CN116576787A - Gap surface difference measurement method and measurement device based on mechanical arm cooperation - Google Patents
Gap surface difference measurement method and measurement device based on mechanical arm cooperation Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
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- G—PHYSICS
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
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Abstract
The application relates to the technical field of automobile assembly gap surface difference measurement, solves the technical problems of insufficient accuracy and lower automation measurement degree of the surface difference measurement in the prior art, and particularly relates to a gap surface difference measurement method based on mechanical arm cooperation, which comprises the following steps: s1, identifying VIN codes on a vehicle body through a code scanning camera, and determining the type of the vehicle and the characteristics of the current vehicle body according to the VIN codes; s2, the mechanical arm reads and selects a preset measuring path according to the model and the body characteristics of the automobile; s3, judging whether the vehicle body reaches a preset position or not through signal combination of the photoelectric sensors. The application achieves the purpose of improving the surface difference detection efficiency, the surface difference measurement precision and the detection rate of the automobile assembly production line, and has the advantages of high precision, automation, informatization and high efficiency.
Description
Technical Field
The application relates to the technical field of gap surface difference measurement in automobile assembly, in particular to a gap surface difference measurement method and device based on mechanical arm cooperation.
Background
With the rapid development of the automobile industry, both the host factories and the market place higher demands on the body assembly of automobiles. Higher-level automobiles correspond to better assembly effects, so that a host factory has higher and higher requirements on the accuracy and efficiency of gap surface difference measurement, and meanwhile, the requirements on the appearance quality and the aesthetic property of the automobiles are higher and higher. In view of this requirement, the existing technique of measuring gap surface differences has not been satisfied.
In the prior art, the clearance surface difference is manually measured by using mechanical measuring tools such as a feeler gauge, and the measuring method has low efficiency and cannot be processed in real time, meanwhile, the risk of scratching the surface of an automobile exists, and in addition, the clearance surface difference can be detected by using computer vision, an inductive detection tool and a laser detection tool. The computer vision detection method utilizes a discrete point matching method to reconstruct the slit line in three dimensions, the error of the detection result is larger, and the inductive detection tool and the laser detection tool are difficult to get rid of the defect of low efficiency by means of a manually held tool although the measurement precision can be ensured. Therefore, in order to meet such a demand, there is an urgent need for a gap surface difference measurement method that can be performed with high accuracy and high efficiency.
Disclosure of Invention
Aiming at the defects of the prior art, the application provides a gap surface difference measuring method and device based on the cooperation of a mechanical arm, which solve the technical problems of insufficient surface difference precision and lower automation measuring degree in the prior art and achieve the purpose of improving the surface difference detection efficiency, the surface difference measuring precision and the detection rate of an automobile assembly production line.
In order to solve the technical problems, the application provides a clearance surface difference measuring method based on the cooperation of mechanical arms, which comprises the following steps:
s1, identifying VIN codes on a vehicle body through a code scanning camera, and determining the type of the vehicle and the characteristics of the current vehicle body according to the VIN codes;
s2, the mechanical arm reads and selects a preset measuring path according to the model and the body characteristics of the automobile;
s3, judging whether the vehicle body reaches a preset position or not through signal combination of the photoelectric sensors;
s4, acquiring a vehicle body point cloud image under a camera view angle through a visual recognition camera, registering with a vehicle body model point cloud to confirm a vehicle body posture, and correcting a preset measurement path according to the vehicle body posture;
s5, the mechanical arm moves on the corrected preset measuring path, and meanwhile, the line scanner measures and calculates the gap of the vehicle body on the preset measuring path to obtain a gap surface difference result;
and S6, displaying and storing gap surface difference results of different positions of the vehicle body by the display.
Further, in step S1, the specific process includes the following steps:
s11, adjusting the visual angle of a code scanning camera to photograph VIN codes at the installation position of a front windshield of a vehicle body to obtain clear VIN code images;
s12, identifying the first ten VIN digits in the VIN code image by adopting a k nearest neighbor value algorithm;
and S13, comparing the identified front ten VIN codes with the pre-stored front ten VIN codes to determine the automobile model and the characteristics of the current automobile body.
