Vehicle VIN code automatic rubbing system
The automated rubbing system utilizes visual guidance and collaborative robots to achieve automatic alignment and non-contact collection of VIN codes, solving the inconsistency between manual rubbing and handheld rubbing operation, and improving the accuracy and efficiency of VIN code information collection.
Patent Information
- Application Number
- CN202520337136.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-28
- Publication Date
- 2026-01-20
- Estimated Expiration
- 2035-02-28
AI Technical Summary
In existing technologies, VIN code information collection mainly relies on manual rubbing and handheld electronic rubbing instruments, which suffers from problems such as high manpower consumption, inconsistent operation, and low collection efficiency.
An automated rubbing system consisting of a control unit, a VIN electronic rubbing instrument, a vision guidance component, and a collaborative robot acquires an initial image through the vision guidance component, calculates the error offset, and controls the collaborative robot to adjust its position, thereby achieving automatic alignment and non-contact acquisition of the VIN electronic rubbing instrument.
It improves the accuracy and consistency of VIN code information collection, reduces the use of human resources, avoids differences among operators, and improves collection efficiency and standardization.
Smart Images
Figure CN223812422U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to vehicle VIN code transfer printing technical field, especially a kind of vehicle VIN code automatic transfer printing system. BACKGROUND
[0002] Motor vehicle VIN (Vehicle Identification Number) code as the unique identity code of motor vehicle, with global uniqueness. On the one hand, manufacturers can monitor the quality of vehicles through VIN code, on the other hand, the public security traffic management department discriminates the behavior of theft, robbery and forgery by using VIN code. Therefore, in the vehicle production process, vehicle VIN code needs to be collected or transferred. According to GB 16735 Road Vehicle Vehicle Identification Code (VIN), GB 7258-2017 Motor Vehicle Operation Safety Technical Conditions and other standards, at least one VIN code should be engraved on the frame (for the main load-bearing part of the vehicle body and cannot be disassembled for the frameless motor vehicle).
[0003] Currently, VIN code information collection in new vehicle production mainly adopts the following two ways:
[0004] Traditional manual transfer printing method: using transfer printing paper and transfer printing pen to transfer print VIN code of each vehicle, and information collection is recorded. In the process of forming paper transfer printing material, a large number of three-dimensional forms and detail features of vehicle identification code and engraved surface will inevitably be lost, and the loss of these detail features will reduce the reliability of vehicle identification code paper material comparison.
[0005] Handheld VIN electronic transfer printing instrument collection method: the operator uses VIN electronic transfer printing instrument, cooperates with transfer printing instrument tooling, industrial PDA device and other vehicle VIN code information collection, collects VIN code image containing depth information through VIN electronic transfer printing instrument, and then restores VIN code image through image restoration algorithm 1:1, to achieve the purpose of VIN code image information collection. VIN electronic transfer printing instrument collection has higher requirements for camera tooling design and operator, and the operation process is more complicated, different toolings need to be switched for different vehicle models, and the on-site personnel operation convenience is poor.
[0006] In summary, in the vehicle management system of public security department, VIN code information collection is mainly carried out by manual transfer printing or handheld VIN electronic transfer printing, but manual transfer printing occupies human resources, different operators have inconsistent operation specifications, and it is difficult to ensure the consistency of VIN code information collection. INVENTION CONTENTS
[0007] The utility model discloses a kind of vehicle VIN code automatic expansion printing systems, for avoiding artificial expansion printing exists to occupy human resources, the problem that different operators operate standard is inconsistent, guarantee the consistency of VIN code information acquisition.
[0008] To achieve the above object, the utility model provides the following technical scheme:
[0009] A kind of vehicle VIN code automatic expansion printing system, including control unit, VIN electronic expansion printing instrument, visual guidance component and collaborative robot;VIN electronic expansion printing instrument, visual guidance component, collaborative robot are all with control unit signal connection, VIN electronic expansion printing instrument and visual guidance component are all located at the free end of collaborative robot;Visual guidance component is used to collect the initial image of target vehicle and transmit to control unit, control unit determines the error offset of the position where visual guidance component is located relative to preset position according to initial image, and according to error offset control collaborative robot corrects the position of visual guidance component to preset position, controls VIN electronic expansion printing instrument and expands the VIN code of target vehicle;Wherein, preset position is the position of visual guidance component when VIN electronic expansion printing instrument is aligned with the VIN code of target vehicle.
