CN112258657A - Positioning method of vehicle digital clamp - Google Patents
Positioning method of vehicle digital clamp Download PDFInfo
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Abstract
The invention relates to the technical field of augmented reality, in particular to a positioning method of a vehicle digital clamp. The invention provides a positioning method of a vehicle digital clamp, which comprises the following steps: s1, obtaining modeling data of the vehicle; s2, selecting a plurality of positioning surfaces of the vehicle, and arranging a plurality of positioning targets on the positioning surfaces, wherein the positioning targets comprise target seats and augmented reality target balls; s3, calibrating a coordinate system of the positioning target in a mode of combining a three-coordinate measuring machine and a transition target ball; s4, selecting projection characteristics from the modeling data; and S5, projecting the projection feature location to the corresponding position of the vehicle. The vehicle digital clamp positioning method provided by the invention realizes the application of the augmented reality technology in the special vehicle body refitting and positioning in the research and development trial-manufacturing stage by means of innovative coordinate system precision calibration and a target seat structure, obviously shortens the working period and reduces the manufacturing cost.
Description
Technical Field
The invention relates to the technical field of augmented reality, in particular to a positioning method of a vehicle digital clamp.
Background
In the sample car production work in the automobile research and development stage, except producing a small batch of sample cars, the existing batch of car models are utilized, and the new car meets special sample car projects with specific test requirements by welding parts in a new state and cutting part of car body steel plates.
These projects tend to have only one sample car and the manufacturing cycle needs to be as compact as possible in exchange for time for subsequent experimentation and development improvements.
In such a sample car project, the conventional technical scheme needs to design and customize a set of positioning fixtures to assist in the welding positioning of the new part and the positioning of the cutting line.
This conventional positioning method has the following problems:
1) the manufacturing period of the sample car is longer, the period required from the design to the manufacturing completion of the clamp is longer, and the time of 8 working cycles is generally required;
2) the customized cost of the clamp is higher, and a set of positioning clamp needs the manufacturing cost of tens of thousands of yuan of RMB on average.
3) The clamp needs to be customized for the sample car of each project independently, cannot be used universally in the production of sample cars of different projects, and each set of clamp needs to be scrapped after being used once.
By combining the factors, the traditional positioning method has long working period and high production cost.
Therefore, a more economical and efficient positioning means is needed to improve the working method of the special vehicle body refitting positioning.
The existing method for replacing the traditional positioning fixture can be carried out by adopting the traditional laser tracker or the articulated arm measuring machine for positioning. The positioning method can save the production input cost of the clamp, but the measurement working hour input is very large.
Because the positioning can be carried out only by depending on the three-coordinate data of the positioning points in the positioning process, the positioning can be carried out only by depending on the moving probe in the working process, the three-coordinate data continuously approaches to the theoretical position of the positioning points, the intuition is not enough, and the positioning efficiency is low. For a special vehicle body with a large modification range, the measurement working hours of 10 working cycles are required for the whole vehicle body modification only by positioning the working average.
Therefore, compared with the positioning clamp, the positioning method has the advantages that the money cost is reduced, the work period is longer, and the method is not suitable for refitting and positioning for projects with short construction periods.
In the traditional working method adopting the physical positioning clamp, because the manufacturing cost is overhigh and the physical positioning clamp has no reusability, the physical positioning clamp is continuously eliminated in recent years, and a substitute positioning scheme is found in urgent need because the measurement working hour consumption is large by adopting the positioning mode of the traditional measuring machine.
Augmented reality technology is a novel technical means for interacting virtual data with the real world. The technology is a digitalization technology which adds virtual data in real things, depends on the real-time position and angle of a computer image and adds images, videos and 3D models in corresponding positions.
At present, the augmented reality technology is applied to the fields such as multimedia interaction, augmented game experience and design scheme review which mainly comprise experience and display, and the application surface of the current augmented reality technology only covers the display field and is not applied to the automobile manufacturing field.
Due to the large difference between the industrial automobile body manufacturing field and the multimedia display field and the limitation of the technology on the positioning mode in the past, no application precedent exists in the automobile body manufacturing field.
The positioning precision of the augmented reality technology cannot meet the requirement of the whole vehicle positioning of a special vehicle body and can not reach the theoretical positioning precision of 0.1 mm/m.
In the general application field of the augmented reality technology, the requirement for solving the positioning accuracy is not urgent. If inaccurate positioning is met in the display process, the relatively more accurate positioning of the display area is realized mostly by manually finely adjusting the position of the part target. Which targets are adjusted, depending on the skill and the experience of the technician, corresponds to the adjustment range of the target. However, this suffers from the following problems:
1) this method cannot form a set of idiomatic process systems;
2) after manual adjustment, the positioning only meets the display requirement of the display area, and the accuracy and precision index of the whole coordinate cannot be guaranteed.
Therefore, the conventional positioning accuracy adjusting method cannot be applied to the precision measurement field in the vehicle body manufacturing or manufacturing industry.
Disclosure of Invention
The invention aims to provide a positioning method of a vehicle digital clamp, and solves the problems that the existing vehicle body modification positioning method is long in working period, high in production cost and not universal for vehicle types.
