Automatic bolt tightening control method and device for commercial vehicle production line

Abstract

This application relates to an automatic bolt tightening control method and device for a commercial vehicle production line. The method includes: acquiring vehicle model information corresponding to the chassis frame; determining the bolt area on the chassis frame corresponding to the target bolt based on the vehicle model information; acquiring the moving speed of the chassis frame on the production line through a speed measuring mechanism and sending the moving speed to a truss mechanism to ensure that the truss mechanism moves synchronously with the chassis frame; controlling a vision mechanism on the truss mechanism to visually identify the bolt area based on the bolt area to obtain the bolt position of the target bolt on the chassis frame; and controlling a tightening mechanism on the truss mechanism to tighten the target bolt on the chassis frame based on the bolt position. This method enables fully automated bolt tightening of various vehicle models and bolt positions during automobile assembly, improving the overall assembly efficiency of the vehicle.

Description

Technical Field

[0001] This application relates to the field of automotive assembly technology, and in particular to a method, apparatus, computer equipment, storage medium, and computer program product for automatically tightening bolts on a commercial vehicle production line. Background Technology

[0002] With the development of automotive technology, competition among automakers is becoming increasingly fierce, and people's demands for vehicle performance and personalization are also rising. To meet consumer needs, automakers must continuously update their products and shorten vehicle development cycles while ensuring quality. In modern manufacturing, manual labor accounts for 20% to 70% of the total production workload, with an average percentage of 45%. Moreover, assembly costs account for 20% to 30% of total manufacturing costs, and problems during assembly can increase costs by up to 50%. Therefore, how to reduce the intensity of manual labor and improve assembly efficiency is an urgent problem that companies need to solve.

[0003] Currently, on automotive assembly lines, manual operation is typically used to tighten U-bolts on the rear axle or balance suspension by controlling a 4-axis tightening machine via a handle. While the operation is simple, it often results in long waiting times for accompanying personnel, leading to significant manpower waste. Furthermore, automotive assembly lines often assemble multiple vehicle models simultaneously, requiring manual workers to spend time identifying and locating the bolt positions for different models, which severely impacts assembly efficiency.

[0004] Currently, manual tightening of bolts is required during automobile assembly, resulting in low overall assembly efficiency. Summary of the Invention

[0005] Therefore, it is necessary to provide a method, device, computer equipment, computer-readable storage medium, and computer program product for automatically tightening bolts on a commercial vehicle production line, which can improve the efficiency of automobile assembly, in response to the above-mentioned technical problems.

[0006] Firstly, this application provides a method for automatically tightening bolts on a commercial vehicle production line. The method includes:

[0007] Obtain the vehicle model information corresponding to the chassis frame, and based on the vehicle model information, obtain the bolt area corresponding to the target bolt on the chassis frame;

[0008] The speed of the chassis on the production line is obtained by a speed measuring mechanism and sent to the truss mechanism; the speed is used to instruct the truss mechanism to move synchronously with the chassis.

[0009] Based on the bolt area, the vision mechanism is controlled to perform visual recognition of the bolt area to obtain the bolt position of the target bolt on the chassis frame; the vision mechanism is configured on the truss mechanism and moves with the truss mechanism;

[0010] Based on the bolt position, the tightening mechanism is controlled to tighten the target bolt on the chassis frame; the tightening mechanism is configured on the truss mechanism and moves with the truss mechanism.

[0011] In one embodiment, obtaining vehicle model information corresponding to the chassis frame includes:

[0012] Check if the chassis or frame is present in the tightening station area;

[0013] If any chassis is detected in the tightening station area, the chassis type of the corresponding chassis is identified.

[0014] Query the alternative vehicle models corresponding to the frame type. If alternative vehicle models corresponding to the frame type exist, obtain the corresponding alternative vehicle models as the vehicle model information.

[0015] If no alternative vehicle model information corresponding to the frame type is available, a first alarm message will be generated.

[0016] In one embodiment, the method further includes:

[0017] If no chassis is detected in the tightening station area, the control truss mechanism returns to the initial working position, which is configured in the tightening station area.

[0018] In one embodiment, after controlling the tightening mechanism to tighten the target bolt on the chassis according to the bolt position, the method further includes:

[0019] The control truss mechanism returns to its initial working position;

[0020] Return to the step of checking whether the chassis frame exists in the tightening station area and continue execution.

[0021] In one embodiment, based on the bolt area, the vision mechanism is controlled to perform visual recognition of the bolt area to obtain the bolt position of the target bolt on the vehicle chassis, including:

[0022] The posture of the vision mechanism and the translation and lifting distance of the truss mechanism are adjusted according to the bolt area to control the vision mechanism to align with the bolt area for visual recognition.

[0023] If the vision mechanism successfully identifies the bolt area, the vision recognition result of the vision mechanism is obtained as the bolt position;

[0024] If the vision mechanism fails to visually recognize the bolt area, a second alarm message will be generated.

[0025] In one embodiment, controlling the tightening mechanism to tighten the target bolt on the chassis frame, based on the bolt position, includes:

[0026] Adjust the posture of the tightening mechanism and the translation and lifting distance of the truss mechanism according to the bolt position to control the tightening mechanism to connect with the target bolt;

[0027] Based on the preset qualified torque, the tightening mechanism is controlled to tighten the target bolts on the chassis frame.

[0028] In one embodiment, according to a preset qualified torque, the tightening mechanism is controlled to tighten the target bolts on the chassis frame, including:

[0029] When the tightening mechanism starts to rotate the target bolt, the tightening time of the target bolt is recorded.

