deviation exceeds the deviation threshold, an alarm module is activated to ensure the welding accuracy of the vehicle body. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0017] In the attached diagram: Figure 1This is a flowchart of a vehicle body position adjustment method provided in one embodiment of the present invention; Figure 2 This is a schematic diagram of the vehicle position adjustment system provided in one embodiment of the present invention.

[0018] The attached figures are labeled as follows: 1-First ranging device; 2-Second ranging device; 3-Alarm module; 4-First transmission mechanism; 5-Second transmission mechanism. Detailed Implementation

[0019] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0020] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the shape, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0021] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0022] Please see Figure 1 , Figure 1 This is a flowchart of a vehicle body position adjustment method according to an embodiment of the present invention. The vehicle body position adjustment method includes at least steps S110 to S150, which are described in detail below: Step S110: Start the trolley, which will transport the car body to the welding station and obtain the car body arrival signal.

[0023] In one embodiment of this application, after the control module starts the trolley, the trolley transports the car body to the welding station. Once the car body arrives at the welding station, the sensors at the welding station are triggered. After detecting the car body, the sensors send a car body arrival signal to the control module, so that the control module can activate the ranging module and the vision module for subsequent operations. It should be noted that after the trolley transports the car body to the welding station, the trolley will no longer move the car body and will remain relatively stationary with respect to it.

[0024] Step S120: Obtain the real-time distance between the ranging module and the vehicle body and the trolley respectively through the ranging module, and obtain the real-time image of the current position of the vehicle body and the trolley through the vision module.

[0025] In one embodiment of this application, after the ranging module and the vision module are activated, the ranging module begins to detect the real-time distance between itself and the vehicle body and the trolley, respectively, and sends the results to the control module. The ranging module can employ a micron-level high-precision distance detection device, and the detected real-time distance can be used as the basis for final positioning verification, compensating for the accuracy shortcomings of the vision module in detecting minute displacements.

[0026] The vision module captures real-time images of the vehicle body and trolley's current positions and sends them to the control module. By configuring the vision module, coarse positioning and contour feature matching in the entire spatial domain can be achieved, resisting environmental interference such as surface reflections and oil stains on workshop workpieces.

[0027] By leveraging the complementary cooperation of the ranging and vision modules, the positioning accuracy between the vehicle body and the trolley can reach ±0.05mm, facilitating comprehensive adaptation to complex production conditions. After the vehicle body position adjustment system is debugged, i.e., after the preset positions of the vehicle body and trolley at the welding station are calibrated, the installation positions of the ranging and vision modules will no longer move to ensure the accuracy of the detection data from the ranging and vision modules, thereby improving the accuracy of vehicle body position adjustment.

[0028] In one embodiment of this application, the ranging module includes a first ranging element 1 and a second ranging element 2, wherein the first ranging element 1 is located on the extension line of the welding station along a first direction, and the second ranging element 2 is located on the extension line of the welding station along a second direction. The real-time distance includes first distance data and second distance data. The first ranging element 1 can detect the first distance data between the first ranging element 1 and the vehicle body in the first direction, and the second ranging element 2 can detect the second distance data between the second ranging element 2 and the trolley in the second direction.

[0029] Wherein, the first direction and the second direction are two directions that intersect perpendicularly on a horizontal plane. For example, the first direction is... Figure 2 The X direction is in the middle, and the second direction is attached. Figure 2 in the Y direction.

[0030] In one embodiment of this application, the vision module includes an image capture device located above the welding station. The image capture device's field of view completely covers the welding station, enabling it to capture the entire vehicle body and trolley when taking real-time images, thus ensuring the accuracy of the inspection.

[0031] Step S130: Determine the positional deviation between the vehicle body and the trolley based on real-time distance and real-time images.

[0032] In one embodiment of this application, after the control module receives the real-time distance between the ranging module and the vehicle body and the trolley, as well as the real-time image of the current position of the vehicle body and the trolley at the welding station, it can determine the positional deviation of the current position of the vehicle body and the trolley at the welding station compared with the preset position of the vehicle body and the trolley at the welding station based on the real-time distance and the real-time image, and then determine whether the vehicle body and the trolley can be adjusted to the preset position of the welding station by the moving module.