In order to achieve the above object, the present invention provides a positioning method of a vehicle digitizing fixture, comprising the steps of:
s1, obtaining modeling data of the vehicle;
s2, selecting a plurality of positioning surfaces of the vehicle, and arranging a plurality of positioning targets on the positioning surfaces, wherein the positioning targets comprise target seats and augmented reality target balls;
s3, calibrating a coordinate system of the positioning target in a mode of combining a three-coordinate measuring machine and a transition target ball;
s4, selecting projection characteristics from the modeling data;
and S5, projecting the projection feature location to the corresponding position of the vehicle.
In one embodiment, the backing plate of step S2 includes a backing plate body, an adapter cone, a retaining spring, and a coil spring:
the middle of the target holder body is provided with a central hole, and the curved surface at one side is used for placing a target ball in an attaching manner;
the middle of the adaptive cone is provided with a central hole, and one side of the adaptive cone is a conical tip used for adapting to part positioning holes with different diameters;
the limiting spring is connected with the adaptive cone and the target holder body and used for clamping the adaptive cone and the target holder body;
the spiral spring is connected with the adaptive cone and the target holder body and is used for ejecting the adaptive cone outwards relative to the target holder body;
the conical tip of the adaptive cone is inserted into the part positioning hole, one side end face of the target holder body is tightly attached to the surface of the part, the fastener is inserted from the central hole of the target holder body and penetrates through the reserved central hole of the adaptive cone to fasten the reverse side of the part, and fixation between the target holder body and the part positioning hole is achieved.
In an embodiment, in step S2, the fastening element includes a screw and a nut, after the adaptive cone is matched and pressed against the part positioning hole, the screw passes through the target holder body and the central hole of the adaptive cone, and the screw is tightened from the back of the part through the nut to fix the target holder on the surface of the part.
In one embodiment, the distance between the virtual sphere center of the curved surface on one side and the end surface on the other side of the backing plate body in the step S2 is 360 mm.
In one embodiment, the target holder of step S2 is pressed by the conical tip of the cone and the elastic force of the coil spring to be fixed at the center of the part positioning hole, so that the axis of the target holder, the center line of the target ball and the axis of the center hole coincide.
In one embodiment, in the step S2, the positioning targets are placed and fixed according to the following placement rules, where the placement rules include the following steps:
s21, placing at least three positioning targets on the main positioning surface;
s22, placing at least two positioning targets on a second surface, wherein the second surface and a main positioning surface form a certain included angle;
and S23, placing at least one target seat on a third surface, wherein the normal direction of the third surface is intersected with the normal plane of the main plane and the normal plane of the second surface.
In an embodiment, in the step S2, the main positioning surface is a plane where the positioning welding or cutting work is performed;
three positioning targets are arranged on the main positioning surface in a triangular mode;
two positioning targets arranged on the second surface form a certain included angle with the normal direction of the main positioning surface.
In an embodiment, the step S3, further includes the following steps:
s31, establishing a coordinate system of the whole vehicle by a three-coordinate measuring machine;
s32, placing a transition target ball on a target seat of the positioning target, and measuring coordinate information of the center of the transition target ball by using a three-coordinate measuring machine;
s33, importing the coordinate information of the transition target ball center measured by the three-coordinate measuring machine into an augmented reality data processing device;
s34, taking down the transitional target ball and placing the augmented reality target ball on the target seat;
and S35, corresponding the coordinate information of the center of the transitional target ball to the position of the augmented reality target ball, and realizing the conversion from the whole vehicle coordinate system of the three-coordinate measuring machine to the augmented reality positioning coordinate system.
In one embodiment, the transition target ball in step S3 is spherical, and one side of the transition target ball is provided with an opening reaching the center of the circle;
and the measuring head of the three-coordinate measuring machine is used for deeply measuring the circle center position of the transition target ball from the opening of the transition target ball.
In one embodiment, in step S1, the modeling data of the vehicle is obtained by using a dual-camera positioning device.
In an embodiment, in the step S5, the projection display device is adopted to project the projection features to the corresponding positions of the vehicle in a positioning manner, and the projection display device is a 2 m-grade laser projection device;
in step S1, the image sensor pixels of the two-camera shooting positioning device are 500 ten thousand pixels.
The vehicle digital clamp positioning method provided by the invention replaces the positioning clamp investment and the traditional three-coordinate measurement in the conventional special vehicle body manufacturing process, and by means of the innovative coordinate system precision calibration and the target seat structure, the deviation condition of each vehicle body part is fed back more quickly and more intuitively, corresponding adjustment guidance is given, the manufacturing cost is reduced, the manufacturing period is shortened, and the application of the augmented reality technology in the special vehicle body refitting and positioning in the research and development trial-manufacturing stage is realized.