[0030] During the process of the tightening mechanism rotating the target bolt, the bolt torque value of the target bolt is continuously monitored;

[0031] If the bolt torque value reaches the preset qualified torque and the tightening time is not greater than the preset time, then control the tightening mechanism to stop rotating the target bolt;

[0032] If the tightening time exceeds the preset time and the bolt torque value does not reach the preset qualified torque, a third alarm message will be generated.

[0033] Secondly, this application also provides an automatic bolt tightening control device for a commercial vehicle production line. The device includes:

[0034] The acquisition module is used to obtain the vehicle model information corresponding to the chassis frame, and based on the vehicle model information, to obtain the bolt area corresponding to the target bolt on the chassis frame;

[0035] The speed measurement module is used to obtain the moving speed of the chassis on the production line through the speed measuring mechanism and send the moving speed to the truss mechanism; the moving speed is used to instruct the truss mechanism to move synchronously with the chassis.

[0036] The positioning module is used to control the vision mechanism to visually identify the bolt area based on the bolt area, and obtain the bolt position of the target bolt on the chassis frame; the vision mechanism is configured on the truss mechanism and moves with the truss mechanism.

[0037] The tightening module is used to control the tightening mechanism to tighten the target bolts on the chassis frame according to the bolt position; the tightening mechanism is configured on the truss mechanism and moves with the truss mechanism.

[0038] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0039] Obtain the vehicle model information corresponding to the chassis frame, and based on the vehicle model information, obtain the bolt area corresponding to the target bolt on the chassis frame;

[0040] The speed of the chassis on the production line is obtained by a speed measuring mechanism and sent to the truss mechanism; the speed is used to instruct the truss mechanism to move synchronously with the chassis.

[0041] Based on the bolt area, the vision mechanism is controlled to perform visual recognition of the bolt area to obtain the bolt position of the target bolt on the chassis frame; the vision mechanism is configured on the truss mechanism and moves with the truss mechanism;

[0042] Based on the bolt position, the tightening mechanism is controlled to tighten the target bolt on the chassis frame; the tightening mechanism is configured on the truss mechanism and moves with the truss mechanism.

[0043] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0044] Obtain the vehicle model information corresponding to the chassis frame, and based on the vehicle model information, obtain the bolt area corresponding to the target bolt on the chassis frame;

[0045] The speed of the chassis on the production line is obtained by a speed measuring mechanism and sent to the truss mechanism; the speed is used to instruct the truss mechanism to move synchronously with the chassis.

[0046] Based on the bolt area, the vision mechanism is controlled to perform visual recognition of the bolt area to obtain the bolt position of the target bolt on the chassis frame; the vision mechanism is configured on the truss mechanism and moves with the truss mechanism;

[0047] Based on the bolt position, the tightening mechanism is controlled to tighten the target bolt on the chassis frame; the tightening mechanism is configured on the truss mechanism and moves with the truss mechanism.

[0048] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0049] Obtain the vehicle model information corresponding to the chassis frame, and based on the vehicle model information, obtain the bolt area corresponding to the target bolt on the chassis frame;

[0050] The speed of the chassis on the production line is obtained by a speed measuring mechanism and sent to the truss mechanism; the speed is used to instruct the truss mechanism to move synchronously with the chassis.

[0051] Based on the bolt area, the vision mechanism is controlled to perform visual recognition of the bolt area to obtain the bolt position of the target bolt on the chassis frame; the vision mechanism is configured on the truss mechanism and moves with the truss mechanism;

[0052] Based on the bolt position, the tightening mechanism is controlled to tighten the target bolt on the chassis frame; the tightening mechanism is configured on the truss mechanism and moves with the truss mechanism.

[0053] The aforementioned automatic bolt tightening control method, device, computer equipment, storage medium, and computer program for commercial vehicle production lines acquire vehicle model information corresponding to the chassis frame. Based on this information, they determine the bolt area corresponding to the target bolt on the chassis frame. A speed measuring mechanism acquires the chassis frame's movement speed on the production line and sends this speed to the truss mechanism, ensuring the truss mechanism moves synchronously with the chassis frame. Based on the bolt area, a vision mechanism on the truss mechanism visually identifies the bolt area to determine the target bolt's position on the chassis frame. Finally, based on the bolt position, a tightening mechanism on the truss mechanism tightens the target bolt on the chassis frame. This fully automated process enables bolt tightening for various vehicle models and bolt positions during automobile assembly, improving overall assembly efficiency. Attached Figure Description

[0054] Figure 1 This is an application environment diagram of an automatic bolt tightening control method for a commercial vehicle production line in one embodiment.

[0055] Figure 2 This is a flowchart illustrating an automatic bolt tightening control method for a commercial vehicle production line in one embodiment.

[0056] Figure 3 This is a schematic diagram of the configuration of four mechanisms in one embodiment;

[0057] Figure 4 This is a schematic diagram of the truss mechanism in one embodiment;

[0058] Figure 5 This is a schematic diagram of the speed measuring mechanism in one embodiment;

[0059] Figure 6 This is a schematic diagram of the tightening mechanism in one embodiment;

[0060] Figure 7 This is a schematic diagram of the internal structure of the tightening mechanism in one embodiment;

[0061] Figure 8 This is a logic flowchart of an automatic bolt tightening control method for a commercial vehicle production line in one embodiment;

[0062] Figure 9This is a structural block diagram of an automatic bolt tightening control device for a commercial vehicle production line in one embodiment.

[0063] Figure 10 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0065] The automatic bolt tightening control method for commercial vehicle production lines provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, computer device 102 communicates with truss mechanism 104, speed measuring mechanism 106, vision mechanism 1042, and tightening mechanism 1044 via wired or wireless communication. Vision mechanism 1042 and tightening mechanism 1044 are configured on truss mechanism 104 and can move with truss mechanism 104. It is understood that this computer device can specifically be a terminal or a server. The terminal can be, but is not limited to, various personal computers, laptops, smartphones, tablets, smart medical devices, etc. The server can be implemented using a standalone server or a server cluster composed of multiple servers.