[0033] In one embodiment of this application, a first deviation between the vehicle body and the trolley is determined based on the real-time distance detected by the ranging module. Using artificial intelligence visual recognition technology, the real-time image captured by the visual module is preprocessed, and then features are extracted from the real-time image based on deep learning, transforming it into structured real-time data to determine a second deviation between the vehicle body and the trolley. Further, the first and second deviations are weighted to obtain the positional deviation between the vehicle body and the trolley.

[0034] In one embodiment of this application, the positional deviation between the vehicle body and the trolley can be calculated using the following formula: , , in, This represents the positional deviation between the car body and the trolley. Represents the first preset weighting coefficient. The second deviation represents the difference between the car body and the trolley. This represents the second preset weighting coefficient. This represents the first deviation between the car body and the trolley.

[0035] In one embodiment of this application, when the vehicle body and the trolley are located at a preset position of the welding station, the first measuring element 1 can detect the first preset distance data between the first measuring element 1 and the vehicle body in the first direction, and the second measuring element 2 can detect the second preset distance data between the second measuring element 2 and the trolley in the second direction.

[0036] By comparing the first distance data with the first preset distance data, the first distance deviation of the vehicle body can be obtained. By comparing the second distance data with the second preset distance data, the second distance deviation of the trolley can be obtained. Combining the first distance deviation and the second distance deviation, the first deviation between the vehicle body and the trolley can be determined.

[0037] In one embodiment of this application, due to the inconsistent detection accuracy of the ranging module and the vision module, there is a certain deviation in the position data of the vehicle body and the trolley detected by the two. In order to ensure the accuracy of the position detection of the vehicle body and the trolley by the ranging module and the vision module, a preset tolerance range is set according to the minimum and maximum deviations of the detection data of the two.

[0038] In actual testing operations, it is necessary to determine the deviation difference between the first deviation and the second deviation. This deviation difference is then compared with a preset tolerance range. If the deviation difference is within the preset tolerance range, it indicates that the current testing data from the ranging module and the vision module is correct, and the positional deviations of the vehicle body and the trolley can be further determined based on the first and second deviations. If the deviation difference is not within the preset tolerance range, it indicates that the current testing data from the ranging module and the vision module is incorrect, and alarm module 3 is activated to alert on-site personnel to inspect and repair the ranging module and the vision module, which helps ensure the accuracy of the testing data.

[0039] In one embodiment of this application, if the control module cannot acquire the signal of either the ranging module or the vision module, or cannot acquire the signal of either of them, the control module cannot provide data support for the movement of the motion module. In this case, the alarm module 3 needs to be activated to issue an alarm, prompting on-site personnel to inspect the ranging module and / or the vision module.

[0040] In step S140, if the position deviation is within the deviation threshold, the moving module is activated to move the vehicle body to the preset position.

[0041] In one embodiment of this application, the deviation threshold of the vehicle body is the deviation value between the current position of the vehicle body and the trolley at the welding station and a preset position, which is the maximum distance that the moving module can move. The current position deviation of the vehicle body and the trolley is compared with the deviation threshold. If the position deviation is within the deviation threshold, it indicates that the vehicle body can be moved to the preset position by the moving module. Then, the moving module is activated to move the vehicle body to the preset position.

[0042] It should be noted that during the process of the moving module moving the vehicle body to the preset position, the ranging module and the vision module are also working synchronously, so that the control module can obtain the real-time distance and real-time image of the vehicle body and the trolley, thereby guiding the movement of the moving module and ensuring that the vehicle body and the trolley are moved to the preset position quickly.

[0043] Step S150: If the position deviation exceeds the deviation threshold, then alarm module 3 is activated.