Further, in step S2, the specific process includes the following steps:
s21, determining key points of surface difference measurement according to the model and the body characteristics of the automobile, wherein the key points comprise points on gaps between an engine box cover and a fender, between the fender and a front door, between the front door and a rear door, between the rear door and a frame and between the frame and a trunk cover;
s22, carrying out path planning on the determined key points by adopting a visual method, wherein the starting point of the path planning is set at the key points of a case cover and a fender of a vehicle body, and sequentially passes through the key points on the fender and a front door, a front door and a rear door, a rear door and a frame, and a frame and a trunk cover in a clockwise or anticlockwise direction.
Further, in step S3, the specific process includes the following steps:
s31, arranging six photoelectric sensors in a group, wherein each group of two photoelectric sensors are symmetrically arranged on a measuring station to obtain eight different signal combinations of [0, 0] - [1, 1], and each signal combination corresponds to a vehicle body to reach a preset position;
s32, judging whether the vehicle body of the current model reaches a preset position or not according to the signal combination;
if the signal combination corresponding to the vehicle body of the current model is lightened, the vehicle body of the current model reaches a preset position;
if the signal combination corresponding to the vehicle body of the current model is not lightened, the vehicle body of the current model does not reach the preset position.
Further, in step S4, the specific process includes the following steps:
s41, overlapping the vehicle body model point cloud and the tested vehicle body point cloud to enable the vehicle body model point cloud to reach the current position and posture of the tested vehicle body to obtain a translation vector t c And a rotation matrix R c ；
S42, translating the vector t c And a rotation matrix R c As a rotation matrix and translation vector in a visual recognition camera coordinate system;
s43, registering the current vehicle body point cloud and the vehicle body model point cloud by using an ICP algorithm;
s44, using rotation matrix R w And translation vector t w And correcting the rotation and translation of the measuring path selected by the mechanical arm.
Further, in step S5, the specific process includes the steps of:
s51, obtaining laser stripes of a gap surface difference measurement key point area through a line scanner;
s52, setting the characteristic points at the tail ends of the curves at the two sides of the laser stripe as characteristic points A (x A ,y A ) And feature point B (x B ,y B )；
S53, calculate feature point A (x A ,y A ) And feature point B (x B ,y B ) The distance between the two is the gap L;
s54, obtaining a fitting straight line taking one side of the relative characteristic point A and the characteristic point B as a reference plane by adopting a least square method;
s55, obtaining through an inflection point extraction methodFeature point C (x) C ,y C ) And calculates the feature point C (x C ,y C ) The distance to the fitting straight line is the face difference d.
Further, in step S53, the calculation formula of the gap L is:
in the above, x A ,y A And x B ,y B The coordinates of the feature point a and the feature point B are indicated, respectively.
Further, in step S54, the expression of the fitted straight line is:
ax+by+c＝0
in the above equation, ax, by and c are constants, which represent the fit straight line equation.
Further, in step S55, the calculation formula of the face difference d is:
in the above, x C ,y C The coordinates of the feature point C are constants of a fitting straight line.
The technical scheme also provides a gap surface difference measuring device based on the cooperation of the mechanical arms, which comprises a vehicle body serving as a gap surface difference to be measured and a measuring station serving as a gap surface difference measuring station, wherein six photoelectric sensors which are two in one group and are symmetrically arranged in each group are arranged on the measuring station, a plurality of mechanical arms distributed on two sides of the measuring station are arranged on the measuring station, and a line scanner for measuring the gap surface difference of the position of a key point on the vehicle body is arranged on the free end of the mechanical arm;
one side of the mechanical arm is provided with a code scanning camera for recognizing the front ten positions of VIN codes on the vehicle body and a visual recognition camera for acquiring a vehicle body point cloud image of the vehicle body, and a display and a visual control cabinet are further arranged on the measuring station.
By means of the technical scheme, the application provides a gap surface difference measuring method and device based on mechanical arm cooperation, and the method and device have the following beneficial effects:
the application solves the technical problems of insufficient accuracy and lower automation measurement degree of the surface difference measurement in the prior art, achieves the purpose of improving the surface difference detection efficiency, the surface difference measurement accuracy and the detection rate of the automobile assembly production line, and has the advantages of high accuracy, automation, informatization and high efficiency.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
FIG. 1 is a flow chart of a gap face difference measurement method of the present application;
FIG. 2 is a schematic diagram of gap face difference measurement according to the present application;
fig. 3 is a schematic structural view of a gap surface difference measuring device according to the present application.
In the figure: 1. a vehicle body; 2. a measuring station; 3. a mechanical arm; 201. a photoelectric sensor; 202. a visual recognition camera; 203. a display; 204. a code scanning camera; 205. a line scanner; 206. visual control cabinet.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. Therefore, the realization process of how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented.
