CN109857073A - Virtual verification method, device and the electronic equipment of production line - Google Patents
Virtual verification method, device and the electronic equipment of production line Download PDFInfo
- Publication number
- CN109857073A CN109857073A CN201910108306.1A CN201910108306A CN109857073A CN 109857073 A CN109857073 A CN 109857073A CN 201910108306 A CN201910108306 A CN 201910108306A CN 109857073 A CN109857073 A CN 109857073A
- Authority
- CN
- China
- Prior art keywords
- production line
- dimensional information
- theory
- information
- practical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The present invention provides a kind of virtual verification method of production line, device and electronic equipments, this method comprises: obtaining vehicle body data to be processed；Production line model is established according to the vehicle body data of acquisition, and the theory three-dimensional information of production line is obtained according to production line model；Obtain the practical three-dimensional information for the production line being arranged according to the theory three-dimensional information of production line；Verify the consistency of the practical three-dimensional information of production line and the theory three-dimensional information of production line.The present invention can improve virtual data in the prior art and the poor problem of field device consistency.
Description
Technical field
The present invention relates to Trend of Auto Manufacturing Technologies field, more particularly, to a kind of virtual verification method of production line, device and
Electronic equipment.
Background technique
With the development of society and the progress of science and technology, manufacture field intelligent level significantly increases.Auto manufacturing exists
There is very important status in manufacturing industry, make digital factory as current trend, but realize that digital factory needs
Software support, part emulation and Virtual Debugging can not integrate entire data-link, cannot be by the data application of simulated environment to scene
In equipment, while the error generated when equipment is installed at the scene systemic can not be also eliminated, the one of virtual data and real world devices
Cause property is poor.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of virtual verification method of production line, device and electronic equipment,
To improve virtual data in the prior art and the poor technical problem of real world devices consistency.
In a first aspect, the embodiment of the invention provides a kind of virtual verification method of production line, this method comprises: obtain to
The vehicle body data of processing；Production line model is established according to vehicle body data, and the theory three of production line is obtained according to production line model
Tie up information；Obtain the practical three-dimensional information for the production line being arranged according to the theory three-dimensional information of production line；Verify production line
Practical three-dimensional information and production line theory three-dimensional information consistency.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein root
Production line model is established according to vehicle body data, and the step of obtaining according to production line model the theory three-dimensional information of production line, comprising:
According to vehicle body data establish production line included by each apparatus for production line simulation model；Wherein, apparatus for production line at least wraps
Include frock clamp；According to the simulation model of each apparatus for production line, the theory three-dimensional of production line is generated according to default planning mode
Information；Wherein, the theory three-dimensional information of production line includes the 3D layout of apparatus for production line, the process planning of apparatus for production line, life
It is a variety of in producing line entirety logistics information and production line fraction of stream information.
With reference to first aspect, the embodiment of the invention provides second of possible embodiments of first aspect, wherein obtains
The step of taking the practical three-dimensional information for the production line being arranged according to the theory three-dimensional information of production line, comprising: pass through a cloud
Technology obtains the practical three-dimensional information for the production line being arranged according to the theory three-dimensional information of production line.
With reference to first aspect, the embodiment of the invention provides the third possible embodiments of first aspect, wherein logical
Cross the step of some clouds obtain the practical three-dimensional information for the production line being arranged according to the theory three-dimensional information of production line, packet
It includes: being obtained using three-dimensional laser scanner each included by the production line being arranged according to the theory three-dimensional information of production line
The geological information of apparatus for production line；The texture information of each apparatus for production line is obtained using image capture device；Believed according to geometry
Breath and texture information, generate the practical three-dimensional information of production line.
With reference to first aspect, the embodiment of the invention provides the 4th kind of possible embodiments of first aspect, wherein presses
Process according to the theory three-dimensional information placement production line of production line includes: to sit with reference to target spot using three according to preset coordinate system
Mark measuring instrument establishes workshop coordinate system；By laser scribing mode, production line institute is determined according to the theory three-dimensional information of production line
Including each apparatus for production line field position；Production line is arranged according to the field position of each apparatus for production line.
Second aspect, the embodiment of the present invention also provide a kind of virtual verifying device of production line, which includes: that data obtain
Modulus block, for obtaining vehicle body data to be processed；Theory three-dimensional information generation module, for being established according to vehicle body data
Production line model, and the theory three-dimensional information of production line is obtained according to production line model；Practical three-dimensional information obtains module, is used for
Obtain the practical three-dimensional information for the production line being arranged according to the theory three-dimensional information of production line；Authentication module, for verifying
The practical three-dimensional information of production line and the consistency of production line field data.
In conjunction with second aspect, the embodiment of the invention provides the first possible embodiments of second aspect, wherein real
Border three-dimensional information obtains module, comprising: geological information acquiring unit, for being obtained using three-dimensional laser scanner according to production line
The production line that is arranged of theory three-dimensional information included by each apparatus for production line geological information；Texture information obtains single
Member, for obtaining the texture information of each apparatus for production line using image capture device；Practical three-dimensional information generation unit, is used for
According to geological information and texture information, the practical three-dimensional information of production line is generated.
In conjunction with second aspect, the embodiment of the invention provides second of possible embodiments of second aspect, wherein real
Border three-dimensional information obtains in module according to the process of the theory three-dimensional information placement production line of production line further include: establishment of coordinate system
Unit establishes workshop coordinate system using three-coordinates measuring machine for referring to target spot according to preset coordinate system；Determination unit is used
In by laser scribing mode, each apparatus for production line included by production line is determined according to the theory three-dimensional information of production line
Field position；Arrangement unit, for arranging production line according to the field position of each apparatus for production line.
The third aspect, the embodiment of the present invention also provide a kind of electronic equipment, including memory and processor, deposit in memory
The computer program that can be run on a processor is contained, processor realizes any one of above-mentioned first aspect when executing computer program
Method the step of.