Drawings
The above and other features, properties and advantages of the present invention will become more apparent from the following description of the embodiments with reference to the accompanying drawings in which like reference numerals denote like features throughout the several views, wherein:
FIG. 1 discloses a schematic diagram of a vehicle digitizing fixture positioning system according to an embodiment of the invention;
FIG. 2 discloses a flow chart of a vehicle digitizing fixture positioning method according to an embodiment of the invention;
FIG. 3 discloses a cross-sectional view of a backing plate structure according to an embodiment of the invention;
FIG. 4 illustrates a schematic view of the arrangement of a backing plate structure according to an embodiment of the present invention;
FIG. 5 is a schematic illustration of an erroneous placement of a backing plate on a primary locating surface in accordance with an embodiment of the present invention;
FIG. 6 illustrates a schematic view of a mis-placement of a backing plate on a second face in accordance with one embodiment of the present invention;
FIG. 7 illustrates a schematic view of a target holder being incorrectly positioned on a third face according to an embodiment of the present invention;
FIG. 8 discloses a flow chart of a coordinate system calibration method according to an embodiment of the invention;
fig. 9 discloses a cross-sectional view of a transition target ball structure according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The application direction of the augmented reality technology at the beginning of design is a multimedia entertainment system, and in the field of multimedia display, the augmented reality technology is mainly used for introducing virtual scenes in real life and enhancing game interactivity and scheme display intuitiveness by taking the expressive force of various entertainment displays as a main purpose.
The existing augmented reality technology system has the following defects and limitations in positioning:
1) the positioning range is small, because the equipment adopts a double-camera shooting positioning principle, the positioning range is limited by the angle of the camera and the shooting range of the camera, and a finished automobile coordinate system with higher precision cannot be established in consideration of the whole automobile;
2) the positioning mode is single-the current equipment only supports a target seat based on reference holes to place positioning targets, and for the whole vehicle outer covering piece with a small number of surface reference holes, the positioning cannot be completed, and the application scene is limited;
3) the positioning accuracy is insufficient, which is limited by the manufacturing accuracy of the vehicle body and the relative accuracy of the selected reference hole, and the subsequent positioning accuracy cannot be ensured under the condition of insufficient accuracy of the reference hole.
Based on the three reasons, the problem of positioning accuracy of the augmented reality technology must be solved firstly to meet the application of the augmented reality technology as a digital clamp in the field of special vehicle body refitting and positioning in the research and development trial-manufacturing stage.
Fig. 1 is a schematic diagram of a positioning system of a digital vehicle clamp according to an embodiment of the present invention, and as shown in fig. 1, the positioning system of the digital vehicle clamp adopted in the present invention includes a positioning target 1, a projection display device 4, an augmented reality data processing device 3, and a camera positioning device 2.
The shooting positioning device 2 is used for calibrating and establishing a coordinate system through the positioning target 1, obtaining modeling data of a vehicle and sending the modeling data to the augmented reality data processing device 3;
the augmented reality data processing device 3 selects projection characteristics from the modeling data and sends the projection characteristics to the projection display device 4;
and the projection display device 4 is used for positioning and projecting the projection characteristics to the corresponding positions of the vehicle to realize the projection display of the projection characteristics on the vehicle parts or the entity of the vehicle body.
In the augmented reality equipment selected by the invention, a double-shooting positioning device is adopted in the shooting positioning device 2.
At present, there are many research results aiming at the improvement of the bi-shooting positioning accuracy, but the research results all need to be based on a set of quite complex algorithm, and the method is applied to the field of sample vehicle trial production in the research and development trial production stage.
First, the introduction of such an algorithm requires a significant time and money cost, which is contrary to the goal of applying augmented reality techniques to develop trial-and-error special body manufactures to replace conventional jigs and three-coordinate measuring machines.
Secondly, the accuracy of the double-camera positioning device is improved, and the integral positioning accuracy is improved only on the premise that the accuracy of the positioned object is enough.
Finally, for the car body with the tolerance range of +/-2 mm, the positioning accuracy of the mainstream double-shot positioning algorithm is far higher than the tolerance range, the specification of the image sensor for double-shot positioning selected by the invention still reaches the theoretical accuracy of 0.1mm/m, namely the deviation of the coordinate system positioning is mainly caused by the manufacturing error of the car body, and the requirement of improving the positioning accuracy in the actual positioning process cannot be met only by aiming at the algorithm upgrading of a double-shot positioning device.
From the traditional concept, the accuracy of improving a single device usually starts from the hardware and calibration of the device, however, through the previous analysis, the significance of improving the double-shot positioning accuracy of the augmented reality technology is not large, and in the use method of the measuring machine, each measuring machine has a respective coordinate system establishment and positioning mode, and the work is independent.
The traditional three-coordinate measuring machine has longer time consumption in positioning work in positioning welding and cutting line positioning work, and the efficiency is not as high as that of the intuitive positioning of the augmented reality technology.
Compared with the traditional positioning mode of augmented reality, the traditional measuring machine has more methods for establishing the coordinate system, so that the three-coordinate measuring machine has higher flexibility for establishing the coordinate system and higher positioning accuracy and is more reliable in different working scenes in the manufacturing process of special sample vehicles.
The invention transfers the advantages of the three-coordinate measuring machine on the establishment of the coordinate system to the augmented reality device sharing in some way.
The positioning system and the method of the vehicle digital clamp, which are adopted by the invention, cover the mutual communication of the target ball placing rule and the coordinate systems of different measuring machines through an innovative calibration method, improve the positioning precision of the existing augmented reality equipment, enable the existing augmented reality equipment to meet the requirement of the manufacturing precision of a sample vehicle, realize the application of the augmented reality technology in the field of manufacturing special vehicle bodies, and produce better technical effect.
