Method and device for motion control of an assembly shop production line

Abstract

This invention provides a motion control method and apparatus for an assembly line. The motion control method includes: responding to a departure command for a shuttle, driving the shuttle to begin moving, wherein the movement trajectory of the shuttle overlaps with the movement trajectory of a target pallet spreader; within a preset range after the shuttle leaves its initial position, if a stop command is received for the shuttle, then based on the stop command, using a motion control strategy corresponding to the target object, controlling the target object to a target motion state, wherein the target object is the shuttle and / or the target pallet spreader. By adjusting the target object to the target motion state upon detecting a stop command, collisions between the shuttle and the target pallet spreader are avoided.

Description

Technical Field

[0001] This invention relates to the field of vehicle manufacturing technology, and in particular to a motion control method for assembly line production lines. Background Technology

[0002] With the continuous development of computer technology, automated production lines are being applied to more and more scenarios. Currently, in order to achieve the smooth operation of automated production lines, it is usually necessary to pre-set the automatic operation logic of the production line to avoid malfunctions during actual production; for example, when a shuttle receives a stop command, it can decelerate and move to a stop.

[0003] However, collisions may still occur during the operation using the pre-set automatic operation logic. For example, when a command to decelerate the shuttle is received, the spreader that places the pallet on the track is triggered, but the shuttle has not yet moved to a safe position, causing a collision between the pallet and the shuttle, which affects the execution of subsequent line generation.

[0004] Therefore, a more reliable solution is needed to prevent collisions from occurring. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a motion control method for an assembly workshop production line. One or more embodiments of the present invention also relate to a motion control device for an assembly workshop production line, a computing device, a computer-readable storage medium, and a computer program, to address the technical deficiencies existing in the prior art.

[0006] According to a first aspect of the present invention, a motion control method for an assembly line is provided, comprising:

[0007] In response to a dispatch command for the shuttle, the shuttle is driven to start moving, wherein the movement trajectory of the shuttle overlaps with the movement trajectory of the target pallet spreader.

[0008] If a stop command is received for the shuttle within a preset range after it leaves its initial position, then based on the stop command, a motion control strategy corresponding to the target object is adopted to control the target object to the target motion state, wherein the target object is the shuttle and / or the target pallet spreader.

[0009] According to a second aspect of the present invention, a motion control device for an assembly line is provided, comprising:

[0010] The drive module is configured to drive the shuttle to start moving in response to a dispatch command for the shuttle, wherein the movement trajectory of the shuttle overlaps with the movement trajectory of the target pallet spreader.

[0011] The control module is configured to, within a preset range after the shuttle has left its initial position, if it receives a stop command for the shuttle, then, based on the stop command, adopt a motion control strategy corresponding to the target object to control the target object to a target motion state, wherein the target object is the shuttle and / or the target pallet spreader.

[0012] According to a third aspect of the present invention, a motion control system for an assembly line is provided, the motion control system comprising a controller, a shuttle, and a target pallet holder, wherein:

[0013] The controller is configured to receive a dispatch command for the shuttle and send it to the shuttle, wherein the movement trajectory of the shuttle overlaps with the movement trajectory of the target pallet spreader.

[0014] The shuttle is configured to begin moving in response to the dispatch command;

[0015] The controller is further configured to, within a preset range after the shuttle has left its initial position, if a stop command is received for the shuttle, then based on the stop command, adopt a motion control strategy corresponding to the target object to control the target object to a target motion state, wherein the target object is the shuttle and / or the target pallet spreader.

[0016] According to a fourth aspect of the present invention, a computing device is provided, comprising:

[0017] Memory and processor;

[0018] The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, they implement the steps of the motion control method for the assembly workshop production line described above.

[0019] According to a fifth aspect of the present invention, a computer-readable storage medium is provided that stores computer-executable instructions, which, when executed by a processor, implement the steps of the motion control method for an assembly workshop production line described above.