Fourth aspect, the embodiment of the present invention also provide a kind of computer readable storage medium, computer readable storage medium
On be stored with computer program, the step of the method for any one of above-mentioned first aspect is executed when computer program is run by processor
Suddenly.
The embodiment of the invention provides a kind of virtual verification method of production line, device and electronic equipment, obtain first to
The vehicle body data of processing；Then production line model is established according to the vehicle body data of acquisition, and is produced according to production line model
The theory three-dimensional information of line；The practical three-dimensional for the production line being arranged according to the theory three-dimensional information of production line can be obtained later
Information；Finally verify the consistency of the practical three-dimensional information of production line and the theory three-dimensional information of production line.The embodiment of the present invention
The theory three-dimensional information of production line can be obtained based on the production line model established by vehicle body data to arrange production line, it may be verified that
The consistency of the theory three-dimensional information of the practical three-dimensional information and production line of production line, improve in the prior art virtual data and
The poor problem of field device consistency.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention are in specification, claims
And specifically noted structure is achieved and obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of virtual verification method flow chart of production line provided in an embodiment of the present invention；
Fig. 2 is a kind of production-line arrangement flow chart provided in an embodiment of the present invention；
Fig. 3 is the virtual verification method flow chart of another production line provided in an embodiment of the present invention；
Fig. 4 is a kind of virtual verifying apparatus structure schematic diagram of production line provided in an embodiment of the present invention；
Fig. 5 is a kind of electronic equipment structural schematic diagram provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Currently manufactured industry field intelligent level is promoted, and the promotion of intelligent level can reduce Project in Operation cost and shorten production
Product life cycle and product defect rate is reduced, and auto manufacturing has very important status in manufacturing industry, digitlization
Making for factory is very urgent.Realize that digital factory needs software support, current techniques can only partial simulation simulation virtual tune
Examination, can not integrate entire data-link, can not solve the problems, such as it is virtual consistent with real data, while also can not systematicness elimination
The error that in-site installation equipment generates.To improve the above problem, a kind of virtual verifying of production line provided in an embodiment of the present invention
Method, apparatus and electronic equipment.It describes in detail below to the embodiment of the present invention.
A kind of virtual verification method flow chart of production line shown in Figure 1, this method comprises the following steps:
Step S102 obtains vehicle body data to be processed.
Specifically vehicle body data to be processed can be exported from the data management system that record there are each vehicle body data；Wherein,
Vehicle body data to be processed may include: automobile body-in-white data, solder joint data, gluing data, Laser Welding data etc..In reality
Vehicle body data to be processed can be also other data in, and details are not described herein.
Step S104 establishes production line model according to vehicle body data, and obtains the theory of production line according to production line model
Three-dimensional information.
Vehicle body data importing data management software platform is handled, specifically, being modeled using CATIA and SOLID
Vehicle body data are changed into data model by software, using Process Simulate and Process design software to data mould
Type progress simulating, verifying inspection equipment dynamic interference, the operating status of online simulation equipment in process of production, and according to simulation
State selects correct tool such as welding gun etc., can reduce installation error by digital simulation and emulation, be contracted to installation error
Theoretical value is nearby even up to theoretical value.Then production line model is established according to the integration of the analogue data of each equipment, according to life
Producing line model obtains the theory three-dimensional information of production line, and the theory three-dimensional information of production line may include the 3D cloth of apparatus for production line
It is a variety of in office, the process planning of apparatus for production line, production line entirety logistics information and production line fraction of stream information.It should infuse
Meaning, the theory three-dimensional information of this production line are virtual information, the field data of production line after not practical dropping place.
Step S106 obtains the practical three-dimensional information for the production line being arranged according to the theory three-dimensional information of production line.
In the specific implementation, according to the production line in the theory three-dimensional information placement workshop of the production line of generation, Ye Jigen
It is built according to the theory three-dimensional location information Instructing manufacture line of production line model.Specifically, using high-precision light after equipment dropping place
Device context measurement is learned, laser equipment itself precision can reach the error of 0.01mm, specifically, laser three-dimensional coordinates measurement can be used
Instrument is crossed and is installed, and equipment is instructed to install dropping place according to theoretical value, uses high accuracy three coordinate instrument during the installation process
Device cooperation, keeps the installation error of equipment consistent with the theoretical position in simulation model.After building of production line completion, pass through a little
Cloud obtains the practical three-dimensional information for the production line being arranged according to the theory three-dimensional information of production line.Equipment may be implemented
Comprehensive scanning positioning, the position deviation in auxiliary examination simulated environment.
Step S108 verifies the consistency of the practical three-dimensional information of production line and the theory three-dimensional information of production line.
It can help to quickly generate the threedimensional model of factory using cloud scanning technique, collaborative simulation software and realize data
Synchronization, verifying is empty, real data consistency.Specifically, the theory for the virtual production line that contrast simulation models can be passed through
The specific data of three-dimensional information and actual production line three-dimensional information data are completed to verify if data are consistent.
The embodiment of the invention provides a kind of virtual verification methods of production line, obtain vehicle body data to be processed first；
Then production line model is established according to the vehicle body data of acquisition, and is believed according to the theory three-dimensional that production line model obtains production line
Breath；And obtain the practical three-dimensional information for the production line being arranged according to the theory three-dimensional information of production line；Finally verifying production
The consistency of the theory three-dimensional information of the practical three-dimensional information and production line of line.The embodiment of the present invention can be based on being built by vehicle body data
Vertical production line model obtains the theory three-dimensional information of production line to arrange production line, it may be verified that the practical three-dimensional letter of production line
The consistency of the theory three-dimensional information of breath and production line, improves virtual data in the prior art and field device consistency is poor
The problem of.
Specifically, establishing production line model according to vehicle body data, and the theory three of production line is obtained according to production line model
The step of tieing up information, comprising:
(1) according to vehicle body data establish production line included by each apparatus for production line simulation model；Wherein, production line
Equipment includes at least frock clamp.