Fig. 2 discloses a flow chart of a positioning method of a vehicle digital clamp according to an embodiment of the invention, and the positioning method of the vehicle digital clamp shown in fig. 2 is characterized by comprising the following steps:
s1, obtaining modeling data of the vehicle;
s2, selecting a plurality of positioning surfaces of the vehicle, and arranging a plurality of positioning targets on the positioning surfaces, wherein the positioning targets comprise target seats and augmented reality target balls;
s3, calibrating a coordinate system of the positioning target in a mode of combining a three-coordinate measuring machine and a transition target ball;
s4, selecting projection characteristics from the modeling data;
and S5, projecting the projection feature location to the corresponding position of the vehicle.
The positioning method of the vehicle digital clamp disclosed by the invention as shown in fig. 2 mainly has the following innovation points:
1) the positioning precision of the augmented reality equipment is improved through an innovative calibration mode combining the augmented reality equipment and a traditional three-coordinate measuring machine, more flexibility is brought to the equipment in the process of establishing a coordinate system in a positioning mode, and an application scene is expanded;
2) a target holder with a novel structure is introduced, so that the target holder can meet the fixation requirements on the surfaces of different materials;
3) the application field limitation of the traditional augmented reality technology is broken through, the application change of the augmented reality technology for the automobile industry and the manufacturing industry is realized, and the problem that the cost is high and the positioning period is long in the positioning of the traditional positioning clamp and a three-coordinate measuring mode is solved.
Each step is described in detail below.
And S1, obtaining modeling data of the vehicle.
And acquiring CAD digital-analog data of the vehicle by adopting a photographic positioning device.
In this embodiment, two image sensors with 500 ten thousand pixels are used as the augmented reality device selected for the shooting positioning device.
The pixel index can meet the theoretical positioning accuracy of 0.1mm/m at the highest level, and meanwhile, the pixel index has reasonable cost.
Preferably, the CAD digital-to-analog data is in an igs format consistent with the automobile body and the part to be positioned.
The igs format is a file format prescribed by the american committee for information management, and is mainly used for file conversion of different three-dimensional software systems.
S2, selecting a plurality of positioning surfaces of the vehicle, and arranging a plurality of positioning targets on the positioning surfaces, wherein each positioning target comprises a target seat and an augmented reality target ball.
Optionally, the positioning target is selected from a plane coding plate and spherical targets with different specifications.
In this embodiment, according to the measurement demand, the fixed target of target position has been selected for use to the location target, has selected for use 1.5 inches's augmented reality target ball, and the target stand of the different reference holes of corresponding adaptation realizes the fixed of target position.
Nowadays, the manufacturing materials of automobiles have been shifted from the conventional steel materials to diversified directions. High-end emerging materials such as alloy materials, composite fibers, and the like are increasingly used in the automotive field. In the future, it will be imperative that more and more new materials be used in the automotive field.
The traditional target seat is fixed on the surface of a vehicle body in the forms of magnet adsorption and hot glue adhesion.
The fixing mode of magnet adsorption is only suitable for the surface of a steel car body, and the surface of aluminum alloy, engineering plastics, model wood substitute and composite fiber parts cannot be fixed, so that the application range is limited;
the fixing mode of hot glue adhesion is easy to fall off, and after the target holder is positioned and taken down, offset printing is difficult to remove, damages can be brought to the surface of an outer covering part and a part of a vehicle body, the surface quality of the vehicle body is affected, and the application range is limited.
In view of the continuous update and progress in materials, automobile materials are also being developed toward light weight and diversification. In order to expand the application range of the positioning method of the augmented reality digital clamp, the invention provides a novel target seat structure which can be fixed on the surface of any round or waist hole and is not limited by automobile materials.
Fig. 3 discloses a cross-sectional view of a backing plate structure according to an embodiment of the invention, such as the backing plate shown in fig. 3, comprising a backing plate body 101, an adapter cone 102, a spacing spring 103 and a coil spring 104.
For non-steel material surfaces, a backing plate as shown in fig. 3 may be used.
The middle of the target holder body 101 is provided with a screw hole, and the right curved surface is used for placing a target ball;
the middle of the adapting cone body 102 is provided with a screw hole, and the left side of the adapting cone body is a tapered tip which is used for adapting to part positioning holes with different diameters;
the limiting spring 103 is connected with the adaptive cone 102 and the target holder body 101 and used for clamping the adaptive cone 102 and the spiral spring 104;
the coil spring 104, connecting the adapted cone 102 and the backing plate body 101, is used for ejecting the adapted cone 102 outwards relative to the backing plate body 101.
The target holder structure in this embodiment can utilize bolt fastening power to replace magnet suction, realizes location and fixed on target holder body 101 and part surface, can adapt to the locating hole in different apertures.
The fixed mounting mode of the target holder is as follows:
the conical tip of the adaptive cone 102 is inserted into the part positioning hole, so that the left end face of the target holder body 101 is tightly attached to the surface of the part;
inserting a screw from the central hole of the backing plate body 101, passing through the coil spring 104 and the reserved central hole of the adapting cone 102;
the bolts are screwed down from the reverse side of the part through nuts, and the target holder body 101 and the part positioning holes are fixed.