[0020] According to a sixth aspect of the present invention, a computer program is provided, wherein when the computer program is executed in a computer, the computer is instructed to perform the steps of the motion control method for an assembly workshop production line described above.

[0021] One embodiment of the present invention implements a mechanism that, in response to a dispatch command for a shuttle, drives the shuttle to begin moving, wherein the movement trajectory of the shuttle overlaps with the movement trajectory of the target pallet spreader; within a preset range after the shuttle leaves its initial position, if a stop command for the shuttle is received, then based on the stop command, a motion control strategy corresponding to the target object is adopted to control the target object to a target motion state, wherein the target object is the shuttle and / or the target pallet spreader.

[0022] By adjusting the target object to the target motion state upon receiving a stop command for the shuttle, the overlapping areas of the shuttle's and the target pallet spreader's motion trajectories are avoided, thereby preventing collisions between the shuttle and the target pallet spreader and improving production safety and efficiency in the assembly workshop production line. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of a motion control method for an assembly workshop production line according to an embodiment of the present invention;

[0024] Figure 2 This is a flowchart of a motion control method for an assembly workshop production line provided in one embodiment of the present invention;

[0025] Figure 3 This is a flowchart illustrating the processing procedure of a motion control method for an assembly workshop production line, provided by an embodiment of the present invention.

[0026] Figure 4 This is a flowchart of another motion control method for an assembly workshop production line provided by an embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the structure of a motion control system for an assembly workshop production line provided in one embodiment of the present invention;

[0028] Figure 6 This is a schematic diagram of the structure of a motion control device for an assembly workshop production line according to an embodiment of the present invention;

[0029] Figure 7 This is a structural block diagram of a computing device provided in one embodiment of the present invention. Detailed Implementation

[0030] Numerous specific details are set forth in the following description to provide a full understanding of the invention. However, the invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0031] The terminology used in one or more embodiments of the present invention is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. The singular forms “a,” “the,” and “the” used in one or more embodiments of the invention and in the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” used in one or more embodiments of the invention refers to and includes any or all possible combinations of one or more associated listed items.

[0032] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of the present invention, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of the present invention, and similarly, second may also be referred to as first. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0033] Furthermore, 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, stored data, displayed data, etc.) involved in one or more embodiments of the present invention are all information and data authorized by the user or fully authorized by all parties. Moreover, the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0034] First, the terminology used in one or more embodiments of the present invention will be explained.

[0035] Shuttle: A shuttle is an intelligent robot that can be programmed to perform tasks such as picking up, transporting, and placing goods. It can also communicate with a host computer or WMS system and combine RFID, barcode and other identification technologies to achieve automated identification, storage and retrieval functions.

[0036] Lifting slings are devices used in lifting machinery to lift heavy objects. The most common lifting slings for lifting packaged goods are hooks and slings; others include lifting rings, lifting suction cups, clamps, and forks. They are widely used in the lifting and hoisting industry.

[0037] Production line: also known as assembly line, is a production method in industry where each production unit focuses on handling only one segment of the work to improve work efficiency and output.

[0038] This invention provides a motion control method for an assembly workshop production line. It also relates to a motion control device for an assembly workshop production line, a computing device, and a computer-readable storage medium, which will be described in detail in the following embodiments.

[0039] See Figure 1 , Figure 1 The illustration shows a scenario diagram of a motion control method for an assembly workshop production line according to an embodiment of the present invention, specifically including:

[0040] The assembly line includes a shuttle 102, a target pallet spreader 104, and a controller 106. The movement trajectories of the shuttle 102 and the target pallet spreader 104 overlap. The controller 106 can issue commands to the shuttle 102 and the target pallet spreader 104 to control their movement. Based on the departure command, the shuttle 102 departs from its initial position, while the target pallet spreader 104 initiates movement or continues to move. Within a preset range after the shuttle departs from its initial position... If a stop command is received for shuttle 102, shuttle 102 will stop moving, but the target pallet spreader 104 will continue to move. At this time, the moving target pallet spreader 104 will collide with shuttle 102. In order to solve the collision problem, if a stop command is received for shuttle 102 within a preset range after shuttle 102 leaves the initial position, the present invention adopts the motion control strategy corresponding to the target object based on the stop command to control the target object to the target motion state, wherein the target object is shuttle and / or target pallet spreader.

