CN112170124B - Visual positioning method and device for vehicle body and vehicle frame - Google Patents
Visual positioning method and device for vehicle body and vehicle frame Download PDFInfo
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- CN112170124B CN112170124B CN202011068432.8A CN202011068432A CN112170124B CN 112170124 B CN112170124 B CN 112170124B CN 202011068432 A CN202011068432 A CN 202011068432A CN 112170124 B CN112170124 B CN 112170124B
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- 230000000007 visual effect Effects 0.000 title claims abstract description 42
- 238000000034 method Methods 0.000 title claims abstract description 28
- 239000011248 coating agent Substances 0.000 claims abstract description 38
- 238000000576 coating method Methods 0.000 claims abstract description 38
- 238000012937 correction Methods 0.000 claims abstract description 11
- 238000005237 degreasing agent Methods 0.000 description 5
- 239000013527 degreasing agent Substances 0.000 description 5
- 239000012744 reinforcing agent Substances 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
- B05C11/1021—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target responsive to presence or shape of target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/122—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to presence or shape of target
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Abstract
The invention provides a visual positioning method and a visual positioning device for a vehicle body and a vehicle frame, wherein the method comprises the following steps: acquiring a vehicle body image shot by a vision device from a preset shooting position, and calculating a vehicle body plane offset and a vehicle body three-dimensional offset according to the vehicle body image; acquiring a vehicle body image shot by the vision device from the correction position, and calculating the vehicle body plane offset and the vehicle body stereo offset according to the vehicle body image; repeatedly executing the previous step until the preset execution times is reached, and performing comprehensive calculation according to the calculated multiple vehicle body plane offsets and the multiple vehicle body three-dimensional offsets to obtain the vehicle body frame space coordinate offset; and positioning the coating track of the car body frame according to the offset of the space coordinate of the car body frame. According to the invention, the 3D laser scanning data and the 2D shooting data are mutually compared and corrected, so that the space position data of the vehicle body can be rapidly and accurately obtained to guide the coating robot to carry out automatic coating, and the efficiency and the quality of automatic coating operation can be improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a visual positioning method and device for an automobile body and an automobile frame.
Background
The degreasing agent for the car body belongs to a solvent capable of volatilizing rapidly, and is mainly used for cleaning a car frame, and the car body reinforcing agent is a solvent for bonding a windshield and the car frame of the car body. The degreasing agent and the strengthening agent of the car body of the existing domestic and foreign car factories are coated by manually using a brush, and the manual coating mode has low efficiency.
The coating efficiency can be improved by adopting an automatic coating mode, wherein the control of the automatic coating needs to acquire an accurate space position of a vehicle body to guide a coating robot to perform coating operation. However, how to quickly and accurately acquire the spatial position data of the vehicle body so that the coating operation can simultaneously meet the coating quality requirement and the production cycle requirement is not effectively solved at present.
Disclosure of Invention
The embodiment of the invention provides a visual positioning method and device for a vehicle body frame, which are used for solving the technical problems, can quickly and accurately acquire spatial position data of a vehicle body and are beneficial to improving the efficiency and quality of automatic coating operation.
In order to solve the technical problem, an embodiment of the present invention provides a visual positioning method for a vehicle body and a vehicle frame, including:
acquiring a vehicle body image shot by a visual device from a preset shooting position, and calculating a vehicle body plane offset and a vehicle body three-dimensional offset according to the vehicle body image; the vehicle body image comprises a 2D vehicle body image and a 3D laser scanning image, the vehicle body plane offset is calculated according to the 2D vehicle body image, and the vehicle body three-dimensional offset is calculated according to the 3D laser scanning image;
acquiring a vehicle body image shot by the vision device from a correction position, and calculating a vehicle body plane offset and a vehicle body stereo offset according to the vehicle body image;
repeatedly executing the previous step until the preset execution times is reached, and performing comprehensive calculation according to the calculated multiple vehicle body plane offsets and the multiple vehicle body three-dimensional offsets to obtain the vehicle body frame space coordinate offset;
and positioning the coating track of the car body frame according to the offset of the space coordinate of the car body frame.
Further, the vehicle body plane offset is calculated according to coordinate information of the feature hole in the 2D vehicle body image, and the vehicle body stereo offset is calculated according to coordinate information of the feature hole in the 3D laser scanning image.
Further, the calculating of the vehicle body plane offset and the vehicle body stereo offset according to the vehicle body image specifically includes:
comparing the coordinate information of the characteristic holes in the 2D vehicle body image with preset standard template data, and calculating to obtain the vehicle body plane offset;
and comparing the coordinate information of the characteristic hole in the 3D laser scanning image with preset standard template data, and calculating to obtain the three-dimensional offset of the vehicle body.