[0066] In one embodiment, such as Figure 2 As shown, an automatic bolt tightening control method is provided for a commercial vehicle production line, which is applied to... Figure 1 Taking computer device 102 as an example, the following steps are included:

[0067] Step 202: Obtain the vehicle model information corresponding to the chassis frame, and based on the vehicle model information, obtain the bolt area corresponding to the target bolt on the chassis frame.

[0068] The target bolts refer to any type and quantity of bolts that need to be installed and tightened during the assembly process of a commercial vehicle. For example, in a commercial vehicle rear axle assembly task, the target bolts could be the U-bolts on the rear axle. The vehicle information includes information such as the chassis structure, bolt locations, bolt types, bolt quantities, and the preset acceptable torque for each bolt.

[0069] Optionally, the computer equipment identifies the vehicle model of the chassis currently entering the inspection and tightening station area. Based on the vehicle model, it retrieves the corresponding vehicle model information from the data management system. Using this information, it determines the approximate location of the target bolts that need to be tightened on the chassis and then positions a rough area on the chassis as the bolt area. The data management system continuously updates and maintains all vehicle model information in real time to ensure that the corresponding products meet the relevant product standards during production.

[0070] Step 204: The moving speed of the chassis on the production line is obtained through the speed measuring mechanism and the moving speed is sent to the truss mechanism; the moving speed is used to instruct the truss mechanism to move synchronously with the chassis.

[0071] The configuration relationships of the truss mechanism, speed measuring mechanism, vision mechanism, and tightening mechanism are as follows: Figure 3 As shown.

[0072] like Figure 4 As shown, the truss mechanism consists of two symmetrical sets of rigid rails, servo motors, and V-shaped rollers. The two sets of rigid rails operate independently without affecting each other. Each set has four degrees of freedom: X-axis travel, Y-axis translation, Z-axis lifting, and Z-axis rotation. Based on the production line cycle time and environment, the X-axis travel is approximately 4.8m, the Y-axis travel is 0.8m, and the Z-axis travel can reach 1m. The Z-axis adjustment angle is approximately 5 degrees. All moving axes of the truss mechanism are driven by Mitsubishi servo motors with a repeatability accuracy of ±0.03mm. The reducer safety factor is selected according to 2.5. To facilitate manual emergency operation, both the X-axis and Y-axis mechanisms are equipped with pneumatic clutches, allowing manual dragging of the truss by disengaging the clutch. Simultaneously, the use of roller-rigid rails reduces friction, and gears with larger pitch circles are used to ensure that the operating force does not exceed 6kg.

[0073] like Figure 5 As shown, the speed measuring mechanism consists of an electro-controlled permanent magnet, a lifting cylinder, a guide rail, a synchronous belt, and a servo drive motor. The electro-controlled permanent magnet releases the degrees of freedom in all directions except the X-axis through mechanisms such as spherical bearings and spring extension / retraction. The synchronous belt device transmits the displacement to the rotary encoder of the servo motor, thereby realizing speed acquisition.

[0074] Optionally, the speed measuring mechanism continuously monitors the moving speed of the chassis entering the tightening station area on the production line. The computer equipment acquires the moving speed monitored by the speed measuring mechanism and controls the truss mechanism to move along the X-axis direction according to the moving speed.

[0075] Step 206: Based on the bolt area, control the vision mechanism to perform visual recognition of the bolt area to obtain the bolt position of the target bolt on the chassis frame; the vision mechanism is configured on the truss mechanism and moves with the truss mechanism.

[0076] The vision system utilizes 3D cameras, employing a multi-camera stereo system with an embedded point cloud engine. This allows for high positioning accuracy (0.5mm) for small to medium-sized components and stable, reliable 3D target detection for smaller and reflective parts. The resolution reaches 8 MP, with a field of view ranging from 400x600 mm to 1200x1000 mm. Camera selection is limited to 4-eye or binocular 3D vision cameras, requiring 0.5mm precision positioning. These cameras are commonly used in automated scenarios involving the non-continuous grasping of forgings and castings, and in automated assembly of some passenger car tires. Based on the modularity and integration of the cameras, algorithms are optimized and improved for this scenario to enhance the success rate and efficiency of automatic recognition. For example, the algorithm can be optimized to focus on recognizing nuts in a specific direction, scanning the point cloud of the nut's outer contour, and prioritizing the recognition of the point cloud of the nut's non-flange surface. During operation, the vision mechanism, leveraging its long-range, wide-field-of-view precision recognition capabilities, accurately identifies the position coordinates of four target bolts within its field of view under the coarse guidance of the truss system. This information is then fed back to the truss system, enabling precise positioning of the tightening mechanism and completing the bolt tightening operation. The data management system should maintain the X and Y coordinates of the current vehicle model, allowing the camera to acquire initial or coarse coordinates. Based on these coordinates, the camera takes pictures at the corresponding locations to obtain accurate coordinates.

[0077] Optionally, the computer device adjusts the translation distance of the truss mechanism in the Y-axis direction, the lifting distance in the Z-axis direction, and the posture of the vision mechanism according to the bolt area, and controls the vision mechanism to perform visual recognition of the bolt area, and identifies the precise position of each target bolt in the bolt area as the bolt position.

[0078] Step 208: Based on the bolt position, control the tightening mechanism to tighten the target bolt on the chassis frame; the tightening mechanism is configured on the truss mechanism and moves with the truss mechanism.