Those of ordinary skill in the art will appreciate that all or a portion of the steps in a method of implementing an embodiment described above may be implemented by a program to instruct related hardware, and thus, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Referring to fig. 1-3, a specific implementation manner of the embodiment is shown, the embodiment takes the difference of the gap surface of the automobile assembly shown in fig. 2 as an example, the automobile assembly comprises a plurality of surfaces for the automobile body after the automobile assembly, butt joints exist at the butt joint positions between each surface, whether the size of the butt joints is qualified or not is detected by measuring the difference of the gap surfaces between the surfaces, and compared with the detection of a feeler gauge, computer vision, an inductive detection tool and a laser detection tool in the prior art, the embodiment has the advantages of high precision, automation, informatization and high efficiency, and achieves the purposes of improving the detection efficiency of the surface difference of the automobile assembly production line, the measurement precision of the surface difference and the detection rate.
Referring to fig. 1, the present embodiment provides a gap surface difference measurement method based on the cooperation of mechanical arms, the measurement method includes the following steps:
s1, identifying VIN codes on a vehicle body through a code scanning camera, and determining the type of the vehicle and the characteristics of the current vehicle body according to the VIN codes.
In step S1 proposed in this embodiment, for a clear and complete description of step S1, a specific implementation manner for implementing step S1 is set forth below, and reference is made to the following steps:
s11, adjusting the visual angle of a code scanning camera to photograph VIN codes at the installation position of a front windshield of a vehicle body to obtain clear VIN code images;
s12, identifying the first ten VIN digits in the VIN code image by adopting a k nearest neighbor value algorithm;
and S13, comparing the identified front ten VIN codes with the pre-stored front ten VIN codes to determine the automobile model and the characteristics of the current automobile body.
In step S1 provided in this embodiment, the viewing angle of the code scanning camera 204 is adjusted to a suitable angle, so that when the vehicle body enters the field of view of the code scanning camera 204, the VIN code at the installation position of the front windshield of the vehicle body can be clearly displayed at the central part of the frame of the code scanning camera 204. And then, photographing VIN codes on the vehicle body by using a code scanning camera 204, and identifying the first 10 bits in the VIN codes with 17 bits, wherein the identification of the VIN codes is completed by adopting a k nearest neighbor value algorithm, and comparing the scanned first 10 bits of VIN codes with the pre-stored first 10 bits of VIN codes to obtain the production country, the brand of the vehicle, the type of the vehicle and the model of the vehicle of the current vehicle body, and determining the model of the vehicle and the characteristics of the vehicle of the current vehicle body by the matched VIN codes.
S2, the mechanical arm reads and selects a preset measuring path according to the automobile model and the automobile body characteristics.
In step S2 proposed in this embodiment, for a clear and complete description of step S2, a specific implementation manner for implementing step S2 is set forth below, and please refer to the following steps for details:
s21, determining key points of surface difference measurement according to the model and the body characteristics of the automobile, wherein the key points comprise points on gaps between an engine box cover and a fender, between the fender and a front door, between the front door and a rear door, between the rear door and a frame and between the frame and a trunk cover;
s22, carrying out path planning on the determined key points by adopting a visual method, wherein the starting point of the path planning is set at the key points of a case cover and a fender of a vehicle body, and sequentially passes through the key points on the fender and a front door, a front door and a rear door, a rear door and a frame, and a frame and a trunk cover in a clockwise or anticlockwise direction.
In step S2 provided in this embodiment, the preset measurement path should first determine the key points of the face difference measurement of the model car according to the model car and the car body features, where the key points should be points on the gaps between the box cover and the fender, the fender and the front door, the front door and the rear door, the rear door and the frame, and the frame and the trunk cover, specifically, which point on the gap should be determined and provided by the car body manufacturer, and then use the visual method to perform path planning on the determined key points.
Specifically, the starting point of the path should be set at the key points of the case cover and the fender of the vehicle body, and sequentially pass through the key points on the fender and the front door, the front door and the rear door, the rear door and the frame, and the frame and the trunk cover in a clockwise or counterclockwise direction, in the process of path planning, the vertical distance between the path and the vehicle body should be ensured to be kept within the optimal measurement distance of the line scanner 205, meanwhile, the path planning should make the path as shortest as possible to improve the measurement efficiency, and the multiple interpolation processing is performed on the part needing to turn in the path, so that the path is as smooth as possible, and meanwhile, the paths of the plurality of mechanical arms 3 are ensured not to interfere with each other.