The vehicle body data to be processed such as the white body data and its solder joint that will acquire, gluing, Laser Welding imported into wire body and build
In mould software, tooling 3D modelling is carried out as benchmark, obtains the CAD mould of apparatus for production line model namely frock clamp
Type.
(2) according to the simulation model of each apparatus for production line, the theory three-dimensional of production line is generated according to default planning mode
Information；Wherein, the theory three-dimensional information of production line includes the 3D layout of apparatus for production line, the process planning of apparatus for production line, life
It is a variety of in producing line entirety logistics information and production line fraction of stream information.
The CAD model that will acquire is converted to the emulation digital-to-analogue that simulation software can be used by middleware software, will emulate
Digital-to-analogue imports in software, carries out the logistics analysis of whole equipment 3D layout and process planning, factory's entirety and part.
Further, the practical three-dimensional information for the production line that above-mentioned acquisition is arranged according to the theory three-dimensional information of production line
The step of, comprising: practical the three of the production line being arranged according to the theory three-dimensional information of production line are obtained by cloud
Tie up information.
In practical applications, the concrete operation step of point cloud scanning can be with are as follows: then scanning side is formulated in site inspection first
Case, frame station, scanner is leveled, and powers on booting to scanner, and scanner is aligned to equipment to be scanned, new construction project,
Target scanning, is arranged scanning range, and resolution ratio is arranged, obtains photo later, scans and take pictures, and measuring station is created, under measurement
One, which stands erectly to all testing datas of acquisition, terminates to scan.
Further, the production line being arranged according to the theory three-dimensional information of production line is obtained above by cloud
The step of practical three-dimensional information may include:
(1) it is wrapped using three-dimensional laser scanner acquisition according to the production line that the theory three-dimensional information of production line is arranged
The geological information of each apparatus for production line included.
(2) texture information of each apparatus for production line is obtained using image capture device.
(3) according to geological information and texture information, the practical three-dimensional information of production line is generated.
After process equipment intense adjustment dropping place, process equipment in factory and factory is obtained in real time using three-dimensional laser scanner
Three-dimensional geometric information, recycle high-resolution digital camera obtain high quality 2 d texture data, swept by three-dimensional laser
It retouches instrument and software kit to handle the information data of acquisition, obtains the whole 3D digital-to-analogue of practical shop equipment.Whole 3D number
Mould is also the practical three-dimensional information of production line.The whole 3D digital-to-analogue of shop equipment is imported into emulation data, and adjusts emulation data
It is consistent with reality.
Scanning three dimensional local information and texture information has complementarity to the description of target.By image and three dimensional point cloud
Carry out that fusion treatment can be realized quick visualization can simultaneous display image and point at figure and modeling, in Cheng Tuyu modeling process
Cloud data increase the speed for accelerating data acquisition at figure and the effect of visualization in modeling process and extracting, and are based on image
It solves the problems, such as that three-dimensional spatial information can not be obtained because of partial dot cloud shortage of data.
Referring to a kind of production-line arrangement flow chart shown in Fig. 2, according to the theory three-dimensional information placement production line of production line
Process includes the following steps:
Step S202 refers to target spot according to preset coordinate system, establishes workshop coordinate system using three-coordinates measuring machine.
In practical applications, several measuring prism seats or laser measurement ball target can be fixed on workshop column or wall
A series of reference points of seat obtain the relative positional relationship of the reference point and the position with horizontal plane by high-precision total station
Set relationship.Origin and X by specifying workshop coordinate system are obtained to (Z-direction faces upward perpendicular to level) in workshop coordinate system
Lower these refer to X, Y and Z value of target spot, export these X, Y and Z values for referring to target spot, for installing in laser scribing and equipment
Counter push away establishes workshop coordinate system when dropping place.
Step S204 is determined included by production line by laser scribing mode according to the theory three-dimensional information of production line
The field position of each apparatus for production line.
Specifically, the step of laser scribing, can be with are as follows: obtain equipment in the wire body that 2Dlayout is extracted (such as frock clamp,
External setting tool, coping device, mounting table, APC, robot base (contain seven axis), gantry, fence etc.) base anchor coordinate (XY
Value is relative to workshop coordinate system).According to more than four X, Y and Z values with reference to target spot, (reference point presses scribe area nearby principle
Choose), according to the workshop coordinate system that above-mentioned three-coordinates measuring machine is established, obtains base anchor coordinate and cross at the scene, draw point tolerance
≤ 0.1mm obtains the scribing position of each equipment included by production line, and output scribing position is for instructing follow-up equipment to install
Dropping place.
Step S206 arranges production line according to the field position of each apparatus for production line.
According to scene scribing line place apparatus, to guarantee equipment installation and measurement accuracy, it is desirable that use laser equipment (such as laser
Tracker) carry out intense adjustment.It obtains the CA1 file that emulation personnel provide and carries out that (CA1 file record is mentioned from emulation data
The coordinate of the equipment character references position taken).According to more than four X, Y and Z values with reference to target spot, three-coordinates measuring machine is used
Workshop coordinate system is established, the intense adjustment of equipment is carried out according to CA1 file:
Main clamp installation positions adjustment on the basis of the coordinate system of workshop in station, and robot base is carried out relative to main tooling
Accurate adjustment installation, robot relevant device (such as coping device, stand, robot external tool) are carried out relative to robot base
Accurate adjustment, installation error≤0.5mm (state after final fixed installation).
Other non-process apparatus (such as fence, mounting table, up/down part platform) are installed by scribe point dropping place.
In practical applications, the theoretical value and measured value mistake≤3mm that can set robot BASE, rotate≤0.3 °.Example
Such as, in the actual operation process, after the fixed completion in scene, measured value exceeds above range, then needs according to equipment actual bit
Set the layout of equipment in adjustment simulated environment.
The method is installed using high precision measuring instrument ancillary equipment, and the fine dropping place of field device is obtained.Scene is set
Standby fine dropping place is equipment final position, can be used for subsequent production.