[0079] Among them, such as Figure 3 As shown, each rigid rail is equipped with a tightening mechanism, such as Figure 6 As shown, each tightening mechanism is equipped with four tightening guns, with a total load capacity of approximately 150kg. Utilizing a three-layer guide rail structure, a servo motor drives a lead screw to automatically adjust the spacing between adjacent tightening guns. Simultaneously, the tightening mechanism as a whole has a fine-tuning function in the Z-axis rotation direction, such as... Figure 7 As shown, the rotational bearing can be completed through the turntable bearing, and the fine adjustment can be achieved through the servo motor and reducer to compensate for the deflection that occurs when the frame is manually placed. The rotation of the tightening gun tool is controlled by the variable pitch motor.

[0080] Optionally, the computer equipment adjusts the translation distance of the truss mechanism in the Y-axis direction, the lifting distance in the Z-axis direction, and the posture of the tightening mechanism according to the bolt position, controls the tightening gun tool on the tightening mechanism to align with the target bolt, and controls the tightening gun tool on the tightening mechanism to tighten the target bolt on the chassis according to the preset qualified torque corresponding to each target bolt.

[0081] In one feasible implementation, the computer equipment acquires the working status of the truss mechanism, speed measuring mechanism, vision mechanism, and tightening mechanism. If the working status of any mechanism is abnormal, the automatic control of the truss mechanism, speed measuring mechanism, vision mechanism, and tightening mechanism is stopped, and the operator is required to manually control them.

[0082] In the aforementioned automatic bolt tightening control method for commercial vehicle production lines, the vehicle model information corresponding to the chassis is obtained. Based on this information, the bolt area corresponding to the target bolt on the chassis is identified. The speed of the chassis movement on the production line is acquired via a speed measuring mechanism and transmitted to the truss mechanism to ensure synchronous movement with the chassis. Based on the bolt area, a vision mechanism on the truss mechanism visually identifies the bolt area to determine the bolt position of the target bolt on the chassis. Finally, based on the bolt position, a tightening mechanism on the truss mechanism tightens the target bolt on the chassis. This fully automated method enables the tightening of bolts for various vehicle models and bolt positions during automotive assembly, improving overall assembly efficiency.

[0083] In one embodiment, obtaining vehicle model information corresponding to the chassis frame includes: detecting whether a chassis frame exists in the tightening station area; if any chassis frame is detected in the tightening station area, identifying the chassis frame type of the corresponding chassis frame; querying alternative vehicle model information corresponding to the chassis frame type; if alternative vehicle model information corresponding to the chassis frame type exists, obtaining the corresponding alternative vehicle model information as the vehicle model information; if no alternative vehicle model information corresponding to the chassis frame type exists, generating a first alarm message. If no chassis frame is detected in the tightening station area, controlling the truss mechanism to return to the initial working position, which is configured in the tightening station area.

[0084] Optionally, when the truss mechanism is not performing a task, it is located in the initial working position in the tightening station area. During the automobile assembly process, the chassis to be processed moves with the production line. The computer equipment continuously monitors whether a chassis is present in the tightening station area. When a chassis enters the tightening station area, the computer equipment detects the chassis and identifies its chassis type. It then queries the vehicle model database in the data management system for alternative vehicle model information corresponding to the chassis type. If alternative vehicle model information is found, it is used as the vehicle model information for the chassis, and the truss mechanism is controlled to start moving with the chassis. If no alternative vehicle model information is found, a first alarm message is generated, indicating to the staff that the vehicle model information corresponding to the current chassis cannot be found. The staff can check the current chassis or the vehicle model database. If there is a problem with the current chassis, it can be removed from the production line. If there is a data gap in the vehicle model database, the database can be updated. After a chassis completes the bolt tightening task, it moves out of the tightening station area along with the production line. When the computer equipment can no longer detect any chassis in the tightening station area, it controls the truss mechanism to return to the initial working position.

[0085] In one feasible implementation, after the tightening mechanism tightens the target bolt on the chassis according to the bolt position, the truss mechanism is controlled to return to the initial working position; the step of detecting whether the chassis exists in the tightening station area is then performed and execution continues.

[0086] In this embodiment, it is compatible with multiple product platforms, product structures and process parameters, and can automatically complete the bolt tightening processing tasks for various vehicle models and different bolt positions during the automobile assembly process, thereby improving the overall assembly efficiency of the automobile.

[0087] In one embodiment, based on the bolt area, the vision mechanism is controlled to perform visual recognition of the bolt area to obtain the bolt position of the target bolt on the chassis frame. This includes: adjusting the posture of the vision mechanism and the translation and lifting distance of the truss mechanism according to the bolt area to control the vision mechanism to align with the bolt area for visual recognition; if the vision mechanism successfully recognizes the bolt area, the visual recognition result of the vision mechanism is obtained as the bolt position; if the vision mechanism fails to recognize the bolt area, a second alarm message is generated.

[0088] Optionally, the computer equipment adjusts the translation distance of the truss mechanism in the Y-axis direction, the lifting distance in the Z-axis direction, and the posture of the vision mechanism according to the bolt area. This controls the vision mechanism to perform visual recognition of the bolt area. If the vision mechanism can identify the precise position of each target bolt in the bolt area, the visual recognition of the bolt area is successful. If the vision mechanism cannot identify the precise position of each target bolt in the bolt area, the visual recognition of the bolt area fails, generating a second alarm message. This message alerts the staff that the vision mechanism has failed to visually recognize the current chassis frame and cannot locate the precise bolt position. The staff can then inspect the current chassis frame or the vision mechanism. If the chassis frame has a problem, it can be removed from the production line or the bolt positions can be manually calibrated. If the vision mechanism malfunctions, the production line can be paused, and the vision mechanism can be repaired or replaced.