S3, judging whether the vehicle body reaches a preset position or not through signal combination of the photoelectric sensors.
In step S3 proposed in this embodiment, for a clear and complete description of step S3, a specific implementation manner for implementing step S3 is set forth below, and please refer to the following steps for details:
s31, arranging six photoelectric sensors in a group, wherein each group of two photoelectric sensors are symmetrically arranged on a measuring station to obtain eight different signal combinations of [0, 0] - [1, 1], and each signal combination corresponds to a vehicle body to reach a preset position;
s32, judging whether the vehicle body of the current model reaches a preset position or not according to the signal combination;
if the signal combination corresponding to the vehicle body of the current model is lightened, the vehicle body of the current model reaches a preset position;
if the signal combination corresponding to the vehicle body of the current model is not lightened, the vehicle body of the current model does not reach the preset position.
In step S3 provided in this embodiment, the vehicle body needs to reach a preset position to start the related measurement work, and the determination of the vehicle body position is determined by the signal determination groups of the photosensors 201, where the number of photosensors 201 is six and divided into three groups, and two photosensors in each group are symmetrically arranged on the measurement station, so that eight different signal combinations are generated, such as [0, 0] - [1,1 ].
After determining the model of the car through step S1, the signal combinations generated by the photoelectric sensor 201 may be different when each different car body reaches the preset position, then the signal combinations of the current photoelectric sensor 201 are determined through the determined model of the car and the determined signal combinations reaching the preset position, and whether the car body reaches the determined position is determined according to the signal combinations, if the preset signal of the a-type car body is [0, 1], the signal combinations of the currently measured car body are also [0, 1], then the signal combinations of the current car body are determined to be the same, and when the signal combinations of the photoelectric sensor 201 can determine that the car body stops at the current position after reaching the preset position, then the measurement operation is performed.
S4, acquiring a vehicle body point cloud image under a camera view angle through a visual recognition camera, registering with a vehicle body model point cloud to confirm the vehicle body posture, and correcting a preset measurement path according to the vehicle body posture.
In step S4 proposed in this embodiment, for a clear and complete description of step S4, a specific implementation manner for implementing step S4 is set forth below, and please refer to the following steps for details:
s41, overlapping the vehicle body model point cloud and the tested vehicle body point cloud to enable the vehicle body model point cloud to reach the current position and posture of the tested vehicle body to obtain a translation vector t c And a rotation matrix R c The vehicle body model point cloud can be obtained on the basis of determining the model and the characteristics of the vehicle body, and the measured vehicle body point cloud can be obtained from a vehicle body point cloud image obtained by the visual recognition camera.
Specifically, translating and rotating the vehicle body model point cloud to enable the vehicle body model point cloud to coincide with the measured vehicle body point cloud, and obtaining a translation vector t c And a rotation matrix R c And as a result of registration, representing the position and the posture of the vehicle body model point cloud reaching the current measured vehicle body after translation and rotation.
S42, translating the vector t c And a rotation matrix R c As a rotation matrix and translation vector in a visual recognition camera coordinate system;
s43, registering the current vehicle body point cloud and the vehicle body model point cloud by using an ICP algorithm;
specifically, an ICP algorithm is used for converting according to the pose of a visual recognition camera under a geodetic coordinate system, so that a rotation matrix R which can enable the point cloud of the current vehicle body and the point cloud of the vehicle body model to be successfully registered under the geodetic coordinate system is obtained w And translation vector t w 。
S44, using rotation matrix R w And translation vector t w And correcting the rotation and translation of the measuring path selected by the mechanical arm.
In particular, the set of rotation matrices R is used w And translation vector t w And the measurement path selected by the mechanical arm 3 is subjected to rotation and translation completion correction, so that the measurement path after rotation and translation can cover the key gap surface difference measurement points on the vehicle body under the current pose.
S5, the mechanical arm moves on a corrected preset measuring path, and meanwhile, the line scanner measures and calculates the gap of the vehicle body on the preset measuring path to obtain a gap surface difference result, and the mechanical arm 3 moves on the corrected measuring path, wherein in the movement process of the mechanical arm 3, a Kalman filtering algorithm of a mathematical model with uniform motion is used for reducing the shake of the mechanical arm 3, so that the mechanical arm 3 cannot deviate from the corrected preset measuring path.