[0010] Wherein, control unit determines the error offset of the position where visual guidance component is located relative to preset position according to initial image, and according to error offset control collaborative robot corrects the position of visual guidance component to preset position, to correct target vehicle positioning error, and then eliminate the error between VIN electronic expansion printing instrument and accurate position, so that VIN electronic expansion printing instrument is aligned with VIN code, guarantee the accuracy and consistency of VIN code image acquisition.Moreover, control unit is also used to control VIN electronic expansion printing instrument and expands the VIN code of target vehicle, realizes the automatic acquisition of VIN code, reduces the occupation of human resources, and, realizes VIN electronic expansion printing instrument and vehicle completely non-contact acquisition, can effectively avoid manual acquisition frequent tool change, increase the acquisition efficiency of VIN code, in addition, the personal habit difference of different operators can also be effectively excluded, can further guarantee the consistency and standardization of VIN code information acquisition. Wherein, collaborative robot can provide high flexibility for free end VIN electronic expansion printing instrument and visual guidance component, so that visual guidance component and VIN electronic expansion printing instrument can be vertically directly opposite the point on the arbitrary curved surface of target vehicle.
[0011] Optionally, visual guidance component includes planar camera, or, visual guidance component includes depth camera.
[0012] Optionally, collaborative robot is six-axis robot, or, collaborative robot is three-coordinate robot.
[0013] Optionally, the vehicle VIN code automatic rubbing system further comprises a terminal connecting assembly, the VIN electronic rubbing instrument and the visual guiding assembly are connected to the free end of the collaborative robot through the same terminal connecting assembly.
[0014] Optionally, the terminal connecting assembly comprises a robot flange and a terminal connecting plate, the terminal connecting plate is connected to the free end of the collaborative robot through the robot flange, and the VIN electronic rubbing instrument and the visual guiding assembly are fixedly arranged on the terminal connecting plate.
[0015] Optionally, the vehicle VIN code automatic rubbing system further comprises a first mounting plate, the VIN electronic rubbing instrument and the terminal connecting plate are connected through the first mounting plate; and / or,
[0016] The vehicle VIN code automatic rubbing system further comprises a second mounting plate, the visual guiding assembly and the terminal connecting plate are connected through the second mounting plate.
[0017] Optionally, the vehicle VIN code automatic rubbing system further comprises a mobile chassis and a sensing assembly, the collaborative robot is fixedly arranged on the mobile chassis, the sensing assembly and the mobile chassis are signal connected with the control unit, and the sensing assembly is used for detecting the moving speed and the running direction of the target vehicle and transmitting to the control unit, so that the control unit controls the mobile chassis to move synchronously with the target vehicle.
[0018] Optionally, the mobile chassis comprises a first motor, a second motor and a wheel, wherein the first motor is in transmission connection with the wheel to drive the wheel to rotate, and the second motor is in transmission connection with the wheel to drive the wheel to turn.
[0019] Optionally, the vehicle VIN code automatic rubbing system further comprises a chassis connecting assembly, the mobile chassis and the collaborative robot are connected through the chassis connecting assembly.
[0020] Optionally, the control unit is specifically used for determining the error offset according to the offset vector of the feature structure point of the vehicle in the initial image relative to the reference point. BRIEF DESCRIPTION OF DRAWINGS
[0021] Figure 1 A structural schematic diagram of a vehicle VIN code automatic rubbing system provided by an embodiment of the present application is shown;
[0022] Figure 2 A structural schematic diagram in which a VIN electronic rubbing instrument and a visual guiding assembly provided by an embodiment of the present application are connected to a free end of a collaborative robot is shown;
[0023] Figure 3 A Figure 1 A working flowchart of the vehicle VIN code automatic rubbing system shown.
[0024] Reference signs: 100-VIN electronic transfer printing instrument; 200-visual guidance assembly; 300-collaborative robot; 310-free end; 400-end connection assembly; 410-robot flange; 420-end connection plate; 101-first mounting plate; 201-second mounting plate; 500-moving chassis; 600-chassis connection assembly; 610-robot mounting plate. DETAILED DESCRIPTION
[0025] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.