Particular technique in intense adjustment implementation procedure requires as follows:
(1) fixture class installation requirement: fixture class measures adjustment with 4 datum holes on the face BASE；Bottom plate fixture according to
Length selected reference hole number, at least four (must not be conllinear)；Turntable clamper be subject to one side Base plate adjustment；After final installation
All a datum hole coordinates measurements are more theoretical within the scope of allowable error.
(2) robot base (fixed) installation requirement: 4 datum holes of additional processing are (straight on robot base mounting surface
Diameter is 12mm), supplier provides machining accuracy (reference value: position；Precision；≤0.04mm)；4 datum holes are sat after final installation
Mapping magnitude is more theoretical within the allowable range.
(3) robot base (seven axis) installation requirement: base anchor (overhead containing mending) is installed by laser scribing dropping place；It needs to use
Three-coordinate instrument device measures rail linearity degree ± 0.25mm (Y), flatness ± 0.25mm (Z)；For continuity welding or gluing
Seven axis, rail linearity degree ± 0.125mm (Y), flatness ± 0.125mm (Z)；Robot Base at least guarantees respectively in track two
End, intermediate region measurement, verify straightness and flatness using measurement data (can survey according to pin hole on robot bottom plate or pin shaft
Amount), 4 datum hole coordinates measurements are more theoretical within the allowable range after final installation.
(4) external setting tool installation requirement: bracket base anchor is installed by laser scribing dropping place；It is installed on bracket with tool
4 datum holes of processing and fabricating or production measurement plate, the same robot base of datum hole machining accuracy on face；Own after final installation
Datum hole coordinates measurements are compared with theoretical value in allowable error.
Equipment accurately adjusts the coordinate system of use, and workshop coordinate system or vehicle body coordinate system can be used.But consider measurement error
Controllability, can main tooling is whole with workshop coordinate system accurate adjustment in station, operation robot relevant to tooling is with tooling vehicle body
Coordinate system positioning.The device of no Product Process operation (being such as only carrying, pick-and-place, reconditioning), which is only installed by laser scribing dropping place, is
Can, but mounting height must be consistent with emulation.
In specific installation process, it is also necessary to the driven by program apparatus for production line of coordinative composition of equipments, referring to shown in Fig. 3 another
The virtual verification method flow chart of kind production line, includes the following steps:
Step S302, product data import.The data of export automobile body-in-white from data management software, solder joint, gluing,
The data are arranged and are analyzed by the data such as Laser Welding, and it is soft that the result for arranging and analyzing then is distributed to production line model building
Part carries out establishing model.
Step S304, wire body modeling.Obtain the white body data and its solder joint for arranging and having analyzed, gluing, Laser Welding etc.
These data are imported into wire body modeling software by data, are carried out tooling 3D modelling as benchmark, are obtained frock clamp
CAD model.The CAD model of frock clamp is imported into simulation software and carries out analogue simulation.
Step S306, process layout.Frock clamp CAD model is obtained, CAD model is converted by middleware software, is obtained
The emulation digital-to-analogue that simulation software can be used imports emulation digital-to-analogue in software, carries out whole equipment 3D layout and Process Planning
It draws, factory is whole and the logistics analysis of part.
Step S308, simulating, verifying.Integral device 3D layout and process planning are obtained, integral device 3D is laid out and technique
Planning imports in simulation software, carries out the analysis, assembling technology procedure emulation, robot production line emulation, interference of motion profile
Simulation, Man-machine Engineering Analysis etc. obtain final equipment 2D layout, technique inventory.By equipment 2D layout, the output of technique inventory
It is produced to on-the-spot guidance equipment dropping place and technique.If simulating, verifying virtual data reaches theoretical value, step S310 and step are executed
S320.If being unable to satisfy requirement, needs change data to continue to execute step S304 and carry out wire body modeling.Certain simulating, verifying stage
Also can find it is unreasonable in process layout, for example, posture and pipeline bag-like state, machine when access for welding, robot welding
Device people reconditioning changes cap etc., if equally discovery process equipment influence of arrangement normal process, needs to modify.By modified positive exact figures
According to being applied to step S310 and step S320.
Step S310 establishes workshop coordinate system.Several measuring prism seats or laser are fixed on workshop column or wall
Measure a series of reference points of ball target stand, by high-precision total station, obtain these reference points relative positional relationship and and
The positional relationship of horizontal plane.Origin and X by specifying workshop coordinate system are obtained to (Z-direction faces upward perpendicular to level)
The X that these refer to target spot under the coordinate system of workshop, Y, Z value export these X for referring to target spot, Y, Z value, in laser scribing and
Counter push away establishes workshop coordinate system when equipment installs dropping place.Certainly, workshop can be established after workshop is built up in actual operation
Coordinate system.
Step S312, laser scribing.Obtain equipment in the wire body that 2Dlayout is extracted (such as frock clamp, external regular worker
Have, the device that repairs a die, mounting table, APC, robot base (containing seven axis), gantry, fence etc.) base anchor coordinate (XY value is relative to vehicle
Between coordinate system).According to more than four X with reference to target spot, Y, Z value (reference point is chosen by scribe area nearby principle) is used
Three-coordinates measuring machine establishes workshop coordinate system, is crossed at the scene according to the base anchor coordinate of acquisition, draws point tolerance≤0.1mm.?
To the scribing position at scene, output scribing position is for instructing follow-up equipment to install dropping place.Only it need to guarantee that equipment safety can swash
Light scribing line is not limited in this laser scribing sequence.
Step S314, equipment install dropping place.Scene scribing line is obtained, according to scene scribing line place apparatus, obtains field device
Preliminary dropping place.The preliminary dropping place of field device is used for the fine dropping place of follow-up equipment.After preliminary dropping place, for guarantee equipment installation and
Measurement accuracy, it is desirable that carry out intense adjustment using laser equipment (such as laser tracker).
Step S316, three-dimensional coordinates measurement.Workshop coordinate system is established using three-coordinates measuring machine, if by measurement, equipment peace
Equipped with error, intense adjustment is carried out to equipment.If equipment, which installs error free execution step S318, continues cloud scanning.