[0041] Specifically, if the target object is shuttle 102, then it can be as follows: Figure 1 As shown in section a, the travel distance of the shuttle 102 during the stopping process is increased to avoid collisions; that is, before the shuttle 102 stops, it travels a sufficient distance to avoid collisions between the shuttle 102 and the target pallet spreader 104. If the target object is the target pallet spreader 104, then as follows... Figure 1 As shown in section b, for each stop command of shuttle 102, the target pallet spreader 104 is driven to stop moving. That is, in the control program, the normally closed alarm of shuttle 103 scanner is added to the enable condition of SC202 toSC204. Each time the alarm is triggered, the target pallet spreader 104 is stopped, thereby preventing the shuttle 102 and the target pallet spreader 104 from moving.

[0042] This invention relates to a motion control method for an assembly workshop production line. In response to a departure command for a shuttle, the method drives the shuttle to begin moving, wherein the motion trajectory of the shuttle overlaps with the motion trajectory of a target pallet spreader. Within a preset range after the shuttle leaves its initial position, if a stop command is received for the shuttle, a motion control strategy corresponding to the target object is adopted based on the stop command to control the target object to a target motion state, wherein the target object is the shuttle and / or the target pallet spreader.

[0043] By adjusting the target object to the target motion state upon receiving a stop command for the shuttle, the overlapping areas of the shuttle's and the target pallet spreader's motion trajectories are avoided, thereby preventing collisions between the shuttle and the target pallet spreader and improving production safety and efficiency in the assembly workshop production line.

[0044] See Figure 2 , Figure 2 A flowchart of a motion control method for an assembly line according to an embodiment of the present invention is shown, which specifically includes the following steps:

[0045] Step 202: In response to the dispatch command for the shuttle, drive the shuttle to start moving, wherein the movement trajectory of the shuttle overlaps with the movement trajectory of the target pallet spreader.

[0046] In practical applications, the assembly line is equipped with tracks for mobile shuttles; after receiving a dispatch command, the shuttle can move on the track in response to the dispatch command; the shuttle can hold parts that need to be moved, and the movement of the shuttle enables the transportation of the parts.

[0047] Among them, a shuttle car refers to a vehicle that can move on the track of the assembly line in the assembly workshop and is used to transport parts of the production line; a dispatch command refers to a command that triggers the shuttle car to start moving from its current stopping position; a target pallet spreader refers to a spreader that can place a pallet on the shuttle car track by moving it; and a motion trajectory refers to the trajectory generated by the shuttle car or the target pallet spreader during its movement.

[0048] Specifically, after the controller of the assembly line generates or receives a dispatch command for the shuttle, it sends the dispatch command to the shuttle to drive it to start moving. Based on the dispatch command, the shuttle starts moving on the track. For example, the shuttle travels along the track from west to east. It should be noted that there is an overlapping area between the movement trajectory of the shuttle and the movement trajectory of the target pallet spreader, that is, the shuttle and the target pallet spreader may collide during the movement.

[0049] In one specific embodiment of the present invention, a dispatch command for shuttle a on the assembly line is received; in response to the dispatch command for the shuttle, the shuttle is driven to start moving on the track where the shuttle is located; the motion trajectory corresponding to shuttle a is determined, and based on the motion trajectory of the shuttle and the movement trajectory of the pallet spreader, among the multiple pallet spreaders on the production line, the pallet spreader whose motion trajectory has an overlapping area is determined as the target pallet spreader.

[0050] Based on the dispatch command, the shuttle car is driven to start moving, thereby enabling the shuttle car to perform the movement task in the assembly line. There is an overlapping area between the movement trajectory of the shuttle car and the movement trajectory of the target pallet spreader. Therefore, it is necessary to adjust the movement of the shuttle car and / or the target pallet spreader to avoid collision between the shuttle car and the target pallet spreader.