Further, the number of the characteristic holes in the 2D vehicle body image is 2; the number of the characteristic holes in the 3D laser scanning image is 3.
Further, the vehicle body image is obtained by shooting by adopting a vision device integrated with a 3D laser scanner and a 2D camera.
Further, the visual positioning method for the vehicle body and the vehicle frame further comprises the following steps:
and storing the acquired vehicle body image and the calculated vehicle body frame space coordinate offset.
Further, the vehicle body frame space coordinate offset comprises a front vehicle stopping frame space coordinate offset and a rear vehicle stopping frame space coordinate offset.
In order to solve the same technical problem, the invention also provides a visual positioning device for the vehicle body frame, which comprises:
the first calculation module is used for acquiring an automobile body image shot by the vision device from a preset shooting position and calculating the plane offset and the three-dimensional offset of the automobile body according to the automobile body image; the vehicle body image comprises a 2D vehicle body image and a 3D laser scanning image, the vehicle body plane offset is calculated according to the 2D vehicle body image, and the vehicle body three-dimensional offset is calculated according to the 3D laser scanning image;
the second calculation module is used for acquiring the vehicle body image shot by the vision device from the correction position and calculating the vehicle body plane offset and the vehicle body stereo offset according to the vehicle body image;
the offset calculation module is used for carrying out comprehensive calculation according to the calculated multiple vehicle body plane offsets and the multiple vehicle body three-dimensional offsets to obtain vehicle body frame space coordinate offsets;
and the vehicle body positioning module is used for positioning the coating track of the vehicle body frame according to the spatial coordinate offset of the vehicle body frame.
Compared with the prior art, the invention has the following beneficial effects:
the embodiment of the invention provides a visual positioning method and a visual positioning device for a vehicle body and a vehicle frame, wherein the method comprises the following steps: acquiring a vehicle body image shot by a visual device from a preset shooting position, and calculating a vehicle body plane offset and a vehicle body three-dimensional offset according to the vehicle body image; the vehicle body image comprises a 2D vehicle body image and a 3D laser scanning image, the vehicle body plane offset is calculated according to the 2D vehicle body image, and the vehicle body three-dimensional offset is calculated according to the 3D laser scanning image; acquiring a vehicle body image shot by the vision device from a correction position, and calculating a vehicle body plane offset and a vehicle body stereo offset according to the vehicle body image; repeatedly executing the previous step until the preset execution times is reached, and performing comprehensive calculation according to the calculated multiple vehicle body plane offsets and the multiple vehicle body three-dimensional offsets to obtain the vehicle body frame space coordinate offset; and positioning the coating track of the car body frame according to the offset of the space coordinate of the car body frame. According to the invention, the 3D laser scanning data and the 2D shooting data are mutually compared and corrected, so that the space position data of the vehicle body can be rapidly and accurately obtained to guide the coating robot to carry out automatic coating, and the efficiency and the quality of automatic coating operation can be improved.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for visually positioning a vehicle body frame according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a visual positioning device for a vehicle body frame according to an embodiment of the present invention;
fig. 3 is a schematic distribution diagram of vehicle body feature points according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a visual positioning method for a vehicle body frame, including the steps of:
s1, obtaining an automobile body image shot by a vision device from a preset shooting position, and calculating the plane offset and the three-dimensional offset of the automobile body according to the automobile body image; the vehicle body image comprises a 2D vehicle body image and a 3D laser scanning image, the vehicle body plane offset is calculated according to the 2D vehicle body image, and the vehicle body three-dimensional offset is calculated according to the 3D laser scanning image.
In the embodiment of the present invention, further, the offset of the vehicle body plane is calculated according to coordinate information of a feature hole in the 2D vehicle body image, and the offset of the vehicle body stereo is calculated according to coordinate information of a feature hole in the 3D laser scanning image.
In the embodiment of the present invention, further, the calculating a vehicle body plane offset and a vehicle body stereo offset according to the vehicle body image specifically includes:
comparing the coordinate information of the characteristic holes in the 2D vehicle body image with preset standard template data, and calculating to obtain the vehicle body plane offset;
comparing the coordinate information of the characteristic holes in the 3D laser scanning image with preset standard template data, and calculating to obtain the stereo offset of the vehicle body
In the embodiment of the invention, further, the number of the characteristic holes in the 2D vehicle body image is 2; the number of the characteristic holes in the 3D laser scanning image is 3.