Step S318, point cloud scanning.Obtain three of process equipment in factory and factory in real time using three-dimensional laser scanner
Geological information is tieed up, recycles high-resolution digital camera to obtain the 2 d texture data of high quality, by software to these information
Data are handled, and the whole 3D digital-to-analogue of practical shop equipment is obtained.The whole 3D digital-to-analogue of shop equipment is imported into emulation data,
And adjust emulation data and reality unanimously.Point cloud scanning technique, may be implemented the comprehensive scanning positioning of equipment, and auxiliary examination is imitative
Position deviation in true environment.It can help to quickly generate the threedimensional model of factory using cloud scanning technique simultaneously, collaboration is imitative
True software is synchronous with realization data, guarantees empty, real data high consistency.It can not if scanning current manufacturing lines by point cloud
It is consistent with real data to meet virtual data, then return step S306 is needed to re-start process layout, it is existing to establish new production line
Field information.If data are consistent, production line is installed, and executes step S328.In the actual operation process, certain projects may not
Point of use cloud, directly utilizes three-dimensional coordinates measurement, and measurement result deviation affects greatly very much robot off-line program, offline engineering
Teacher can directly modify robot off-line track at the scene.
Step S320, Virtual Debugging.Tooling pneumatic diagram, signal table and emulation data are obtained, according to pneumatic diagram in emulation
3D data carry out motion editing and create control signal pins simultaneously, make digital-to-analogue that there is the data-interface that can be driven by PLC signal,
Virtual Controller (RCS) is loaded to robot model simultaneously, simulates real motion state, robot trajectory is refined, increases simultaneously
The technological action of robot model, such as spot welding, gluing, rolling, laser, arc-welding, sleeving and riveting, etc. techniques, according to robot type from
It is dynamic to call robot logical block, robot program's logic is worked out, including interference region and with the interlocking signal of PLC etc..It presses simultaneously
The digital-to-analogue in all simulated environment is all established driving signal in software according to signal table.Establish signaling interface and robot
Work is verified for dynamic interference after program.Virtual Debugging work can equally be begun in the Project design stage, but be needed
The necessary conditions such as correct process layout, robot off-line program and other process equipment driving function block, PLC off-line procedures.
Step S322, dynamic interference verifying.The process equipment under virtual environment is driven using corresponding PLC signal, including
Rolling bed, elevator, turntable, rotating hub, cylinder clamp, robot etc. are checked between equipment with the presence or absence of movement interference, cylinder clamping
Opening sequence whether the matching with technological design, whether interactive signal between robot and other process equipments can be safe quasi-
Really between work and robot or whether robot and operator have when same working region work and interfere or right
Personnel damage etc..For example, robot trajectory and the interference of process equipment or bodywork, then will adjust robot rail
Mark；Interference is acted between fixture, then to adjust the PLC program of control fixture movement；Containing robot multiple welding or in machine
What process equipment needed repeatedly to act in one weld task of device people needs whether verifier people has been parked in home waiting
Can process equipment movement and PLC program accurately safe and robot cooperation.If meeting preset requirement by dynamic authentication
Step S324 is executed, needs return step S320 Virtual Debugging if being unable to satisfy requirement, so that program bug is eliminated, from virtual collection
At the program that output directly uses in system for robot and PLC controller.
Step S324 exports PLC off-line procedure and robot off-line program.
It in practical applications, can be based on the PLC program library and director demon generator that lucky automotive research institute develops, certainly
The dynamic ordinary procedure for generating field controller.Engineer writes controller secure program further according to electrical arrangement.On-line debugging is certainly
The off-line procedure of the dynamic field controller generated, is patrolled including the interlocking between the mechanical equipments such as fixture, turntable, rolling bed, elevator
Collect other interactive signals with robot interference region and robot and PLC, modification mistake or unreasonable program；Program is patrolled
After collecting debugging, dry running test, proving program repeatability are carried out；After live electrical installation, to on-site electrical equipment
Be powered simultaneously Configuration network, the PLC program that downloading Virtual Debugging has been verified to field controller.
PLC controller program is write, Simatic.NET software, OPC-UA software technology, Simulation unit are utilized
Hardware cell collaboration Process Simulate simulation software establishes data communication, is then exported with true PLC controller
Mathematical model in signal control emulation digital-to-analogue, while passing through I/O signal driving device people's mould in Process Simulate
Type, cylinder model, the other equipment in the simulated environment such as mount model are tested by the process of this simulation actual signal interaction
It demonstrate,proves between robot motion and equipment or other equipment with the presence or absence of interference.That may be present before production line scene is integrated
Risk eliminates, and not only ensure that the size quality of apparatus for production line but also can guarantee the robot off-line program and PLC program of output
Quality.Finally the production line data of high quality and program delivery are used to field device.Realize data flow from virtually to
The intercommunication of reality.It can use simulation software Process Simulate substitution manually online editing robot off-line simultaneously
Program and robot motion track.It need to only carry out operating the programming that can be completed to robot in software.Pass through the above method
Design fault bring economic loss can be reduced, manual debugging working hour is reduced, reduces cost, shorten the Time To Market of product.
The PLC program of design can be by following operation operation in production line: initiation parameter first waits the letter of vehicle
Breath, Y1 clamp, artificial first time piece uploading, Y6 clamp, turntable are rotated to 180 ° of positions, and Y6 fixture is opened, and artificial the
Secondary workpiece loading, Y2-Y6 clamp, turntable go to 0 °, start robot, and robot welding is completed, and Y1-Y6 fixture is opened, people
Work pickup, epicycle operation are completed, and are continued initialization operation, are carried out next round production.
Step S326, program imported into field controller.
On-site electrical equipment powers on and gets through network, and PLC program and robot program are then imported into PLC respectively and neutralized
In robot controller.