[0051] Step 204: If a stop command is received for the shuttle within the preset range where the shuttle has left the initial position, then based on the stop command, the motion control strategy corresponding to the target object is adopted to control the target object to the target motion state, wherein the target object is the shuttle and / or the target pallet spreader.

[0052] The initial position refers to the location where the shuttle stops on the track. It can be the initial position of the shuttle on the track before it moves, or the position where the shuttle stops on the track after one or more moves. The preset interval refers to the preset time interval and / or preset position interval. The preset time interval is the interval of time the shuttle moves on the track. For example, if the shuttle starts moving at 3 o'clock, the preset time interval can be from 3 o'clock to 3:10. The preset position interval is the interval of position the shuttle moves on the track. For example, if the shuttle starts moving at point A, the preset position interval can be the position interval from point A to point B.

[0053] A stop command is an instruction to stop the shuttle from moving. In practical applications, assembly line malfunctions may occur, in which case a stop command will be generated to pause the shuttle's movement. The target object refers to the area where the motion state needs to be adjusted. In this invention, the target object can be the shuttle and / or the target pallet spreader. The motion control strategy refers to the strategy for controlling the motion state of the target object, such as stopping the movement of the target pallet spreader, driving the shuttle's movement, etc. The target motion state refers to the motion state that the target object needs to achieve in order to avoid a collision between the shuttle and the target pallet spreader.

[0054] Specifically, the shuttle begins moving on the track based on a departure command, departing from its initial position. The shuttle's movement is assessed to determine if it has deviated from the preset range of its initial position. If a stop command is received within the preset range, the motion state of the target object needs to be adjusted to avoid a collision. That is, based on the received stop command, the target object is identified; a motion control strategy for the target object is adopted to control it to the target motion state, thereby avoiding a collision. If no stop command is received within the preset range, but a stop command is received outside the preset range, it indicates that the shuttle has moved a sufficient distance forward on the track, eliminating the possibility of a collision, and therefore, no adjustment to the shuttle's motion state based on the stop command is necessary.

[0055] In one specific embodiment of the present invention, shuttle a receives a stop command within a preset interval from 0 meters to 10 meters after leaving the initial position; based on the stop command, the target object is determined to be the target pallet spreader; the motion control strategy corresponding to the target pallet spreader, i.e., the strategy of stopping the movement of the target pallet spreader, is adopted to control the target pallet spreader to adjust from the moving state to the stopped state.

[0056] By controlling the target object to the target motion state when a stop command is received within a preset range, the shuttle car is prevented from colliding with the moving target pallet spreader after receiving a stop command after departure.

[0057] In practical applications, when the target object is a shuttle, the method for controlling the target object to a target motion state based on the stop command and using the motion control strategy corresponding to the target object may include:

[0058] The preset travel range corresponding to the shuttle is determined based on the stop command;

[0059] The shuttle is controlled to stop within the preset travel range.

[0060] The preset travel interval refers to the travel interval corresponding to when the shuttle stops based on the stop command. The preset travel interval may include the travel distance interval and / or the travel time interval.

[0061] Specifically, since stopping the shuttle within the target pallet spreader's movement range could lead to a collision, the shuttle can be moved out of the collision zone during the stopping process. This increases the shuttle's travel time and distance, or directly increases the travel distance, thereby avoiding a collision. Upon receiving a stop command, the shuttle's pre-set travel range is determined, and the shuttle is controlled to travel within this range to ensure it stops at a distance that avoids collision.

[0062] In one specific embodiment of the present invention, the initial stopping distance corresponding to the shuttle car is determined, and the initial stopping distance is increased according to the movement trajectory of the shuttle car and the target pallet spreader to obtain the preset travel range corresponding to the shuttle car; when a stop command is received, the preset travel range corresponding to the shuttle car is determined, and the shuttle car executes the stop command based on the preset stop range, so that the shuttle car can stop on a track that is far enough away when the stop command is received.