[0089] In this embodiment, the target bolt can be automatically positioned through a vision mechanism. If the positioning is successful, the bolt tightening process can be performed automatically, improving the overall assembly efficiency of the car. If the positioning fails, the staff can be notified to conduct a manual inspection, ensuring the accuracy of the car assembly.

[0090] In one embodiment, controlling the tightening mechanism to tighten the target bolt on the chassis frame according to the bolt position includes: adjusting the posture of the tightening mechanism and the translation and lifting distance of the truss mechanism according to the bolt position to control the tightening mechanism to align with the target bolt; starting to record the tightening time of the target bolt when the tightening mechanism starts to rotate the target bolt; continuously monitoring the bolt torque value of the target bolt during the rotation of the target bolt by the tightening mechanism; if the bolt torque value reaches the preset qualified torque and the tightening time is not greater than the preset time, controlling the tightening mechanism to stop rotating the target bolt; if the tightening time is greater than the preset time and the bolt torque value does not reach the preset qualified torque, generating a third alarm message.

[0091] Optionally, the computer equipment adjusts the translational distance of the truss mechanism in the Y-axis direction, the lifting distance in the Z-axis direction, and the posture of the tightening mechanism based on the bolt position. It controls the tightening gun tool on the tightening mechanism to engage with the target bolt. When the tightening gun tool begins to rotate the target bolt, the tightening time of the target bolt is recorded, and the bolt torque value of the target bolt is continuously monitored. If the bolt torque value of the target bolt reaches the preset qualified torque within the preset time, it is determined that the target bolt has been tightened, and the tightening mechanism is controlled to stop rotating the target bolt. If the bolt torque value of the target bolt does not reach the preset qualified torque within the preset time, a third alarm message is generated, prompting the operator that the target bolt on the current chassis cannot be tightened. The operator can then inspect the current chassis, the target bolt, or the tightening gun tool. If the problem is with the current chassis, it can be removed from the production line or the target bolt can be tightened manually. If the problem is with the target bolt, it can be replaced with a new one. If the tightening gun tool is malfunctioning, the production line can be paused for repair or replacement of the tightening gun tool.

[0092] In this embodiment, the target bolt can be automatically tightened through the tightening mechanism. If the target bolt can be tightened to the preset qualified torque within a preset time, the tightening task of the target bolt is completed. If the target bolt cannot be tightened to the preset qualified torque, the staff is notified to conduct a manual inspection. This eliminates the need for staff to manually tighten each bolt, thus improving the overall assembly efficiency of the car.

[0093] In one embodiment, such as Figure 8 As shown, an automatic bolt tightening control method for a commercial vehicle production line includes:

[0094] Check whether the chassis or frame is present in the tightening station area.

[0095] If no chassis is detected in the tightening station area, the control truss mechanism returns to the initial working position, which is configured in the tightening station area.

[0096] If any chassis is detected in the tightening station area, the chassis type of the corresponding chassis is identified; the alternative vehicle model information corresponding to the chassis type is queried. If alternative vehicle model information corresponding to the chassis type exists, the corresponding alternative vehicle model information is obtained and used as the vehicle model information; if no alternative vehicle model information corresponding to the chassis type exists, the first alarm prompt information is generated.

[0097] Based on the vehicle model information, obtain the bolt area corresponding to the target bolt on the chassis frame;

[0098] The speed of the chassis on the production line is obtained by a speed measuring mechanism and sent to the truss mechanism; the speed is used to instruct the truss mechanism to move synchronously with the chassis.

[0099] The posture of the vision mechanism and the translational / lifting distance of the truss mechanism are adjusted according to the bolt area to control the vision mechanism to align with the bolt area for visual recognition. If the vision mechanism successfully recognizes the bolt area, the visual recognition result is obtained as the bolt position; if the vision mechanism fails to recognize the bolt area, a second alarm message is generated. The vision mechanism is configured on the truss mechanism and moves with the truss mechanism.

[0100] The tightening mechanism's posture and the truss mechanism's translation and lifting distance are adjusted according to the bolt position to control the tightening mechanism's connection to the target bolt. When the tightening mechanism begins rotating the target bolt, the tightening time is recorded. During the rotation of the target bolt, the bolt torque value is continuously monitored. If the tightening time exceeds the preset time and the bolt torque value does not reach the preset acceptable torque, a third alarm message is generated. The tightening mechanism is mounted on the truss mechanism and moves with it. If the bolt torque value reaches the preset acceptable torque and the tightening time is not greater than the preset time, the tightening mechanism stops rotating the target bolt; the truss mechanism returns to its initial working position; and the process resumes, checking for the presence of the chassis frame in the tightening station area.

[0101] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0102] Based on the same inventive concept, this application also provides an automatic bolt tightening control device for commercial vehicle production lines to implement the aforementioned automatic bolt tightening control method for commercial vehicle production lines. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the automatic bolt tightening control device for commercial vehicle production lines provided below can be found in the limitations of the automatic bolt tightening control method for commercial vehicle production lines described above, and will not be repeated here.

[0103] In one embodiment, such as Figure 9As shown, an automatic bolt tightening control device 900 for a commercial vehicle production line is provided, comprising: an acquisition module 901, a speed measurement module 902, a positioning module 903, and a tightening module 904, wherein:

[0104] The acquisition module 901 is used to acquire vehicle model information corresponding to the chassis frame, and based on the vehicle model information, acquire the bolt area corresponding to the target bolt on the chassis frame;

[0105] The speed measurement module 902 is used to obtain the moving speed of the chassis on the production line through the speed measurement mechanism and send the moving speed to the truss mechanism; the moving speed is used to instruct the truss mechanism to move synchronously with the chassis.

