The invention relates to the technical field of vehicle manufacturing, and discloses a frameless vehicle door glass assembly method, device and equipment and a storage medium, and the method comprises the steps: obtaining images of to-be-mounted frameless vehicle door glass at different standard tool positions; generating a plurality of point cloud pictures according to the acquired image; collecting multiple groups of point cloud data from the generated point cloud image, and performing point cloud registration on the collected multiple groups of point cloud data; and according to the registration result, the installation position and the movement displacement of the frameless vehicle door glass to be installed are determined. According to the method, after the images of the frameless vehicle door glass at different standard tool positions are obtained, the full-automatic installation position and movement displacement of the frameless vehicle door glass are determined through point cloud processing, then full-automatic installation of the frameless vehicle door glass assembly robot is achieved, multiple sets of cooperative tools do not need to be manually adopted in the whole process, the assembly speed can be increased, and the assembly efficiency is improved. And the method is high in precision and suitable for frameless vehicle door glass of various models.

    本申请涉及车辆制造技术领域,公开了一种无框车门玻璃装配方法、装置、设备及存储介质,该方法包括:获取待安装无框车门玻璃在不同标准工装位置处的图像;根据获取的图像,生成多张点云图;从生成的点云图中采集多组点云数据,并对采集的多组点云数据进行点云配准;根据配准结果,确定待安装无框车门玻璃的安装位置及移动位移。上述方法在获取无框车门玻璃在不同标准工装位置处的图像后,通过点云处理确定无框车门玻璃的全自动安装位置及移动位移,进而实现无框车门玻璃装配机器人全自动安装,整个过程无需人工采用多套协作工装,能够提高装配速度,且精度高,适用于各类型号的无框车门玻璃。


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    Title :

    Frameless vehicle door glass assembling method, device and equipment and storage medium


    Additional title:

    一种无框车门玻璃装配方法、装置、设备及存储介质


    Contributors:
    XI YUNFEI (author) / ZHOU GENXIN (author) / CAO WENCHAO (author) / TANG TONGGUO (author)

    Publication date :

    2023-04-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B62D MOTOR VEHICLES , Motorfahrzeuge



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