Referring to fig. 2, in step S5 provided in the present embodiment, for a clear and complete description of step S5, a specific implementation manner for implementing step S5 is provided as follows, and reference is made to the following steps:
s51, obtaining laser stripes of a gap surface difference measurement key point area through a line scanner;
s52, setting the characteristic points at the tail ends of the curves at the two sides of the laser stripe as characteristic points A (x A ,y A ) And feature point B (x B ,y B )；
S53, calculate feature point A (x A ,y A ) And feature point B (x B ,y B ) The distance between the two is the gap L;
specifically, the calculation formula of the gap L is:
in the above, x A ,y A And x B ,y B The coordinates of the feature point a and the feature point B are indicated, respectively.
S54, obtaining a fitting straight line taking one side of the relative characteristic point A and the characteristic point B as a reference plane by adopting a least square method;
specifically, the expression of the fitted straight line is:
ax+by+c＝0
in the above equation, ax, by and c are constants, which represent the fit straight line equation.
S55, obtaining a characteristic point C (x) through an inflection point extraction method C ,y C ) And calculates the feature point C (x C ,y C ) The distance to the fitting straight line is the face difference d.
Specifically, the calculation formula of the face difference d is:
in the above, x C ,y C The coordinates of the feature point C are constants of a fitting straight line.
And S6, displaying and storing gap surface difference results of different positions of the vehicle body by the display.
Specifically, the display 203 of 55 inches is controlled by the vision control cabinet 206 to display the gap surface difference results of different positions of the vehicle body, and at the same time, the gap surface difference results are stored.
The present embodiment also provides an apparatus for a gap surface difference measurement method corresponding to the gap surface difference measurement method provided in the foregoing embodiment, and since the apparatus provided in the present embodiment corresponds to the gap surface difference measurement method provided in the foregoing embodiment, implementation of the foregoing gap surface difference measurement method is also applicable to the gap surface difference measurement apparatus provided in the present embodiment, and will not be described in detail in the present embodiment.
Referring to fig. 3, a schematic structural diagram of a gap surface difference measuring device provided in this embodiment is shown, the measuring device includes a vehicle body 1 as a gap surface difference to be measured, and a measuring station 2 as a measuring gap surface difference station, six photoelectric sensors 201 which are two in one group and two symmetrically arranged in each group are arranged on the measuring station 2, a plurality of mechanical arms 3 distributed on two sides of the measuring station 2 are arranged on the measuring station 2, and a line scanner 205 for measuring the gap surface difference of a key point on the vehicle body is arranged on a free end of the mechanical arm 3.
A code scanning camera 204 for recognizing the front ten positions of the VIN code on the vehicle body 1 and a visual recognition camera 202 for acquiring a vehicle body point cloud image of the vehicle body 1 are arranged on one side of the mechanical arm 3, and a display 203 and a visual control cabinet 206 are also arranged on the measuring station 2.
The foregoing embodiments have been presented in a detail description of the application, and are presented herein with a particular application to the understanding of the principles and embodiments of the application, the foregoing embodiments being merely intended to facilitate an understanding of the method of the application and its core concepts; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Claims (10)
1. The gap surface difference measuring method based on the cooperation of the mechanical arms is characterized by comprising the following steps of:
s1, identifying VIN codes on a vehicle body through a code scanning camera, and determining the type of the vehicle and the characteristics of the current vehicle body according to the VIN codes;
s2, the mechanical arm reads and selects a preset measuring path according to the model and the body characteristics of the automobile;
s3, judging whether the vehicle body reaches a preset position or not through signal combination of the photoelectric sensors;
s4, acquiring a vehicle body point cloud image under a camera view angle through a visual recognition camera, registering with a vehicle body model point cloud to confirm a vehicle body posture, and correcting a preset measurement path according to the vehicle body posture;
s5, the mechanical arm moves on a corrected preset measuring path, and meanwhile, the line scanner measures and calculates the gap of the vehicle body on the preset measuring path to obtain a gap surface difference result;
and S6, displaying and storing gap surface difference results of different positions of the vehicle body by the display.
2. The gap face difference measurement method according to claim 1, characterized in that: in step S1, the specific process includes the following steps:
s11, adjusting the visual angle of a code scanning camera to photograph VIN codes at the installation position of a front windshield of a vehicle body to obtain clear VIN code images;
s12, identifying the first ten VIN digits in the VIN code image by adopting a k nearest neighbor value algorithm;
and S13, comparing the identified front ten VIN codes with the pre-stored front ten VIN codes to determine the automobile model and the characteristics of the current automobile body.