In the embodiment of the invention, further, the vehicle body image is obtained by shooting by using a vision device integrated with a 3D laser scanner and a 2D camera.
It should be noted that, in step S1, a vision device is used to shoot the vehicle body image from a preset teaching shooting point, wherein the vision device is integrated with a 3D laser scanner and a 2D camera, the 3D laser scanner and the 2D camera are mutually matched for shooting, data are mutually transmitted and compared, and the positioning data of the vehicle body in the space can be measured. The method comprises the steps of controlling a vision device to move to a teaching photographing point to photograph a vehicle body, wherein a 2D camera photographs only two characteristic points (such as hole sites for installing rubber nails on glass), 3D laser scanning at least 3 positions of a vehicle frame (such as 3 positions of front and rear scanning vehicle frames, wherein the vehicle body characteristic holes can be preset positioning marks (such as front and rear windshield rubber nail installing hole sites), recognizing the vehicle body characteristic holes from an acquired vehicle body image, acquiring coordinate information of the vehicle body characteristic holes, calculating space coordinate information of the vehicle body frame according to the coordinate information of a plurality of vehicle body characteristic holes, comparing the space coordinate information with preset standard template data, calculating to obtain vehicle body plane offset and vehicle body three-dimensional offset, and complementing and correcting 3D laser scanning data and 2D photographing data, so that vehicle body positioning accuracy is improved.
And S2, acquiring the vehicle body image shot by the vision device from the corrected position, and calculating the vehicle body plane offset and the vehicle body stereo offset according to the vehicle body image.
And S3, repeatedly executing the step 2 until the preset execution times is reached, and comprehensively calculating according to the calculated multiple vehicle body plane offsets and the multiple vehicle body three-dimensional offsets to obtain the vehicle body frame space coordinate offsets.
In the embodiment of the invention, further, the offset of the spatial coordinate of the vehicle body frame includes an offset of the spatial coordinate of a front vehicle stopping frame and an offset of the spatial coordinate of a rear vehicle stopping frame.
And S4, positioning the coating track of the vehicle body frame according to the offset of the space coordinate of the vehicle body frame.
In the embodiment of the present invention, step S4 is to compare the final vehicle body positioning data (the offset of the spatial coordinates of the vehicle body frame) with preset template data, correct the coating track of the robot, and then guide the coating robot to perform coating operation according to the corrected coating track.
In an embodiment of the present invention, further, the visual positioning method for the vehicle body frame further includes:
and storing the acquired vehicle body image and the calculated vehicle body frame space coordinate offset.
Based on the above scheme, in order to better understand the visual positioning method for the vehicle body frame provided by the invention, the following examples are given:
in one embodiment, the process of visual localization is as follows:
referring to fig. 3, the robot gripper for guiding visual photography carries 3 visual devices to move to teaching photography sites (A, B, C, D feature sites preset on the car frame);
the method comprises the following steps: the robot gives a trigger signal, and the industrial personal computer takes a picture of B, C point 2D (obtains X \ Y \ Rz compensation amount information);
step two: the robot moves to a correction position, a trigger signal is given, and the industrial personal computer carries out 3D photographing on A, C, D points (obtains RX \ RY \ Z compensation amount information);
step three: the robot moves to a correction position, a trigger signal is given, and the industrial personal computer takes a picture of B, C point 2D (obtains X \ Y \ Rz compensation information);
step four: the robot moves to a correction position, a trigger signal is given, and the industrial personal computer photographs A, C, D points in 3D (obtains RX \ RY \ Z compensation amount information);
step five: the robot moves to a correction position, a trigger signal is given, and the industrial personal computer takes a picture of B, C point 2D (obtains X \ Y \ Rz compensation information);
and finally, comprehensively calculating the offsets to obtain A, B, C, D space coordinate offset, and outputting the A, B, C, D space coordinate offset to the coating robot for correcting the gluing position.
When the automatic coating operation is performed, the vehicle body needs to be moved to an automatic operation area, the position of the vehicle body can be deviated when the vehicle body is placed by the L-shaped hanger of the suspension chain, the deviation amount at the tail end of the vehicle is +/-15 mm, the reinforcing agent coating width of the vehicle body is more than or equal to 14mm, and the outermost side of the vehicle body reinforcing agent coating track is only 10mm away from the edge of the vehicle frame. The deviation of the vehicle body reinforcement from the coating trajectory causes quality abnormality, so that the visual precise positioning of the vehicle body is required in addition to the mechanical positioning of the vehicle body hanger.