Step S328, production line automation are delivered.All mechanical equipment installations and measure finish, software program is write and is surveyed
Examination is completed and downloads to field controller, and production line can direct plunge into operation.
The actual situation interconnection that the virtual i.e. intelligence manufacture of perforation to reality is realized by this method, improves equipment installation
Precision narrows down to installation error even consistent with theoretical value with theoretical value infinite approach.Guarantee that empty, the height of real data is consistent
Property.
In conclusion can check equipment dynamic interference, while can also help using the above method provided in this embodiment
The correct tool of Robot Selection such as welding gun etc. is helped, technological parameter is verified, analyzes the beat of station, while it is soft to can use emulation
Part Process Simulate substitutes manually online editing robot off-line program and robot motion track.It only need to be soft
It carries out operating the programming that can be completed to robot in part.Risk that may be present is eliminated before production line scene is integrated,
Not only it ensure that the size quality of apparatus for production line but also can guarantee the robot off-line program of output and the quality of PLC program.Finally
The production line data and program delivery of high quality are used to field device.Data flow is realized from virtually to the intercommunication of reality.
Guidance is measured using high-precision optical equipment during the installation process, laser equipment itself precision can reach the mistake of 0.01mm
Difference keeps the installation site of equipment consistent with the theoretical position in simulation model, ensure that virtual and real world devices position and layout
Consistency.
Corresponding to the virtual verification method of above-mentioned production line, the embodiment of the invention also provides a kind of virtually testing for production line
Card device, referring to a kind of virtual verifying apparatus structure block diagram of production line shown in Fig. 4, which includes:
Data acquisition module 402, for obtaining vehicle body data to be processed；
Theory three-dimensional information generating module 404, for establishing production line model according to vehicle body data, and according to production line mould
Type obtains the theory three-dimensional information of production line；
Practical three-dimensional information obtains module 406, the life that the theory three-dimensional information for obtaining according to production line is arranged
The practical three-dimensional information of producing line；
Authentication module 408, for verifying the consistent of the practical three-dimensional information of production line and the theory three-dimensional information of production line
Property.
The embodiment of the invention provides a kind of virtual verifying devices of production line, obtain vehicle body data to be processed first；
Then production line model is established according to the vehicle body data of acquisition, and is believed according to the theory three-dimensional that production line model obtains production line
Breath；And obtain the practical three-dimensional information for the production line being arranged according to the theory three-dimensional information of production line；Finally verifying production
The consistency of the theory three-dimensional information of the practical three-dimensional information and production line of line.The embodiment of the present invention can be based on being built by vehicle body data
Vertical production line model obtains the theory three-dimensional information of production line to arrange production line, it may be verified that the practical three-dimensional letter of production line
The consistency of the theory three-dimensional information of breath and production line, improves virtual data in the prior art and field device consistency is poor
The problem of.
In practical applications, above-mentioned field data generation module, comprising:
Building of Simulation Model unit, for according to vehicle body data establish production line included by each apparatus for production line it is imitative
True mode；Wherein, apparatus for production line includes at least frock clamp；
Theory three-dimensional information generating unit, for the simulation model according to each apparatus for production line, according to default planning side
The theory three-dimensional information of formula generation production line；Wherein, the theory three-dimensional information of production line includes the 3D layout of apparatus for production line, life
It is a variety of in the process planning of producing line equipment, production line entirety logistics information and production line fraction of stream information.
Specifically, above-mentioned theory three-dimensional information generation module further include:
Point cloud applying unit, for obtaining the production being arranged according to production line field data by point cloud
The practical three-dimensional information of line.
Further, above-mentioned practical three-dimensional information obtains module, comprising:
Geological information acquiring unit, for using three-dimensional laser scanner obtain according to production line theory three-dimensional information into
The geological information of each apparatus for production line included by the production line of row arrangement；
Texture information acquiring unit, for obtaining the texture information of each apparatus for production line using image capture device；
Three-dimensional information generation unit, for generating the practical three-dimensional information of production line according to geological information and texture information.
In the specific implementation, above-mentioned practical three-dimensional information obtains raw according to the theory three-dimensional information placement of production line in module
The process of producing line further include:
Establishment of coordinate system unit establishes workshop using three-coordinates measuring machine for referring to target spot according to preset coordinate system
Coordinate system；
Determination unit, for determining that production line is wrapped according to the theory three-dimensional information of production line by laser scribing mode
The field position of each apparatus for production line included；
Arrangement unit, for arranging production line according to the field position of each apparatus for production line.
The technical effect of device provided by the present embodiment, realization principle and generation is identical with previous embodiment, for letter
It describes, Installation practice part does not refer to place, can refer to corresponding contents in preceding method embodiment.
A kind of electronic equipment structural schematic diagram shown in Figure 5, the electronic equipment 100, comprising: processor 50, storage
Device 51, bus 52 and communication interface 53, the processor 50, communication interface 53 and memory 51 are connected by bus 52；Processing
Device 50 is for executing the executable module stored in memory 51, such as computer program.
Wherein, memory 51 may include high-speed random access memory (RAM, Random Access Memory),
It may further include non-labile memory (non-volatile memory), for example, at least a magnetic disk storage.By extremely
A few communication interface 53 (can be wired or wireless) is realized logical between the system network element and at least one other network element
Letter connection, can be used internet, wide area network, local network, Metropolitan Area Network (MAN) etc..
Bus 52 can be isa bus, pci bus or eisa bus etc..The bus can be divided into address bus, data
Bus, control bus etc..Only to be indicated with a four-headed arrow convenient for indicating, in Fig. 5, it is not intended that an only bus or
A type of bus.
Wherein, memory 51 is for storing program 501, and the processor 50 is after receiving and executing instruction, described in execution
Program 501, method performed by the device that the stream process that aforementioned any embodiment of the embodiment of the present invention discloses defines can be applied
It is realized in processor 50, or by processor 50.