[0044] In one embodiment of this application, if the position deviation exceeds the deviation threshold, it indicates that the vehicle body and trolley cannot be moved to the preset position by the moving module. Then, the alarm module 3 is activated to issue an alarm, prompting on-site personnel to carry out further processing, which helps to ensure the welding accuracy of the vehicle body.

[0045] In summary, the vehicle body position adjustment method provided in this application detects the real-time distance between itself and the vehicle body and the welding trolley using a ranging module, and captures real-time images of the current positions of the vehicle body and the welding trolley at the welding station using a vision module. By using the real-time distance and real-time images, the method determines the positional deviation of the vehicle body and the welding trolley at the welding station compared to their preset positions, and determines whether the positional deviation is within a deviation threshold. If the positional deviation is within the deviation threshold, a movement module is activated to quickly move the vehicle body to the preset position. This process requires no manual intervention, thus improving the efficiency of vehicle body position adjustment. If the positional deviation exceeds the deviation threshold, an alarm module is activated to sound an alarm, which helps ensure the welding accuracy of the vehicle body.

[0046] Please see Figure 2 One embodiment of this application also provides a vehicle body position adjustment system, including a trolley, a ranging module, a vision module, a movement module, an alarm module 3, and a control module. The trolley, ranging module, vision module, movement module, and alarm module 3 are all electrically connected to the control module, so that the control module can control the opening and closing of the trolley, ranging module, vision module, movement module, and alarm module 3.

[0047] The trolley is used to input or output the vehicle body to the welding station. The ranging module is used to detect the real-time distance between itself and the vehicle body and the trolley. The vision module is used to capture real-time images of the current position of the vehicle body and the trolley at the welding station. The movement module is used to move the vehicle body and the trolley at the welding station. The alarm module 3 is used to alarm and indicate abnormal situations.

[0048] The control module is used to start the trolley and acquire the vehicle body positioning signal, real-time distance, and real-time image. Based on the real-time distance and real-time image, it determines the positional deviation between the vehicle body and the trolley. If the positional deviation is within the deviation threshold, the movement module is activated to move the vehicle body and the trolley to the preset position. If the positional deviation exceeds the deviation threshold, the alarm module 3 is activated to issue a warning.

[0049] In one embodiment of this application, the alarm module 3 can be an audible and visual alarm device.

[0050] In one embodiment of this application, the ranging module includes a first ranging element 1 and a second ranging element 2. The first ranging element 1 is located on the extension line of the welding station along a first direction, so as to enable the first ranging element 1 to detect the distance between itself and the vehicle body in the first direction. The second ranging element 2 is located on the extension line of the welding station along a second direction, so as to enable the second ranging element 2 to detect the distance between itself and the trolley in the second direction.

[0051] The vision module includes an image capture unit located above the welding station. The image capture unit's field of view completely covers the welding station, enabling it to capture a full view of the vehicle body and trolley when taking real-time images of them.

[0052] In one embodiment of this application, the first ranging element 1 and the second ranging element 2 can be laser sensors. The image capturing element can be a 3D camera.

[0053] In one embodiment of this application, the moving module is located below the welding station. The moving module includes a first transmission mechanism 4 and a second transmission mechanism 5. The first transmission mechanism 4 is used to drive the vehicle body and the trolley to move in a first direction, and the second transmission mechanism 5 is used to drive the vehicle body and the trolley to move in a second direction.

[0054] In one embodiment of this application, the first transmission mechanism 4 and the second transmission mechanism 5 can both be configured as a driving member and a connecting member connected to the driving end of the driving member. The driving member can be configured as an electric slide table, a linear cylinder, etc. The connecting members of the first transmission mechanism 4 and the second transmission mechanism 5 are both used for contact connection with the bottom of the trolley.

[0055] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for adjusting vehicle body position, characterized in that, The method includes: The trolley is started, and the trolley transports the car body to the welding station and obtains the car body arrival signal; The distance between the distance measuring module and the vehicle body and the trolley is obtained through the distance measuring module, and the real-time image of the current position of the vehicle body and the trolley is obtained through the vision module. Based on the real-time distance and the real-time image, the positional deviation between the vehicle body and the trolley is determined; If the positional deviation is within the deviation threshold, the moving module is activated to move the vehicle body and the trolley to the preset position. If the position deviation exceeds the deviation threshold, the alarm module will be activated.