[0026] Figure 1 A structural schematic diagram of a vehicle VIN code automatic transfer printing system provided by the embodiments of the present application is shown in the figure, Figure 2 A structural schematic diagram of a VIN electronic transfer printing instrument and a visual guidance assembly provided by the embodiments of the present application are connected to the free end of a collaborative robot, as shown in Figure 1 and Figure 2 The embodiments of the present application provide a vehicle VIN code automatic transfer printing system, which comprises a control unit (not shown in the figure), a VIN electronic transfer printing instrument 100, a visual guidance assembly 200 and a collaborative robot 300. The VIN electronic transfer printing instrument 100, the visual guidance assembly 200 and the collaborative robot 300 are signal-connected with the control unit, and the VIN electronic transfer printing instrument 100 and the visual guidance assembly 200 are arranged at the free end 310 of the collaborative robot 300. The visual guidance assembly 200 is used to collect an initial image of a target vehicle and transmit the initial image to the control unit, the control unit determines an error offset of the position of the visual guidance assembly 200 relative to a preset position according to the initial image, and controls the collaborative robot 300 to correct the position of the visual guidance assembly 200 to the preset position according to the error offset, and controls the VIN electronic transfer printing instrument 100 to transfer print a VIN code of the target vehicle. The preset position is the position of the visual guidance assembly 200 when the VIN electronic transfer printing instrument 100 is aligned with the VIN code of the target vehicle.
[0027] The vehicle VIN code automatic transfer printing system in the application acquires the initial image of the target vehicle through the visual guidance assembly 200, the control unit determines the error offset of the position of the visual guidance assembly 200 relative to the preset position through calculation, and controls the collaborative robot 300 to correct the position of the visual guidance assembly 200 to the preset position according to the error offset, so as to eliminate the error between the VIN electronic transfer printer 100 and the accurate position, align the VIN electronic transfer printer 100 with the VIN code, and ensure the consistency of the VIN code image acquisition; the control unit is also used for controlling the VIN electronic transfer printer 100 to transfer print the VIN code of the target vehicle, realizing the automatic acquisition of the VIN code, the control unit obtains the vehicle model information of the target vehicle, reduces the occupation of human resources, and realizes the complete non-contact acquisition of the VIN electronic transfer printer 100 and the vehicle, which can effectively avoid frequent replacement of tooling for manual acquisition, increase the acquisition efficiency of the VIN code, and in addition, can effectively eliminate the personal habit differences of different operators, and can further ensure the consistency and standardization of the VIN code information acquisition. The collaborative robot 300 can provide high flexibility for the VIN electronic transfer printer 100 and the visual guidance assembly 200 of the free end 310, so that the visual guidance assembly 200 and the VIN electronic transfer printer 100 can be vertically opposite to the points on any curved surface of the target vehicle.
[0028] The visual guidance assembly 200 guides the robot end to adapt to different vehicle models through a visual algorithm. In a specific embodiment, the control unit is specifically used for determining the error offset according to the offset vector of the feature structure point of the vehicle in the initial image relative to the reference point, so as to obtain the error offset through a relatively simple algorithm, which is conducive to further ensuring the consistency of the VIN code image acquisition.
[0029] The feature structure point refers to a point that can be reliably detected and recognized in a vehicle image. These points usually correspond to parts of the vehicle that have clear shape, size or texture features. For example, the feature structure point can be the center point of the vehicle logo or emblem, a specific mark or pattern point near the VIN code area, an edge point of the vehicle door and window, etc.
[0030] The reference point refers to a fixed point or a group of points used for comparing and measuring the positions of other points. In vehicle image processing, the reference points are usually defined in advance, and they can be a known position on the vehicle or a fixed coordinate system in the image. The reference points have clear geometric relationships with the feature structure points of the vehicle, so that the offset can be calculated through these relationships.
[0031] In a specific embodiment, the visual guidance assembly 200 includes a planar camera to realize image acquisition of vehicles with low structural complexity at a low cost.
[0032] In one specific embodiment, the visual guiding assembly 200 comprises a depth camera, which can not only locate the in-plane position information, but also obtain the depth information, so as to position the VIN electronic decal printer 100 to a more accurate position for decal printing.
[0033] In one specific embodiment, the collaborative robot 300 is a six-axis robot, which can provide the VIN electronic decal printer 100 and the visual guiding assembly 200 with a high degree of freedom, so that the visual guiding assembly 200 and the VIN electronic decal printer 100 can be vertically and directly opposite to a point on any curved surface of the target vehicle.
[0034] In one specific embodiment, the collaborative robot 300 is a three-coordinate robot, which can provide the VIN electronic decal printer 100 and the visual guiding assembly 200 with a high degree of freedom, so that the visual guiding assembly 200 and the VIN electronic decal printer 100 can be vertically and directly opposite to a point on any curved surface of the target vehicle.
[0035] Referring to Figure 2 , the vehicle VIN code automatic decal printing system further comprises a terminal connecting assembly 400, the VIN electronic decal printer 100 and the visual guiding assembly 200 are connected to the free end 310 of the collaborative robot 300 through the same terminal connecting assembly 400, so that the VIN electronic decal printer 100 and the visual guiding assembly 200 can move completely synchronously, and the relative positional relationship between the VIN electronic decal printer 100 and the visual guiding assembly 200 can be obtained through calibration, so that the control unit can calculate the error offset amount by combining the initial image of the target vehicle with the relative positional relationship between the VIN electronic decal printer 100 and the visual guiding assembly 200, so that the VIN electronic decal printer 100 can be aligned with the VIN code after the error offset amount of the visual guiding assembly 200 is corrected.