When the adaptive cone 102 is correctly matched and pressed with the part positioning hole, the target holder is fixed on the surface of the part by the tightening force of the screw and the nut.
In the target holder structure in this embodiment, the center of the positioning hole of the fixed part can be ensured after being pressed by the conical tip of the adaptive cone 102 and the elastic force of the spiral spring 104, so that the axis of the target holder, the central line of the target ball and the central axis of the central hole coincide with each other. The central hole is a screw hole in the middle of the target seat body or the adaptive cone.
The right side curved surface of target seat body 101 for laminating augmented reality target ball and transition target ball. The augmented reality target ball and the transition target ball have a diameter of 1.5 inches.
Optionally, the distance between the virtual sphere center position of the target holder body 101 and the right curved surface and the left end surface is 360 mm. The value is continued from the original magnet target seat design value so as to improve the compatibility of the invention.
The fastener in this embodiment includes a screw and a nut. In other embodiments, the fasteners may be bolts, studs, washers, pins, and the like.
In order to solve the problem of positioning accuracy of the augmented reality technology, the arrangement mode of the positioning targets has requirements, the distribution area at least covers the positioning area, and positioning errors caused by too small positioning area or unreasonable positioning mode are avoided.
Fig. 4 shows a schematic view of the arrangement of the backing plate structure according to an embodiment of the invention, in the embodiment shown in fig. 4, the backing plate 201, the backing plate 202 and the backing plate 203 are arranged on the main positioning surface, the backing plate 204 and the backing plate 205 are arranged on the second surface, the backing plate 206 is arranged on the third surface, and the ball is arranged in the manner shown in fig. 4, which provides the best positioning effect.
As shown in fig. 4, the positioning targets are placed and fixed according to the following placement rules, the number of the positioning targets being at least six, the placement rules including the following steps and rules.
And S21, placing at least three positioning targets on the main positioning surface.
And determining a plane or a curved surface needing to be welded or cut as a main positioning surface.
At least three target seats are arranged on the main positioning surface, and each target seat is used for placing a target ball.
In a preferred embodiment, the number of backing plates is 3, arranged in a triangular shape.
Fig. 5 shows a schematic diagram of the mis-positioning of the target holder on the primary positioning surface according to an embodiment of the present invention, wherein the target holder 211, the target holder 212, and the target holder 213 are disposed on the primary positioning surface in a substantially straight line in the mis-positioning manner of the target holder on the primary positioning surface shown in fig. 5, which is not favorable for controlling the rotation direction of the surface.
And S22, placing at least two positioning targets on the second surface, wherein the second surface and the main positioning surface form a certain included angle.
Two target balls are placed on the second surface, and a certain included angle is formed between the second surface and the main positioning surface. Further, the included angle is 90 °.
The connecting direction of the two target balls and the normal direction of the main positioning surface form a larger included angle.
Fig. 6 shows a schematic view of the misplacement of the backing plate on the second side according to an embodiment of the present invention, wherein the misplacement of the backing plate on the second side as shown in fig. 6 is such that the angle between the line connecting the backing plate 224 and the backing plate 225 and the normal direction of the main positioning surface is too small.
S23, placing at least one target seat on a third surface, wherein the normal direction of the third surface is parallel to the main plane,
The normal planes of the second planes intersect.
The selection mode of the third surface is to select a positioning surface whose normal direction can be crossed with the normal surface of the main positioning surface and the normal surface of the second surface.
Fig. 7 respectively shows schematic diagrams of the target holder being incorrectly arranged on the third surface according to an embodiment of the present invention, and the normal direction of the third surface on which the target holder 236 is located cannot intersect with the positioning surface on which the normals of the two surfaces determined before are located in the incorrect arrangement manner of the target holder on the third surface shown in fig. 7.
In this embodiment, the main positioning surface should be a plane where the positioning welding or cutting work is located, and the selection of the second surface or the third surface can be flexibly selected on the premise of meeting the above placement requirements according to the digital model and the actual positioning scene.
The positioning target placement rule provided by the invention can be used for more fully limiting the degree of freedom between the part and the three-coordinate measuring machine by means of the target ball, and the precision loss caused by the error of the traditional three-coordinate measuring machine and the augmented reality equipment double-shooting positioning system in the coordinate system conversion process is reduced as much as possible in the positioning process.
And S3, calibrating a coordinate system of the positioning target by combining a three-coordinate measuring machine and a transition target ball.
Fig. 8 discloses a flowchart of a coordinate system calibration method according to an embodiment of the present invention, and as shown in fig. 8, by using three coordinate values of the measured circle center position of the transitional target ball as an intermediate transformation medium, the vehicle body coordinate system established by the three-coordinate measuring machine can be transformed to the augmented reality target ball, thereby overcoming the defects that the traditional augmented reality technology can only rely on a reference hole for establishing the coordinate system, the method is single, and the precision is unstable.
