Visual positioning method

Abstract

The invention relates to the technical field of automobile manufacturing, in particular to a visual positioning method. The visual positioning method comprises the specific steps that a, a positioningimage of a positioning structure on a current vehicle body is collected; b, equipment is controlled to calculate and obtain a pose of the current vehicle body based on the positioning image; c, the equipment is controlled to calculate and obtain pose offset of the pose of the current vehicle body relative to a pose of a template vehicle body; and d, the equipment is controlled to send the pose offset to a robot to enable the robot to adjust a pose and a current working path of the robot. According to the visual positioning method, a software method is used for controlling the robot to adjustthe pose and the working path, the robot is adapted to the pose of the current vehicle body, and when vehicle bodies of different vehicle models are processed, only related software parameters in thevisual positioning method need to be adjusted correspondingly; and a cycle use ratio in the production process can be improved, the energy consumption is reduced, the mechanical wear problem in an existing technology does not exist, the positioning precision of the robot is high, and the positioning result is reliable.

Description

technical field [0001] The invention relates to the technical field of automobile manufacturing, in particular to a visual positioning method. Background technique [0002] At present, in the automobile manufacturing process, the manufacture of the body is mainly completed by robots installed on the automobile production line. After the rolling bed of the automobile production line transports the current body to the station, the robot, under the control of the built-in program, performs corresponding operations according to the preset work path in the program, such as body assembly, welding, gluing, laser welding, etc. Obviously, under the premise of not changing the built-in program of the robot, it is necessary to ensure that the rolling bed transports the current body to the same position with the same body posture every time, so as to ensure the normal operation of the robot. This process is called localization of the current body. [0003] In the prior art, the positi...

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Problems solved by technology

[0003] In the prior art, the positioning of the vehicle body is mainly realized by mechanical structures, such as the positioning method of high-speed lifting roller bed, sled and positioning fixture, or the positioning method of high-speed horizontal roller bed plus accompanying fixture, but these use mechanical Structural solutions generally have flexibility limitations (the same production line can only be compatible with the production of several models), waste of production tact (the positioning process involves lifting and lowering of the mechanical structure, which will consume time), high energy consumption (the positioning process Involving the lifting and lowering of the mechanical structure, which will consume some electric energy) and the inaccurate positioning caused by the mutual wear of the mechanical structure in the contact process with the vehicle body, etc.

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