2. The vehicle body position adjustment method according to claim 1, characterized in that, Determining the positional deviation between the vehicle body and the trolley based on the real-time distance and the real-time image includes: Based on the real-time distance, a first deviation between the vehicle body and the trolley is determined; Identify the real-time image to determine the second deviation between the vehicle body and the trolley; The first deviation and the second deviation are weighted to obtain the positional deviation.

3. The vehicle body position adjustment method according to claim 2, characterized in that, The method further includes: Based on the first deviation and the second deviation, the difference between the two deviations is determined; If the deviation difference is within the preset tolerance range, then the positional deviation between the vehicle body and the trolley is determined. If the deviation exceeds the preset tolerance range, the alarm module is activated.

4. The vehicle body position adjustment method according to claim 2, characterized in that, The step of obtaining the real-time distances between the ranging module and the vehicle body and the trolley respectively through the ranging module includes: The real-time distance includes first distance data and second distance data; The ranging module includes a first ranging element and a second ranging element. The first ranging element is located on the extension line of the welding station along a first direction, and the second ranging element is located on the extension line of the welding station along a second direction. The first distance data between the first rangefinder and the vehicle body in the first direction is obtained through the first rangefinder. The second distance data between the second distance measuring device and the trolley in the second direction is obtained through the second distance measuring device.

5. The vehicle body position adjustment method according to claim 4, characterized in that, The determination of the first deviation between the vehicle body and the trolley based on the real-time distance includes: By comparing the first distance data with the first preset distance data, a first distance deviation is obtained; By comparing the second distance data and the second preset distance data, a second distance deviation is obtained; The first deviation is obtained by combining the first distance deviation and the second distance deviation.

6. The vehicle body position adjustment method according to claim 1, characterized in that, The step of acquiring real-time images of the current positions of the vehicle body and the trolley through the vision module includes: The vision module includes an image capture device, which is located above the welding station; The real-time image is acquired using the image capture device.

7. The vehicle body position adjustment method according to any one of claims 1-6, characterized in that, The method further includes: If the signal from the ranging module and / or the vision module is lost, the alarm module is activated.

8. A vehicle body position adjustment system, characterized in that, For performing the vehicle body position adjustment method as described in any one of claims 1-7, the vehicle body position adjustment system comprises: A trolley is used to input or output the vehicle body to the welding station. The ranging module is used to detect the real-time distance between itself and the vehicle body and the trolley, respectively; A vision module is used to capture real-time images of the current positions of the vehicle body and the trolley; A mobile module is used to move the vehicle body and the trolley at the welding station; The alarm module is used for alarm notification. The control module is electrically connected to the trolley, the ranging module, the vision module, the movement module, and the alarm module, respectively. It is used to start the trolley and acquire the vehicle body positioning signal, the real-time distance, and the real-time image. Based on the real-time distance and the real-time image, it determines the positional deviation between the vehicle body and the trolley. If the positional deviation is within a deviation threshold, the movement module is activated to move the vehicle body and the trolley to a preset position. If the positional deviation exceeds the deviation threshold, the alarm module is activated.

9. The vehicle body position adjustment system according to claim 8, characterized in that, The ranging module includes a first ranging element and a second ranging element, wherein the first ranging element is located on the extension line of the welding station along a first direction, and the second ranging element is located on the extension line of the welding station along a second direction; the vision module includes an image capturing element, which is located above the welding station.

10. The vehicle body position adjustment system according to claim 8, characterized in that, The moving module is located below the welding station, and the moving module includes a first transmission mechanism and a second transmission mechanism. The first transmission mechanism is used to drive the vehicle body and the trolley to move in a first direction, and the second transmission mechanism is used to drive the vehicle body and the trolley to move in a second direction.

Images