The method comprises the following specific implementation steps of calibrating a coordinate system by a positioning target:
s31, establishing a coordinate system of the whole vehicle by a three-coordinate measuring machine;
s32, placing a transition target ball on a target seat of the positioning target, and measuring coordinate information of the center of the transition target ball by using a three-coordinate measuring machine;
s33, importing the coordinate information of the transition target ball center measured by the three-coordinate measuring machine into an augmented reality processing device;
s34, taking down the transitional target ball and placing the augmented reality target ball on the target seat;
and S35, corresponding the coordinate information of the center of the transitional target ball to the position of the augmented reality target ball, and realizing the conversion from the whole vehicle coordinate system of the three-coordinate measuring machine to the augmented reality positioning coordinate system.
Among the above 5 steps, S32 to S34 are key steps in the transformation of the coordinate system of the coordinate measuring machine to the coordinate system of the augmented reality device.
And S31, establishing a coordinate system of the whole vehicle by the three-coordinate measuring machine according to the actual positioning condition.
A coordinate system is established by the three-coordinate measuring machine, so that the three-coordinate measuring machine can obtain the placing position of the part.
The traditional measuring machine has more ways of establishing a coordinate system and is suitable for different parts and positioning scenes. In step S31 of this embodiment, the actual positioning condition refers to a building method of selecting an optimal vehicle coordinate system by comprehensively considering factors such as the type, size, and measurement requirements of the actual part.
The augmented reality technology and the positioning main body of the three-coordinate measuring machine are different, and the key is to find a proper intermediate conversion medium for realizing the intercommunication of the two coordinate systems.
The positioning reference of the augmented reality technology is the sphere center position of the augmented reality target ball, and the theoretical coordinate of the sphere center position of the augmented reality target ball is only needed to be known, so that the contact can be established with the coordinate system of the three-coordinate measuring machine of the target ball, and the establishment of the coordinate system of the augmented reality technology is completed.
And S32, placing the transition target ball on the target seat, and measuring the coordinate information of the center of the transition target ball by using a three-coordinate measuring machine.
In order to enable the measuring head of the coordinate measuring machine to measure the position of the central point of the augmented reality target ball in the augmented reality technology, in step S32 of this embodiment, a transition target ball is provided for the measuring head of the coordinate measuring machine to measure the position of the center of the target ball, and is used as an intermediate transformation medium for coordinate system migration.
The transitional target ball is placed first, the position coordinates of the sphere center of the transitional target ball are measured by a three-coordinate measuring machine, and then the augmented reality target ball of 1.5 inches is placed.
The transition target ball provided by the invention is spherical or hemispherical, and an opening reaching the center of a circle is formed in one side of the transition target ball.
Fig. 9 illustrates a cross-sectional view of a transition target ball structure according to an embodiment of the present invention, such as the transition target ball shown in fig. 9, having a hemispherical shape with a 90 ° opening width and a 1.5 inch diameter.
By means of the target ball structure shown in fig. 9, the position of the center of the transition target ball can be measured from the opening by a conventional ruby measuring head with the diameter of 3 mm.
And S33, importing the coordinate information of the transition target ball center measured by the three-coordinate measuring machine into the augmented reality data processing device.
After the coordinate information of the transitional target ball is recorded, the corresponding target holder is provided with the position information of the coordinate system of the three-coordinate measuring machine, so that the coordinate system information for positioning is given to the augmented reality equipment.
The coordinate information needs to be imported into the driver software of the augmented reality data processing apparatus by writing a CSV data file.
Optionally, the driver software includes design software and measurement analysis software. The design software includes the Pidex and VRED software. The measurement and analysis software comprises GOM appearance software.
Furthermore, the CSV data file is used for distinguishing and embodying three-coordinate information and target ball label codes in a document table mode.
And S34, taking down the placed transitional target ball and placing the augmented reality target ball on the target seat.
And S35, corresponding the coordinate information of the center of the transitional target ball to the position of the augmented reality target ball, and realizing the conversion from the whole vehicle coordinate system of the three-coordinate measuring machine to the augmented reality positioning coordinate system.
And after the data in the software is imported, replacing the transitional target ball and the target ball adopted by the augmented reality technology.
The invention abandons the concept of improving the performance of the equipment only from the aspect of the hardware of the equipment in the past, integrates the three-coordinate measuring machine and the augmented reality technology, uses the transition target ball as an intermediate medium, realizes the coordinate system intercommunication between the traditional measuring machine and the new augmented reality technology, and solves the defect of poor positioning precision of the augmented reality equipment with the prior display application.
And S4, selecting projection characteristics from the modeling data.
And selecting projection characteristics, namely selecting point and line characteristics existing in the CAD digifax of the position to be displayed through projection in the augmented reality data processing device.
And S5, projecting the projection feature location to the corresponding position of the vehicle.
By adopting the prior art, the selected projection characteristics are displayed on the part or the body entity to complete the positioning work.
By means of the technical advantages of visual display of the augmented reality technology, the positioning features on the CAD digital-to-analog data are projected to the coordinate system of the whole vehicle.
Through the projection of the positioning feature and the cutting line feature, the corresponding position of the positioning feature on the vehicle body is visually shown, so that field technical workers are guided to complete positioning, and the defect that the traditional three-coordinate measuring and positioning work time is long is fundamentally overcome.