[0036] Continuing to refer to Figure 2 , the terminal connecting assembly 400 comprises a robot flange 410 and a terminal connecting plate 420, the terminal connecting plate 420 is connected to the free end 310 of the collaborative robot 300 through the robot flange 410, and the VIN electronic decal printer 100 and the visual guiding assembly 200 are fixedly arranged on the terminal connecting plate 420.
[0037] In one specific embodiment, the vehicle VIN code automatic decal printing system further comprises a first mounting plate 101, the first mounting plate 101 is fixedly connected to the terminal connecting plate 420, and the first mounting plate 101 is used for mounting the VIN electronic decal printer 100. Specifically, the first mounting plate 101 and the terminal connecting plate 420 are detachably connected, so as to facilitate disassembly and assembly of the VIN electronic decal printer 100. Specifically, the first mounting plate 101 and the terminal connecting plate 420 can be connected through screws, bolts, buckles, etc.
[0038] In a specific embodiment, the vehicle VIN code automatic printing system further comprises a second mounting plate 102, the second mounting plate 102 is fixedly connected with the terminal connecting plate 420, and the second mounting plate 102 is used for mounting the visual guidance assembly 200. Wherein, the second mounting plate 102 and the terminal connecting plate 420 are detachably connected, so as to facilitate disassembly and assembly of the visual guidance assembly 200. Specifically, the second mounting plate 102 and the terminal connecting plate 420 can be connected by screws, bolts, buckles and the like.
[0039] In a specific embodiment, as shown in Figure 1 and Figure 2 The vehicle VIN code automatic printing system further comprises a mobile chassis 500 and a sensing assembly (not shown in the figure), and the collaborative robot 300 is fixedly arranged on the mobile chassis 500. The sensing assembly and the mobile chassis 500 are signal connected with the control unit, and the sensing assembly is used for detecting the moving speed and the running direction of the target vehicle and transmitting to the control unit, so that the control unit can control the mobile chassis 500 to move synchronously with the target vehicle, so that the collaborative robot 300 moves synchronously with the target vehicle, and then the image information of the target vehicle is collected.
[0040] In a specific embodiment, the vehicle VIN code automatic printing system further comprises a chassis connecting assembly 600, and the mobile chassis 500 and the collaborative robot 300 are connected through the chassis connecting assembly 600.
[0041] As shown in Figure 1 The chassis connecting assembly 600 can comprise a robot mounting plate 610 fixedly arranged on the mobile chassis 500, and the collaborative robot 300 is mounted on the robot mounting plate 610.
[0042] In a specific embodiment, the mobile chassis 500 comprises a first motor, a second motor and a wheel, wherein the first motor is in driving connection with the wheel for driving the wheel to rotate. The second motor is in driving connection with the wheel for driving the wheel to turn. The control unit controls the moving speed and the moving direction of the mobile chassis 500 by controlling the first motor and the second motor, so that the mobile chassis 500 can follow the target vehicle on the ground, and the running track is relatively free, and the positioning error can be compensated by the collaborative robot 300.
[0043] In a specific embodiment, the mobile chassis 500 is provided with a slide rail at the bottom, and the mobile chassis 500 is slidably connected with the slide rail. The mobile chassis 500 moves along the predetermined slide rail with the target vehicle, and it is not easy to produce too large error with the target vehicle in the left and right directions.
[0044] In a specific embodiment, the vehicle VIN code automatic rubbing system can also include other storage modules and communication interface modules, etc., the storage module stores the acquisition program, and the control unit can automatically select the corresponding acquisition program according to different vehicle information.