3. The gap face difference measurement method according to claim 1, characterized in that: in step S2, the specific process includes the following steps:
s21, determining key points of surface difference measurement according to the model and the body characteristics of the automobile, wherein the key points comprise points on gaps between an engine box cover and a fender, between the fender and a front door, between the front door and a rear door, between the rear door and a frame and between the frame and a trunk cover;
s22, carrying out path planning on the determined key points by adopting a visual method, wherein the starting point of the path planning is set at the key points of a case cover and a fender of a vehicle body, and sequentially passes through the key points on the fender and a front door, a front door and a rear door, a rear door and a frame, and a frame and a trunk cover in a clockwise or anticlockwise direction.
4. The gap face difference measurement method according to claim 1, characterized in that: in step S3, the specific process includes the following steps:
s31, arranging six photoelectric sensors in a group, wherein each group of two photoelectric sensors are symmetrically arranged on a measuring station to obtain eight different signal combinations of [0, 0] - [1, 1], and each signal combination corresponds to a vehicle body to reach a preset position;
s32, judging whether the vehicle body of the current model reaches a preset position or not according to the signal combination;
if the signal combination corresponding to the vehicle body of the current model is lightened, the vehicle body of the current model reaches a preset position;
if the signal combination corresponding to the vehicle body of the current model is not lightened, the vehicle body of the current model does not reach the preset position.
5. The gap face difference measurement method according to claim 1, characterized in that: in step S4, the specific process includes the following steps:
s41, overlapping the vehicle body model point cloud and the measured vehicle body point cloud to enable the vehicle body model point cloud to reach the current position and posture of the measured vehicle body to obtain a translation vector y c And a rotation matrix R c ；
S42, translating the vector t c And a rotation matrix R c As a rotation matrix and translation vector in a visual recognition camera coordinate system;
s43, registering the current vehicle body point cloud and the vehicle body model point cloud by using an ICP algorithm;
s44, using rotation matrix R w And translation vector t w And correcting the rotation and translation of the measuring path selected by the mechanical arm.
6. The gap face difference measurement method according to claim 1, characterized in that: in step S5, the specific process includes the following steps:
s51, obtaining laser stripes of a gap surface difference measurement key point area through a line scanner;
s52, setting the characteristic points at the tail ends of the curves at the two sides of the laser stripe as characteristic points Ax respectively A ,y A And a feature point Bx B ,y B ；
S53, calculating characteristic points Ax A ,y A And a feature point Bx B ,y B The distance between the two is the gap L;
s54, obtaining a fitting straight line taking one side of the relative characteristic point A and the characteristic point B as a reference plane by adopting a least square method;
s55, obtaining a characteristic point Cx through an inflection point extraction method C ,y C And calculates the feature points Cx C ,y C The distance to the fitting straight line is the face difference d.
7. The gap face difference measurement method according to claim 6, characterized in that: in step S53, the calculation formula of the gap L is:
in the above, x A ,y A And x B ,y B The coordinates of the feature point a and the feature point B are indicated, respectively.
8. The gap face difference measurement method according to claim 1, characterized in that: in step S54, the expression of the fitted straight line is:
ax+by+c＝0
in the above equation, ax, by and c are constants, which represent the fit straight line equation.
9. The gap face difference measurement method according to claim 6, characterized in that: in step S55, the calculation formula of the face difference d is:
in the above, x C ,y C The coordinates of the feature point C are constants of a fitting straight line.
10. The gap surface difference measuring device based on the cooperation of the mechanical arms comprises a vehicle body (1) serving as a gap surface difference to be measured and a measuring station (2) serving as a gap surface difference measuring station, and is characterized in that six photoelectric sensors (201) which are arranged in a group by two and are symmetrically arranged in each group are arranged on the measuring station (2), a plurality of mechanical arms (3) distributed on two sides of the measuring station are arranged on the measuring station (2), and a line scanner (205) for measuring the gap surface difference of a key point on the vehicle body is arranged on the free end of the mechanical arm (3);
one side of the mechanical arm (3) is provided with a code scanning camera (204) for recognizing ten front positions of VIN codes on the vehicle body (1), a visual recognition camera (202) for acquiring a vehicle body point cloud image of the vehicle body (1), and a display (203) and a visual control cabinet (206) are further arranged on the measuring station (2).
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