[0106] The positioning module 903 is used to control the vision mechanism to perform visual recognition of the bolt area based on the bolt area, so as to obtain the bolt position of the target bolt on the chassis frame; the vision mechanism is configured on the truss mechanism and moves with the truss mechanism.

[0107] The tightening module 904 is used to control the tightening mechanism to tighten the target bolt on the chassis frame according to the bolt position; the tightening mechanism is configured on the truss mechanism and moves with the truss mechanism.

[0108] In one embodiment, the acquisition module 901 is further configured to detect whether a chassis is present in the tightening station area; if any chassis is detected in the tightening station area, the chassis type of the corresponding chassis is identified; the alternative vehicle model information corresponding to the chassis type is queried; if alternative vehicle model information corresponding to the chassis type exists, the corresponding alternative vehicle model information is acquired and used as vehicle model information; if no alternative vehicle model information corresponding to the chassis type exists, a first alarm message is generated.

[0109] In one embodiment, the acquisition module 901 is further configured to control the truss mechanism to return to the initial working position if no chassis is detected in the tightening station area, the initial working position being configured in the tightening station area.

[0110] In one embodiment, the apparatus further includes:

[0111] The reset module is used to control the truss mechanism to return to the initial working position; return to the step of checking whether the chassis is present in the tightening station area and continue execution.

[0112] In one embodiment, the positioning module 903 is further configured to adjust the posture of the vision mechanism and the translation and lifting distance of the truss mechanism according to the bolt area, so as to control the vision mechanism to perform visual recognition of the bolt area; if the vision mechanism successfully recognizes the bolt area, the visual recognition result of the vision mechanism is obtained as the bolt position; if the vision mechanism fails to recognize the bolt area, a second alarm message is generated.

[0113] In one embodiment, the tightening module 904 is also used to adjust the posture of the tightening mechanism and the translational and lifting distance of the truss mechanism according to the bolt position, so as to control the tightening mechanism to engage with the target bolt; and to control the tightening mechanism to tighten the target bolt on the chassis frame according to the preset qualified torque.

[0114] In one embodiment, the tightening module 904 is further configured to: start recording the tightening time of the target bolt when the tightening mechanism begins to rotate the target bolt; continuously monitor the bolt torque value of the target bolt during the rotation of the target bolt by the tightening mechanism; if the bolt torque value reaches the preset qualified torque and the tightening time is not greater than the preset time, control the tightening mechanism to stop rotating the target bolt; if the tightening time is greater than the preset time and the bolt torque value does not reach the preset qualified torque, generate a third alarm message.

[0115] The various modules in the aforementioned automatic bolt tightening control device for commercial vehicle production lines can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0116] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 10 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores vehicle model information data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network. When executed by the processor, the computer program implements an automatic bolt tightening control method for a commercial vehicle production line.

[0117] Those skilled in the art will understand that Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0118] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: obtaining vehicle model information corresponding to the chassis frame; obtaining the bolt area corresponding to the target bolt on the chassis frame based on the vehicle model information; obtaining the moving speed of the chassis frame on the production line through a speed measuring mechanism, and sending the moving speed to a truss mechanism; the moving speed is used to instruct the truss mechanism to move synchronously with the chassis frame; controlling a vision mechanism to visually identify the bolt area based on the bolt area to obtain the bolt position of the target bolt on the chassis frame; the vision mechanism is configured on the truss mechanism and moves with the truss mechanism; controlling a tightening mechanism to tighten the target bolt on the chassis frame based on the bolt position; the tightening mechanism is configured on the truss mechanism and moves with the truss mechanism.

[0119] In one embodiment, when the processor executes the computer program, it further performs the following steps: detecting whether a chassis is present in the tightening station area; if any chassis is detected in the tightening station area, identifying the chassis type of the corresponding chassis; querying alternative vehicle model information corresponding to the chassis type; if alternative vehicle model information corresponding to the chassis type exists, obtaining the corresponding alternative vehicle model information as vehicle model information; if no alternative vehicle model information corresponding to the chassis type exists, generating a first alarm message.

[0120] In one embodiment, the processor, when executing the computer program, also performs the following steps: if no chassis is detected in the tightening station area, the truss mechanism is controlled to return to the initial working position, which is configured in the tightening station area.

[0121] In one embodiment, the processor, while executing the computer program, also performs the following steps: controlling the truss mechanism to return to the initial working position; returning to the step of detecting whether the chassis is present in the tightening station area and continuing execution.

[0122] In one embodiment, when the processor executes the computer program, it further implements the following steps: adjusting the posture of the vision mechanism and the translation and lifting distance of the truss mechanism according to the bolt area to control the vision mechanism to perform visual recognition of the bolt area; if the vision mechanism successfully recognizes the bolt area, obtaining the visual recognition result of the vision mechanism as the bolt position; if the vision mechanism fails to recognize the bolt area, generating a second alarm message.

[0123] In one embodiment, when the processor executes the computer program, it also performs the following steps: adjusting the posture of the tightening mechanism and the translational and lifting distance of the truss mechanism according to the bolt position, so as to control the tightening mechanism to engage with the target bolt; and controlling the tightening mechanism to tighten the target bolt on the chassis frame according to the preset qualified torque.

[0124] In one embodiment, when the processor executes the computer program, it further implements the following steps: when the tightening mechanism starts to rotate the target bolt, it starts to record the tightening time of the target bolt; during the rotation of the target bolt by the tightening mechanism, it continuously monitors the bolt torque value of the target bolt; if the bolt torque value reaches the preset qualified torque and the tightening time is not greater than the preset time, it controls the tightening mechanism to stop rotating the target bolt; if the tightening time is greater than the preset time and the bolt torque value does not reach the preset qualified torque, it generates a third alarm message.