Processor 50 may be a kind of IC chip, the processing capacity with signal.During realization, above-mentioned side
Each step of method can be completed by the integrated logic circuit of the hardware in processor 50 or the instruction of software form.Above-mentioned
Processor 50 can be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network
Processor (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (Digital Signal
Processing, abbreviation DSP), specific integrated circuit (Application Specific Integrated Circuit, referred to as
ASIC), ready-made programmable gate array (Field-Programmable Gate Array, abbreviation FPGA) or other are programmable
Logical device, discrete gate or transistor logic, discrete hardware components.It may be implemented or execute in the embodiment of the present invention
Disclosed each method, step and logic diagram.General processor can be microprocessor or the processor is also possible to appoint
What conventional processor etc..The step of method in conjunction with disclosed in the embodiment of the present invention, can be embodied directly in hardware decoding processing
Device executes completion, or in decoding processor hardware and software module combination execute completion.Software module can be located at
Machine memory, flash memory, read-only memory, programmable read only memory or electrically erasable programmable memory, register etc. are originally
In the storage medium of field maturation.The storage medium is located at memory 51, and processor 50 reads the information in memory 51, in conjunction with
Its hardware completes the step of above method.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided by the present invention, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be through some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, of the invention
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the present invention
State all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can be with
Store the medium of program code.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of virtual verification method of production line characterized by comprising
Obtain vehicle body data to be processed；
Production line model is established according to the vehicle body data, and is believed according to the theory three-dimensional that the production line model obtains production line
Breath；
Obtain the practical three-dimensional information for the production line being arranged according to the theory three-dimensional information of the production line；
Verify the consistency of the practical three-dimensional information of the production line and the theory three-dimensional information of the production line.
2. the method according to claim 1, wherein described establish production line model according to the vehicle body data,
And the step of theory three-dimensional information of production line is obtained according to the production line model, comprising:
The simulation model of each apparatus for production line included by production line is established according to the vehicle body data；Wherein, the production
Line equipment includes at least frock clamp；
According to the simulation model of each apparatus for production line, believe according to the theory three-dimensional that default planning mode generates production line
Breath；Wherein, the theory three-dimensional information of the production line include apparatus for production line 3D layout, apparatus for production line process planning,
It is a variety of in production line entirety logistics information and production line fraction of stream information.
3. the method according to claim 1, wherein the theory three-dimensional information obtained according to the production line
The step of practical three-dimensional information for the production line being arranged, comprising:
The practical three-dimensional letter for the production line being arranged according to the theory three-dimensional information of the production line is obtained by cloud
Breath.
4. the method according to claim 1, wherein described obtained by cloud according to the production line
The step of practical three-dimensional information for the production line that theory three-dimensional information is arranged, comprising:
It is obtained using three-dimensional laser scanner included by the production line being arranged according to the theory three-dimensional information of the production line
Each apparatus for production line geological information；
The texture information of each apparatus for production line is obtained using image capture device；
According to the geological information and the texture information, the practical three-dimensional information of the production line is generated.
5. the method according to claim 1, wherein the theory three-dimensional information placement according to the production line produces
The process of line includes:
Target spot is referred to according to preset coordinate system, workshop coordinate system is established using three-coordinates measuring machine；
By laser scribing mode, each production line included by production line is determined according to the theory three-dimensional information of the production line
The field position of equipment；
Production line is arranged according to the field position of each apparatus for production line.
6. a kind of virtual verifying device of production line characterized by comprising
Data acquisition module, for obtaining vehicle body data to be processed；
Theory three-dimensional information generating module, for establishing production line model according to the vehicle body data, and according to the production line
Model obtains the theory three-dimensional information of production line；
Practical three-dimensional information obtains module, the production line that the theory three-dimensional information for obtaining according to the production line is arranged
Practical three-dimensional information；
Authentication module, for verifying the consistent of the practical three-dimensional information of the production line and the theory three-dimensional information of the production line
Property.
7. device according to claim 6, which is characterized in that the practical three-dimensional information obtains module, comprising:
Geological information acquiring unit, for using three-dimensional laser scanner obtain according to the production line theory three-dimensional information into
The geological information of each apparatus for production line included by the production line of row arrangement；
Texture information acquiring unit, for obtaining the texture information of each apparatus for production line using image capture device；
Practical three-dimensional information generation unit, for generating the production line according to the geological information and the texture information
Practical three-dimensional information.
8. device according to claim 6, which is characterized in that the practical three-dimensional information obtains in module according to the life
The process of the theory three-dimensional information placement production line of producing line further include:
Establishment of coordinate system unit establishes workshop coordinate using three-coordinates measuring machine for referring to target spot according to preset coordinate system
System；
Determination unit, for determining that production line is wrapped according to the theory three-dimensional information of the production line by laser scribing mode
The field position of each apparatus for production line included；
Arrangement unit, for arranging production line according to the field position of each apparatus for production line.
9. a kind of electronic equipment, including memory and processor, it is stored with and can runs on the processor in the memory
Computer program, which is characterized in that the processor realizes the claims 1 to 5 when executing the computer program
The step of method described in one.