In an actual production scene, the automatic coating of the degreasing agent and the reinforcing agent on the upper body of the lifting appliance needs to be realized within 70 JPH. The total of 12s is required for the body to fast in and out, and the time left for visual positioning and coating is only 33 s. The project is to save the visual positioning time, and adopts a scheme that a visual photographing robot is separated from a vehicle body degreasing agent coating robot and a reinforcer coating robot. The vision robot has the vision device of a plurality of 3D laser and 2D camera assemblies, adopts 3D laser scanning and 2D to shoot the positioning accuracy that the cooperation improved the automobile body and reduce the time of shooing to adopt a plurality of vision devices to reduce the removal time of vision robot, a plurality of vision devices share one set of vision software, reduce data transmission and calculation time.
It should be noted that, in the 3D laser scanning adopted in the embodiment of the present invention, a laser triangulation displacement measurement principle is used, a laser beam is focused on the surface of the object to be measured at a certain angle, then laser spots on the surface of the object are imaged from another angle, the positions of laser irradiation points on the surface of the object are different in height, and the angles of received scattered or reflected light are also different, and the position of the spot image is measured by a CCD photoelectric sensor, so that the angle of the principal ray can be calculated, and the position height of the laser irradiation point on the surface of the object can be calculated. When the object moves along the direction of the laser line, the measuring result is changed, so that the displacement of the object is measured by using the laser, and the space coordinate data of the laser scanning position of the frame is obtained. The method comprises the steps that a 2D camera shoots characteristic holes (front windshield glass glue nail mounting hole positions) of front and rear gear positions of an automobile body, coordinate data of the characteristic holes are obtained and transmitted to software of a visual industrial personal computer, the characteristic holes are compared with data of a visual template and corrected, data of an automobile body frame are obtained by shooting scanning and shooting points for multiple times, the template is compared for multiple times and corrected, and then the corrected data of the automobile frame are transmitted to a coating robot.
In a possible embodiment, the data of the visual shooting points are transmitted to the software of the visual industrial personal computer for processing and then transmitted to the control system and the robot through the I/O. The vision industrial computer is provided with a vision special industrial computer controlled by an internal trigger clock, can realize high-speed stable image acquisition (if the vision industrial computer controls the photographing time sequence according to an external trigger signal, the signal transmission speed cannot realize the stable high-speed photographing function), and can realize 90 images/s. The storage modes of local and external hard disks can be freely set for the shot data and pictures, and the image data and result data are stored in real time while the real-time image processing is carried out, so that the production data backup and traceable management are facilitated. The front/back vision shooting can be carried out by independently adopting a set of vision electric cabinet for data processing.
It should be noted that, in the embodiment of the present invention, a 3D laser and 2D camera integrated vision device is adopted, and the 3D laser scanning and the 2D camera shooting are mutually matched, and data transmission and comparison are performed, so that the positioning data of the vehicle body in the space can be measured, the vehicle body data is compared with the data in the template, and the coating robot is guided and corrected to coat the degreasing agent and the reinforcing agent on the vehicle body. And the front/rear vehicle frame visual positioning device adopts a plurality of visual devices to cover the whole front/rear vehicle frame of the vehicle body, and the front/rear visual systems respectively share one set of industrial personal computer (software is also shared), so that the visual positioning deviation and the moving time of the robot are reduced, and the quick and accurate positioning of the front and rear frames of the vehicle body is realized.
It should be noted that the above method or flow embodiment is described as a series of acts or combinations for simplicity, but those skilled in the art should understand that the present invention is not limited by the described acts or sequences, as some steps may be performed in other sequences or simultaneously according to the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are exemplary embodiments and that no single embodiment is necessarily required by the inventive embodiments.
Referring to fig. 2, in order to solve the same technical problem, the present invention further provides a visual positioning device for a vehicle body frame, comprising:
the first calculation module 1 is used for acquiring an automobile body image shot by a vision device from a preset shooting position, and calculating the plane offset and the three-dimensional offset of the automobile body according to the automobile body image; the vehicle body image comprises a 2D vehicle body image and a 3D laser scanning image, the vehicle body plane offset is calculated according to the 2D vehicle body image, and the vehicle body three-dimensional offset is calculated according to the 3D laser scanning image;
the second calculation module 2 is used for acquiring the vehicle body image shot by the vision device from the correction position and calculating the vehicle body plane offset and the vehicle body stereo offset according to the vehicle body image;
the offset calculation module 3 is used for carrying out comprehensive calculation according to the calculated multiple vehicle body plane offsets and the multiple vehicle body three-dimensional offsets to obtain vehicle body frame space coordinate offsets;
and the vehicle body positioning module 4 is used for positioning the coating track of the vehicle body frame according to the spatial coordinate offset of the vehicle body frame.