[0045] Figure 3 For Figure 1 The working flow chart of the vehicle VIN code automatic rubbing system is shown in Figure 3 The working process of the vehicle VIN code automatic rubbing system is described as follows:
[0046] A plurality of vehicles are arranged in sequence on the production assembly chain line and move with the production assembly chain line, the moving chassis 500 moves to a target vehicle, the sensing assembly is used for detecting the moving speed and running direction of the target vehicle and transmitting to the control unit, so that the control unit can control the moving chassis 500 to move synchronously with the target vehicle, in the case of keeping the collaborative robot 300 in relative static state with the target vehicle, the vision guiding assembly 200 is driven to collect the initial image and identify the vehicle model information of the target vehicle and transmit to the control unit, the control unit determines the error offset of the position of the vision guiding assembly 200 relative to the preset position according to the initial image, and controls the collaborative robot 300 to correct the position of the vision guiding assembly 200 to the preset position according to the error offset, and then controls the VIN electronic rubbing instrument 100 to rub the VIN code of the target vehicle. At the same time, the setting of the moving chassis 500 can greatly expand the reachable range of the collaborative robot 300, when the VIN code of a target vehicle is rubbed, the control unit controls the moving chassis 500 to move at the same speed as the next target vehicle to realize the VIN code rubbing of the next target vehicle. In addition, the moving chassis 500 constitutes the base moving degree of freedom of the collaborative robot 300, which can avoid the fixed installation requirement of other types of acquisition equipment on the production assembly chain line, and can be more flexibly deployed in the workshop, effectively shortening the deployment implementation period.
[0047] Obviously, those skilled in the art can make various modifications and changes to the embodiments of the present application without departing from the spirit and scope of the present application. Therefore, if these modifications and changes of the present application belong to the scope of the claims of the present application and its equivalent technologies, the present application also intends to include these modifications and changes.
Claims
1. A vehicle VIN code automatic rubbing system, characterized in that, The vehicle VIN code automatic printing system comprises: a control unit, a VIN electronic printing device, a visual guiding assembly and a collaborative robot; the VIN electronic printing device, the visual guiding assembly and the collaborative robot are in signal connection with the control unit, and the VIN electronic printing device and the visual guiding assembly are arranged at the free end of the collaborative robot; the visual guiding assembly is used to collect an initial image of a target vehicle and transmit the initial image to the control unit, the control unit determines an error offset of a position of the visual guiding assembly relative to a preset position according to the initial image, and controls the collaborative robot to correct the position of the visual guiding assembly to the preset position according to the error offset, and controls the VIN electronic printing device to print the VIN code of the target vehicle. The preset position is the position of the visual guiding assembly when the VIN electronic printing device is aligned with the VIN code of the target vehicle.
2. The vehicle VIN code automatic stamping system according to claim 1, characterized in that, The visual guiding assembly comprises a planar camera, or the visual guiding assembly comprises a depth camera.
3. The vehicle VIN code automatic stamping system of claim 1, wherein, The collaborative robot is a six-axis robot, or the collaborative robot is a three-coordinate robot.
4. The vehicle VIN code automatic stamping system of claim 1, wherein, The vehicle VIN code automatic printing system further comprises a terminal connecting assembly, and the VIN electronic printing device and the visual guiding assembly are connected to the free end of the collaborative robot through the same terminal connecting assembly.
5. The vehicle VIN code automatic stamping system of claim 4, wherein, The terminal connecting assembly comprises a robot flange and a terminal connecting plate, the terminal connecting plate is connected to the free end of the collaborative robot through the robot flange, and the VIN electronic printing device and the visual guiding assembly are fixedly arranged on the terminal connecting plate.
6. The vehicle VIN code automatic stamping system of claim 5, wherein, The vehicle VIN code automatic printing system further comprises a first mounting plate, the VIN electronic printing device and the terminal connecting plate are connected through the first mounting plate; and / or, The vehicle VIN code automatic printing system further comprises a second mounting plate, the visual guiding assembly and the terminal connecting plate are connected through the second mounting plate.
7. The vehicle VIN code automatic stamping system according to any one of claims 1-6, characterized in that, The vehicle VIN code automatic printing system further comprises a mobile chassis and a sensing assembly, the collaborative robot is fixedly arranged on the mobile chassis, and the sensing assembly and the mobile chassis are in signal connection with the control unit, the sensing assembly is used to detect the moving speed and the moving direction of the target vehicle and transmit the moving speed and the moving direction to the control unit, so that the control unit controls the mobile chassis to move synchronously with the target vehicle.
8. The vehicle VIN code automatic stamping system of claim 7, wherein, The mobile chassis comprises a first motor, a second motor and a wheel, the first motor is in transmission connection with the wheel to drive the wheel to rotate, and the second motor is in transmission connection with the wheel to drive the wheel to turn.
9. The vehicle VIN code automatic stamping system of claim 7, wherein, The vehicle VIN code automatic printing system further comprises a chassis connecting assembly, and the mobile chassis and the collaborative robot are connected through the chassis connecting assembly.
10. The vehicle VIN code automatic stamping system according to any one of claims 1-6, characterized in that, The control unit is specifically used to determine the error offset according to an offset vector of a feature structure point of a vehicle in the initial image relative to a reference point.