In this embodiment, a 2 m-level laser projection device is selected for the projection display device.
Firstly, the light intensity of 2 m-grade laser is low, the safety is high, vision damage can not be caused by direct vision for a short time, and the requirements of field construction are convenient; secondly, the problem of projection focal length can not worry in the form of adopting laser projection, and the irradiation range is wider than that of a common image projector, so that the whole vehicle is convenient to position.
The following further illustrates the practical effects of the positioning method of the vehicle digital clamp, taking a special vehicle body of a certain vehicle type as an example.
The positioning precision improvement brought by the positioning method of the vehicle digital clamp provided by the invention is quite remarkable. In the process of welding and positioning the pins at the head of a special vehicle body project of a certain project, the positions of the pins which are positioned before and after the method are retested and compared, and the positioning process, the measurement report and related analysis data are as follows.
The position of the pin is projected to the surface of the vehicle body through the augmented reality device, so that the on-site pin welding work is guided.
In order to verify the effectiveness of the positioning method of the vehicle digital clamp provided by the invention, the positioning precision changes of the front pin and the rear pin of the method are compared, a front-rear comparison detection test is carried out on the positioning positions of 20 pins of the locomotive of a certain vehicle model by using a three-coordinate laser tracker, and the measurement report obtained by the test is shown in table 1:
table 1 shows the deviation comparison before and after all the pins of the locomotive adopt the calibration method, and the tolerance is ± 2.0 mm.
TABLE 1 checking and comparing table for locating accuracy of special vehicle body project vehicle head pin
For the convenience of subsequent statistics, the radial deviation values in the table are all represented in the form of absolute values, and the positive direction and the negative direction are not distinguished.
Statistics shows that the number of the super-differential points on the left side without the method is 11, the reject ratio exceeds 50%, the maximum deviation value is 5.2mm, and the average deviation is 2.1 mm.
By using the method, the number of the out-of-tolerance points is reduced to 2, the qualified rate reaches 90%, the maximum deviation is 2.3mm, the average deviation is 0.9mm, and the method meets the requirement of the positioning precision of the sample car.
In addition, the difference of the positioning stability of the two is calculated by utilizing the standard deviation, the standard deviation value of the deviation without the method is 1.1, the deviation standard deviation value improved by the method is only 0.6, and the stability of the precision is greatly improved.
As can be easily found from the data comparison in Table 1, the vehicle digital clamp positioning method provided by the invention has the advantages that the precision improvement in the vehicle body positioning is quite obvious, the precision grade of +/-2 mm in the vehicle body manufacturing can be met, and the good precision stability is realized.
The work period is remarkably shortened by the aid of the vehicle digital clamp positioning method. The vehicle digital clamp positioning method provided by the invention applies the augmented reality technology to the positioning work of special vehicle body modification in the research and development stage, achieves the purposes of shortening the positioning period and reducing the manufacturing cost of the special vehicle body in the research and development trial production stage by simplifying the traditional work flow and replacing the physical positioning clamp, and obtains remarkable application results.
The method uses the digital fixture positioning method of the augmented reality technology to perform special vehicle body modification positioning, has simple and efficient working process, and is converted into the labor-hour saving.
Compared with the clamp method adopting physical positioning, the clamp manufacturing time can be averagely saved by about 8 working weeks for each project. Compared with three-coordinate measuring machine positioning, the method can save more than 50% of measuring time for each project on average.
By taking the special sample car body modification work of a certain project as an example, the digital clamp positioning method for the car provided by the invention is adopted, the working period of measurement positioning is shortened from 40 working days predicted by adopting a traditional working method to 10 actual working days, and the effect is obvious.
Moreover, this project provides a substantial fixture investment savings in total, since there is no longer a need to purchase conventional physical fixtures for positioning.
Through statistics, in the special vehicle body positioning work of nearly 20 projects using the method, the measurement time can be saved by over 80% for each project on average, and the positioning precision of each project can meet the requirements of sample vehicle experiments.
The working method of the digital clamp plays a very positive role in improving the working efficiency of production of special sample cars and reducing the manufacturing cost of car bodies, and is a great derivative for the traditional application range of the augmented reality technology.
The visual positioning information display is a great innovation going deep into the basic working thought for the traditional working method and is also an important ring in the 4.0 comprehensive digitalization process of the advancing industry.
In the future, on the basis of special vehicle body positioning, the application range of the working method using the digital clamp positioning is bound to be applied to more projects and even more fields.
The vehicle digital clamp positioning method provided by the invention replaces the positioning clamp investment and the traditional three-coordinate measurement in the conventional special vehicle body manufacturing process, and by means of the innovative coordinate system precision calibration and the target seat structure, the deviation condition of each vehicle body part is fed back more quickly and more intuitively, corresponding adjustment guidance is given, the manufacturing cost is reduced, the manufacturing period is shortened, and the application of the augmented reality technology in the special vehicle body refitting and positioning in the research and development trial-manufacturing stage is realized.
The positioning method of the vehicle digital clamp provided by the invention has the following beneficial effects:
1) the digital reusable automobile body has the effect of reducing the manufacturing cost of the automobile body;
2) by means of the advantage of strong intuition, the measuring time investment of sample car manufacturing is greatly reduced, and the manufacturing period is shortened.