[0125] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When executed by a processor, the computer program performs the following steps: obtaining vehicle model information corresponding to the chassis frame; obtaining the bolt area corresponding to the target bolt on the chassis frame based on the vehicle model information; obtaining the moving speed of the chassis frame on the production line through a speed measuring mechanism, and sending the moving speed to the truss mechanism; the moving speed is used to instruct the truss mechanism to move synchronously with the chassis frame; controlling a vision mechanism to visually recognize the bolt area based on the bolt area to obtain the bolt position of the target bolt on the chassis frame; the vision mechanism is configured on the truss mechanism and moves with the truss mechanism; controlling a tightening mechanism to tighten the target bolt on the chassis frame based on the bolt position; the tightening mechanism is configured on the truss mechanism and moves with the truss mechanism.

[0126] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: detecting whether a chassis is present in the tightening station area; if any chassis is detected in the tightening station area, identifying the chassis type of the corresponding chassis; querying alternative vehicle model information corresponding to the chassis type; if alternative vehicle model information corresponding to the chassis type exists, obtaining the corresponding alternative vehicle model information as vehicle model information; if no alternative vehicle model information corresponding to the chassis type exists, generating a first alarm message.

[0127] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: if no chassis is detected in the tightening station area, the truss mechanism is controlled to return to the initial working position, which is configured in the tightening station area.

[0128] In one embodiment, when the computer program is executed by the processor, it also performs the following steps: controlling the truss mechanism to return to the initial working position; returning to the step of detecting whether the chassis frame exists in the tightening station area and continuing execution.

[0129] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: adjusting the posture of the vision mechanism and the translation and lifting distance of the truss mechanism according to the bolt area to control the vision mechanism to perform visual recognition of the bolt area; if the vision mechanism successfully recognizes the bolt area, obtaining the visual recognition result of the vision mechanism as the bolt position; if the vision mechanism fails to recognize the bolt area, generating a second alarm message.

[0130] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: adjusting the posture of the tightening mechanism and the translational and lifting distance of the truss mechanism according to the bolt position to control the tightening mechanism to align with the target bolt; and controlling the tightening mechanism to tighten the target bolt on the chassis frame according to the preset qualified torque.

[0131] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: when the tightening mechanism starts to rotate the target bolt, it starts to record the tightening time of the target bolt; during the rotation of the target bolt by the tightening mechanism, it continuously monitors the bolt torque value of the target bolt; if the bolt torque value reaches the preset qualified torque and the tightening time is not greater than the preset time, it controls the tightening mechanism to stop rotating the target bolt; if the tightening time is greater than the preset time and the bolt torque value does not reach the preset qualified torque, it generates a third alarm message.

[0132] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps: obtaining vehicle model information corresponding to the chassis frame; obtaining the bolt area corresponding to the target bolt on the chassis frame based on the vehicle model information; obtaining the moving speed of the chassis frame on the production line through a speed measuring mechanism, and sending the moving speed to the truss mechanism; the moving speed is used to instruct the truss mechanism to move synchronously with the chassis frame; controlling a vision mechanism to visually recognize the bolt area based on the bolt area to obtain the bolt position of the target bolt on the chassis frame; the vision mechanism is configured on the truss mechanism and moves with the truss mechanism; controlling a tightening mechanism to tighten the target bolt on the chassis frame based on the bolt position; the tightening mechanism is configured on the truss mechanism and moves with the truss mechanism.

[0133] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: detecting whether a chassis is present in the tightening station area; if any chassis is detected in the tightening station area, identifying the chassis type of the corresponding chassis; querying alternative vehicle model information corresponding to the chassis type; if alternative vehicle model information corresponding to the chassis type exists, obtaining the corresponding alternative vehicle model information as vehicle model information; if no alternative vehicle model information corresponding to the chassis type exists, generating a first alarm message.

[0134] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: if no chassis is detected in the tightening station area, the truss mechanism is controlled to return to the initial working position, which is configured in the tightening station area.

[0135] In one embodiment, when the computer program is executed by the processor, it also performs the following steps: controlling the truss mechanism to return to the initial working position; returning to the step of detecting whether the chassis frame exists in the tightening station area and continuing execution.

[0136] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: adjusting the posture of the vision mechanism and the translation and lifting distance of the truss mechanism according to the bolt area to control the vision mechanism to perform visual recognition of the bolt area; if the vision mechanism successfully recognizes the bolt area, obtaining the visual recognition result of the vision mechanism as the bolt position; if the vision mechanism fails to recognize the bolt area, generating a second alarm message.

[0137] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: adjusting the posture of the tightening mechanism and the translational and lifting distance of the truss mechanism according to the bolt position to control the tightening mechanism to align with the target bolt; and controlling the tightening mechanism to tighten the target bolt on the chassis frame according to the preset qualified torque.

[0138] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: when the tightening mechanism starts to rotate the target bolt, it starts to record the tightening time of the target bolt; during the rotation of the target bolt by the tightening mechanism, it continuously monitors the bolt torque value of the target bolt; if the bolt torque value reaches the preset qualified torque and the tightening time is not greater than the preset time, it controls the tightening mechanism to stop rotating the target bolt; if the tightening time is greater than the preset time and the bolt torque value does not reach the preset qualified torque, it generates a third alarm message.

[0139] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0140] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, etc., and are not limited to these.