It can be understood that the above-mentioned apparatus embodiment corresponds to the method embodiment of the present invention, and the vehicle body frame visual positioning apparatus provided in the embodiment of the present invention can implement the vehicle body frame visual positioning method provided in any one of the method embodiments of the present invention.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (7)
1. A visual positioning method for a vehicle body frame is characterized by comprising the following steps:
acquiring a vehicle body image shot by a visual device from a preset shooting position, and calculating a vehicle body plane offset and a vehicle body three-dimensional offset according to the vehicle body image; wherein the vision device is integrated with a 3D laser scanner and a 2D camera; the vehicle body image comprises a 2D vehicle body image and a 3D laser scanning image, the vehicle body plane offset is calculated according to the 2D vehicle body image, and the vehicle body stereo offset is calculated according to the 3D laser scanning image;
acquiring a vehicle body image shot by the vision device from a correction position, and calculating a vehicle body plane offset and a vehicle body stereo offset according to the vehicle body image;
repeatedly executing the previous step until the preset execution times is reached, and performing comprehensive calculation according to the calculated multiple vehicle body plane offsets and the multiple vehicle body three-dimensional offsets to obtain the vehicle body frame space coordinate offset;
and positioning the coating track of the car body frame according to the offset of the space coordinate of the car body frame.
2. The visual positioning method for the vehicle body frame according to claim 1, wherein the vehicle body plane offset is calculated according to coordinate information of a feature hole in the 2D vehicle body image, and the vehicle body stereo offset is calculated according to coordinate information of a feature hole in the 3D laser scanning image.
3. The visual positioning method for the vehicle body and the vehicle frame according to claim 2, wherein the step of calculating the vehicle body plane offset and the vehicle body stereo offset according to the vehicle body image comprises the following steps:
comparing the coordinate information of the characteristic holes in the 2D vehicle body image with preset standard template data, and calculating to obtain the vehicle body plane offset;
and comparing the coordinate information of the characteristic hole in the 3D laser scanning image with preset standard template data, and calculating to obtain the three-dimensional offset of the vehicle body.
4. The visual positioning method for the vehicle body frame according to the claim 2 or 3, characterized in that the number of the feature holes in the 2D vehicle body image is 2; the number of the characteristic holes in the 3D laser scanning image is 3.
5. The visual positioning method for the vehicle body frame according to claim 1, further comprising:
and storing the acquired vehicle body image and the calculated vehicle body frame space coordinate offset.
6. The visual positioning method for the vehicle body frame according to claim 1, wherein the offset of the spatial coordinate of the vehicle body frame comprises an offset of the spatial coordinate of a front vehicle-stopping frame and an offset of the spatial coordinate of a rear vehicle-stopping frame.
7. The utility model provides a car body car frame vision positioner which characterized in that includes:
the first calculation module is used for acquiring an automobile body image shot by the vision device from a preset shooting position and calculating the plane offset and the three-dimensional offset of the automobile body according to the automobile body image; wherein the vision device is integrated with a 3D laser scanner and a 2D camera; the vehicle body image comprises a 2D vehicle body image and a 3D laser scanning image, the vehicle body plane offset is calculated according to the 2D vehicle body image, and the vehicle body stereo offset is calculated according to the 3D laser scanning image;
the second calculation module is used for acquiring the vehicle body image shot by the vision device from the correction position and calculating the vehicle body plane offset and the vehicle body stereo offset according to the vehicle body image;
the offset calculation module is used for carrying out comprehensive calculation according to the calculated multiple vehicle body plane offsets and the multiple vehicle body three-dimensional offsets to obtain vehicle body frame space coordinate offsets;
and the vehicle body positioning module is used for positioning the coating track of the vehicle body frame according to the spatial coordinate offset of the vehicle body frame.
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| CN108858191A (en) * | 2018-06-29 | 2018-11-23 | 易思维（杭州）科技有限公司 | Visual guide method suitable for the automatic loading process of automobile top cover |
| CN110605720A (en) * | 2019-10-18 | 2019-12-24 | 扬州工业职业技术学院 | Industrial robot vision system and teaching method thereof |
| CN110977962A (en) * | 2019-11-12 | 2020-04-10 | 长沙长泰机器人有限公司 | Automatic deviation rectifying method for robot polishing path based on 3D vision |
| CN111459176A (en) * | 2020-04-03 | 2020-07-28 | 重庆固高科技长江研究院有限公司 | Automatic vehicle charging positioning control method, calibration method and vehicle attitude calculation method |
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