While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one skilled in the art.
As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.
The embodiments described above are provided to enable persons skilled in the art to make or use the invention and that modifications or variations can be made to the embodiments described above by persons skilled in the art without departing from the inventive concept of the present invention, so that the scope of protection of the present invention is not limited by the embodiments described above but should be accorded the widest scope consistent with the innovative features set forth in the claims.
Claims (11)
1. A positioning method of a vehicle digital clamp is characterized by comprising the following steps:
s1, obtaining modeling data of the vehicle;
s2, selecting a plurality of positioning surfaces of the vehicle, and arranging a plurality of positioning targets on the positioning surfaces, wherein the positioning targets comprise target seats and augmented reality target balls;
s3, calibrating a coordinate system of the positioning target in a mode of combining a three-coordinate measuring machine and a transition target ball;
s4, selecting projection characteristics from the modeling data;
and S5, projecting the projection feature location to the corresponding position of the vehicle.
2. The method of claim 1, wherein the target holder of step S2 includes a target holder body, an adaptive cone, a limiting spring and a coil spring:
the middle of the target holder body is provided with a central hole, and the curved surface at one side is used for placing a target ball in an attaching manner;
the middle of the adaptive cone is provided with a central hole, and one side of the adaptive cone is a conical tip used for adapting to part positioning holes with different diameters;
the limiting spring is connected with the adaptive cone and the target holder body and used for clamping the adaptive cone and the target holder body;
the spiral spring is connected with the adaptive cone and the target holder body and is used for ejecting the adaptive cone outwards relative to the target holder body;
the conical tip of the adaptive cone is inserted into the part positioning hole, one side end face of the target holder body is tightly attached to the surface of the part, the fastener is inserted from the central hole of the target holder body and penetrates through the reserved central hole of the adaptive cone to fasten the reverse side of the part, and fixation between the target holder body and the part positioning hole is achieved.
3. The method as claimed in claim 2, wherein the fastening member comprises a screw and a nut, and after the adaptive cone is matched and pressed against the positioning hole of the part, the screw passes through the central hole of the target holder body and the adaptive cone, and the screw is tightened from the back side of the part by the nut to fix the target holder on the surface of the part in step S2.
4. The method of claim 2, wherein the distance between the virtual spherical center of the curved surface of one side and the end surface of the other side of the target seat body of step S2 is 360 mm.
5. The method as claimed in claim 2, wherein the target holder of step S2 is pressed by the conical tip of the cone and the elastic force of the coil spring to be fixed at the center of the positioning hole of the part, so that the axis of the target holder, the center line of the target ball and the axis of the center hole coincide with each other.
6. The method of claim 1, wherein in step S2, the positioning targets are placed and fixed according to the following placement rules, the number of the positioning targets is at least six, and the placement rules include the following steps:
s21, placing at least three positioning targets on the main positioning surface;
s22, placing at least two positioning targets on a second surface, wherein the second surface and a main positioning surface form a certain included angle;
and S23, placing at least one target seat on a third surface, wherein the normal direction of the third surface is intersected with the normal plane of the main plane and the normal plane of the second surface.
7. The method for positioning a vehicle digitizing fixture according to claim 6, characterized in that in step S2:
the main positioning surface is a plane where positioning welding or cutting work is located;
three positioning targets are arranged on the main positioning surface in a triangular mode;
two positioning targets arranged on the second surface form a certain included angle with the normal direction of the main positioning surface.
8. The method for positioning a vehicle digitizing fixture according to claim 1, wherein the step S3 further comprises the steps of:
s31, establishing a coordinate system of the whole vehicle by a three-coordinate measuring machine;
s32, placing a transition target ball on a target seat of the positioning target, and measuring coordinate information of the center of the transition target ball by using a three-coordinate measuring machine;
s33, importing the coordinate information of the transition target ball center measured by the three-coordinate measuring machine into an augmented reality data processing device;
s34, taking down the transitional target ball and placing the augmented reality target ball on the target seat;
and S35, corresponding the coordinate information of the center of the transitional target ball to the position of the augmented reality target ball, and realizing the conversion from the whole vehicle coordinate system of the three-coordinate measuring machine to the augmented reality positioning coordinate system.
9. The positioning method of the vehicle digitizing fixture of claim 8, characterized in that:
the transition target ball in the step S3 is spherical, and one side of the transition target ball is provided with an opening which is directly reached to the center of the circle;
and the measuring head of the three-coordinate measuring machine is used for deeply measuring the circle center position of the transition target ball from the opening of the transition target ball.
10. The method as claimed in claim 1, wherein in step S1, the modeling data of the vehicle is obtained by using a dual-camera positioning device.
11. The positioning method of the vehicle digitizing fixture of claim 10, characterized in that:
in the step S5, a projection display device is adopted to project the projection features to the corresponding positions of the vehicle in a positioning manner, wherein the projection display device is a 2 m-grade laser projection device;
in step S1, the image sensor pixels of the two-camera shooting positioning device are 500 ten thousand pixels.
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Application publication date: 20210122 |