10. a kind of computer readable storage medium, computer program, feature are stored on the computer readable storage medium
The step of being, the described in any item methods of the claims 1 to 5 executed when the computer program is run by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910108306.1A CN109857073A (en) | 2019-02-02 | 2019-02-02 | Virtual verification method, device and the electronic equipment of production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910108306.1A CN109857073A (en) | 2019-02-02 | 2019-02-02 | Virtual verification method, device and the electronic equipment of production line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109857073A true CN109857073A (en) | 2019-06-07 |
Family
ID=66897642
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910108306.1A Pending CN109857073A (en) | 2019-02-02 | 2019-02-02 | Virtual verification method, device and the electronic equipment of production line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109857073A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111488270A (en) * | 2020-03-06 | 2020-08-04 | 广州明珞汽车装备有限公司 | Interference area instruction detection method, system and storage medium of robot off-line program |
| CN111536921A (en) * | 2020-03-19 | 2020-08-14 | 宁波吉利汽车研究开发有限公司 | Online measurement state monitoring method and device and storage medium |
| CN111611684A (en) * | 2020-04-07 | 2020-09-01 | 广州明珞汽车装备有限公司 | Method, system, device and storage medium for generating interference zone logic block |
| CN112880555A (en) * | 2021-01-06 | 2021-06-01 | 浙江吉利控股集团有限公司 | Calibration method and system of coordinate system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104062969A (en) * | 2014-07-04 | 2014-09-24 | 清华大学苏州汽车研究院（吴江） | Hardware-in-loop simulation testing system and testing method for automobile |
| CN106370106A (en) * | 2016-09-30 | 2017-02-01 | 上海航天精密机械研究所 | Industrial robot and linear guide rail-combined linear laser scanning measurement system and method |
| CN106935096A (en) * | 2017-05-18 | 2017-07-07 | 重庆电子工程职业学院 | A kind of Industry Control virtual reality practice teaching platform and its operating method |
| CN108132658A (en) * | 2017-12-26 | 2018-06-08 | 安徽瑞祥工业有限公司 | A kind of car body welding producing line virtually produces system and method as a trial |
| CN108205735A (en) * | 2018-04-03 | 2018-06-26 | 中船第九设计研究院工程有限公司 | A kind of workshop information physical monitoring management plateform system |
| CN109102187A (en) * | 2018-08-09 | 2018-12-28 | 广东工业大学 | A kind of virtual thread-changing method of configuration parameter input and scheme visualization output |
-
2019
- 2019-02-02 CN CN201910108306.1A patent/CN109857073A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104062969A (en) * | 2014-07-04 | 2014-09-24 | 清华大学苏州汽车研究院（吴江） | Hardware-in-loop simulation testing system and testing method for automobile |
| CN106370106A (en) * | 2016-09-30 | 2017-02-01 | 上海航天精密机械研究所 | Industrial robot and linear guide rail-combined linear laser scanning measurement system and method |
| CN106935096A (en) * | 2017-05-18 | 2017-07-07 | 重庆电子工程职业学院 | A kind of Industry Control virtual reality practice teaching platform and its operating method |
| CN108132658A (en) * | 2017-12-26 | 2018-06-08 | 安徽瑞祥工业有限公司 | A kind of car body welding producing line virtually produces system and method as a trial |
| CN108205735A (en) * | 2018-04-03 | 2018-06-26 | 中船第九设计研究院工程有限公司 | A kind of workshop information physical monitoring management plateform system |
| CN109102187A (en) * | 2018-08-09 | 2018-12-28 | 广东工业大学 | A kind of virtual thread-changing method of configuration parameter input and scheme visualization output |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111488270A (en) * | 2020-03-06 | 2020-08-04 | 广州明珞汽车装备有限公司 | Interference area instruction detection method, system and storage medium of robot off-line program |
| CN111488270B (en) * | 2020-03-06 | 2024-03-22 | 广州明珞汽车装备有限公司 | Interference area instruction detection method, system and storage medium for robot offline program |
| CN111536921A (en) * | 2020-03-19 | 2020-08-14 | 宁波吉利汽车研究开发有限公司 | Online measurement state monitoring method and device and storage medium |
| CN111611684A (en) * | 2020-04-07 | 2020-09-01 | 广州明珞汽车装备有限公司 | Method, system, device and storage medium for generating interference zone logic block |
| CN111611684B (en) * | 2020-04-07 | 2024-03-22 | 广州明珞汽车装备有限公司 | Method, system, device and storage medium for generating interference zone logic block |
| CN112880555A (en) * | 2021-01-06 | 2021-06-01 | 浙江吉利控股集团有限公司 | Calibration method and system of coordinate system |
| CN112880555B (en) * | 2021-01-06 | 2022-03-22 | 浙江吉利控股集团有限公司 | Calibration method and system of coordinate system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109857073A (en) | Virtual verification method, device and the electronic equipment of production line | |
| US20130278725A1 (en) | Integrated Structured Light 3D Scanner | |
| CN106873550A (en) | Analogue means and analogy method | |
| CN109352217B (en) | Small group robot on-line automatic welding equipment and welding operation method | |
| US7447615B2 (en) | Simulation apparatus for robot operation having function of visualizing visual field by image capturing unit | |
| CN103148784B (en) | The full-scale detection method of a kind of large-scale blade | |
| CN109676280A (en) | Auto-body manufacturing generalization system and Auto-body manufacturing generalization intelligent plant system | |
| CN109955249A (en) | Mechanical arm automatic processing system and its method | |
| CN112577447B (en) | Three-dimensional full-automatic scanning system and method | |
| EP1286309A2 (en) | An automated CAD guided sensor planning process | |
| CN108235769A (en) | The performance test methods and test device of a kind of face recognition device | |
| JPH0852638A (en) | Interference check method, machining program check method and machining suitability check method | |
| CN113050540A (en) | Simulation device, numerical controller, and simulation method | |
| CN109814434A (en) | Control the calibration method and device of program | |
| CN111861147A (en) | Digital detection method and system for whole process of manufacturing complex parts | |
| JP6970592B2 (en) | Storage medium for storing inspection equipment, inspection systems, and programs | |
| JP2666512B2 (en) | Machine coordinate system correction device | |
| CN116226988A (en) | Electromechanical construction method based on BIM technology | |
| CN114996778B (en) | Three-dimensional simulation system of three-dimensional measuring machine | |
| CN206573893U (en) | Production machine table for automatic concept and automatic processing | |
| CN112880555B (en) | Calibration method and system of coordinate system | |
| CN111300490A (en) | Robot track generation system and method based on depth vision sensor | |
| CN109055930A (en) | A kind of quick-restoring device and its restorative procedure of workpiece surface damage | |
| CN112435350A (en) | Processing track deformation compensation method and system | |
| CN110332885A (en) | A kind of robot grating is taken pictures the automated execution method of scanning system detection data |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190607 |
|
| RJ01 | Rejection of invention patent application after publication |