[0141] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0142] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for automatically tightening bolts in a commercial vehicle production line, characterized in that, The method includes: Obtain the vehicle model information corresponding to the chassis frame, and based on the vehicle model information, obtain the bolt area corresponding to the target bolt on the chassis frame; The moving speed of the chassis on the production line is obtained by a speed measuring mechanism and sent to the truss mechanism. The moving speed is used to instruct the truss mechanism to move synchronously with the chassis. The truss mechanism consists of two sets of rigid rails, servo motors and V-shaped rollers that are symmetrical on the left and right. The two sets of rigid rails operate independently and do not affect each other. Each set contains 4 degrees of freedom: X-axis travel, Y-axis translation, Z-axis lifting and Z-axis rotation. Based on the bolt area, the vision mechanism is controlled to perform visual recognition on the bolt area to obtain the bolt position of the target bolt on the vehicle chassis; the vision mechanism is configured on the truss mechanism and moves with the truss mechanism; Based on the bolt position, the tightening mechanism is controlled to tighten the target bolt on the chassis frame; the tightening mechanism is mounted on the truss mechanism and moves with the truss mechanism; The step of obtaining the vehicle model information corresponding to the chassis includes: detecting whether a chassis exists in the tightening station area; if any chassis is detected in the tightening station area, identifying the chassis type of the corresponding chassis; querying alternative vehicle model information corresponding to the chassis type; if alternative vehicle model information corresponding to the chassis type exists, obtaining the corresponding alternative vehicle model information as the vehicle model information; if no alternative vehicle model information corresponding to the chassis type exists, generating a first alarm message. The step of controlling the vision mechanism to visually identify the bolt area based on the bolt area to obtain the bolt position of the target bolt on the vehicle chassis includes: adjusting the posture of the vision mechanism and the translation and lifting distance of the truss mechanism according to the bolt area to control the vision mechanism to align with the bolt area for visual identification; if the vision mechanism successfully identifies the bolt area, the visual identification result of the vision mechanism is obtained as the bolt position; if the vision mechanism fails to visually identify the bolt area, a second alarm message is generated.

2. The method according to claim 1, characterized in that, The method further includes: If no chassis is detected in the tightening station area, the truss mechanism is controlled to return to the initial working position, which is configured in the tightening station area.

3. The method according to claim 2, characterized in that, After controlling the tightening mechanism to tighten the target bolt on the vehicle chassis according to the bolt position, the method further includes: Control the truss mechanism to return to the initial working position; Return to the step of detecting whether the chassis or frame exists in the tightening station area and continue execution.

4. The method according to claim 1, characterized in that, The step of controlling the tightening mechanism to tighten the target bolt on the vehicle chassis according to the bolt position includes: Adjust the posture of the tightening mechanism and the translation and lifting distance of the truss mechanism according to the position of the bolt, so as to control the tightening mechanism to engage with the target bolt; According to the preset qualified torque, the tightening mechanism is controlled to tighten the target bolt on the chassis frame.

5. The method according to claim 4, characterized in that, The step of controlling the tightening mechanism to tighten the target bolt on the vehicle chassis according to the preset qualified torque includes: When the tightening mechanism begins to rotate the target bolt, the tightening time of the target bolt is recorded. During the process of the tightening mechanism rotating the target bolt, the bolt torque value of the target bolt is continuously monitored; If the bolt torque value reaches the preset qualified torque and the tightening time is not greater than the preset time, then control the tightening mechanism to stop rotating the target bolt; If the tightening time exceeds the preset time and the bolt torque value does not reach the preset qualified torque, a third alarm message will be generated.

6. An automatic bolt tightening control device for a commercial vehicle production line, characterized in that, The device includes: The acquisition module is used to acquire vehicle model information corresponding to the chassis frame, and based on the vehicle model information, acquire the bolt area corresponding to the target bolt on the chassis frame; The speed measurement module is used to obtain the moving speed of the chassis on the production line through the speed measuring mechanism and send the moving speed to the truss mechanism. The moving speed is used to instruct the truss mechanism to move synchronously with the chassis. The truss mechanism consists of two sets of rigid rails, servo motors and V-shaped rollers that are symmetrical on the left and right. The two sets of rigid rails operate independently and do not affect each other. Each set contains 4 degrees of freedom: X-axis travel, Y-axis translation, Z-axis lifting and Z-axis rotation. The positioning module is used to control the vision mechanism to visually identify the bolt area based on the bolt area, and obtain the bolt position of the target bolt on the chassis frame; the vision mechanism is configured on the truss mechanism and moves with the truss mechanism; A tightening module is used to control a tightening mechanism to tighten the target bolt on the chassis frame according to the bolt position; the tightening mechanism is configured on the truss mechanism and moves with the truss mechanism; The acquisition module is further configured to: detect whether a chassis is present in the tightening station area; if any chassis is detected in the tightening station area, identify the chassis type of the corresponding chassis; query alternative vehicle model information corresponding to the chassis type; if alternative vehicle model information corresponding to the chassis type exists, acquire the corresponding alternative vehicle model information as the vehicle model information; if no alternative vehicle model information corresponding to the chassis type exists, generate a first alarm message. The positioning module is further configured to: adjust the posture of the vision mechanism and the translation and lifting distance of the truss mechanism according to the bolt area, so as to control the vision mechanism to perform visual recognition of the bolt area; if the vision mechanism successfully recognizes the bolt area, obtain the visual recognition result of the vision mechanism as the bolt position; if the vision mechanism fails to recognize the bolt area, generate a second alarm message.

7. The apparatus according to claim 6, characterized in that, The acquisition module is further configured to control the truss mechanism to return to the initial working position if no chassis is detected in the tightening station area, the initial working position being configured in the tightening station area.

8. The apparatus according to claim 7, characterized in that, The device also includes a reset module for controlling the truss mechanism to return to the initial working position; returning to the step of detecting whether a chassis is present in the tightening station area and continuing execution.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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