[0063] By controlling the shuttle to stop within the preset travel range, the shuttle can be stopped on the track outside the target pallet spreader's movement area, thus avoiding collisions between the shuttle and the target pallet spreader.

[0064] In practical applications, after the shuttle car starts moving based on the dispatch command, the process also includes:

[0065] Based on the dispatch command, the target pallet spreader is driven to start moving;

[0066] Accordingly, when the target object is a target pallet spreader, based on the stop command, a motion control strategy corresponding to the target object is adopted to control the target object to the target motion state, including:

[0067] Based on the stop command, the target pallet spreader is controlled to stop.

[0068] Specifically, the shuttle car is triggered to move simultaneously with the dispatch command, which in turn triggers the target pallet spreader to move. No collision will occur if both the target pallet spreader and the shuttle car are moving according to their preset tasks. However, upon receiving a stop command, the shuttle car's movement changes from moving to stopped, which may lead to a collision. Therefore, the target pallet spreader can be stopped based on the stop command when the shuttle car stops moving, thus avoiding a collision.

[0069] In one specific embodiment of the present invention, based on the dispatch command for shuttle a, the target pallet spreader corresponding to shuttle a is triggered to start moving, wherein the movement trajectory of shuttle a and the movement trajectory of target pallet spreader have an overlapping area; when shuttle a leaves the initially preset range, a stop command is received, and the shuttle and target pallet spreader are driven to stop moving based on the stop command.

[0070] By triggering the target pallet spreader to a stop state based on the stop command, the shuttle car is prevented from stopping on the target pallet spreader's movement trajectory in response to the stop command, thus avoiding a collision.

[0071] Furthermore, after the shuttle begins to move, the following steps are also included:

[0072] Based on the dispatch command, the target pallet spreader is driven to start moving;

[0073] Accordingly, when the target object is a target pallet spreader, based on the stop command, the motion control strategy corresponding to the target object is adopted to control the target object to the target motion state, which may further include:

[0074] Based on the stop command, a preset stop range corresponding to the target pallet spreader is determined;

[0075] Within the preset stop range, the target pallet spreader is controlled to a stop state.

[0076] The preset stop interval refers to the time interval during which the target pallet spreader needs to stop upon receiving a stop command.

[0077] Specifically, based on the stop command, the preset stop range corresponding to the target pallet spreader is obtained. For example, if the stop command is received at 3 o'clock, the preset stop range corresponding to the target pallet spreader can be determined to be from 3:10 to 3:15. Within the preset stop range, the target pallet spreader is controlled to remain in a stopped state.

[0078] In one specific embodiment of the present invention, based on the dispatch command for shuttle a, the target pallet spreader corresponding to shuttle a is triggered to start moving, wherein the movement trajectory of shuttle a and the movement trajectory of target pallet spreader have an overlapping area; according to the stop command for shuttle a, a preset stop interval corresponding to target pallet spreader is determined; within the preset stop interval, target pallet spreader is adjusted from moving state to stop.

[0079] By pre-setting a delay time for the target pallet spreader, and then generating a preset stop interval based on the delay time, the target pallet spreader is controlled to be in a stopped state within the preset stop interval when a stop command is received. After the preset stop time, the target pallet spreader is made to move. This achieves the goal of stopping the movement of the target pallet spreader within the preset stop interval during the shuttle car's stop, thereby avoiding collisions.

[0080] Furthermore, the method for determining the preset stop range corresponding to the target pallet spreader may include:

[0081] Determine the distance the shuttle vehicle travels in the overlapping area;

[0082] Based on the travel distance and the travel speed of the shuttle, a preset stop interval corresponding to the target pallet spreader is determined.

[0083] The moving distance is the distance the shuttle moves out of the overlapping area; the moving speed refers to the speed at which the shuttle moves on the track.

[0084] Specifically, based on the shuttle's corresponding moving distance and speed, the time required for the shuttle to move to an area where no collision will occur can be determined. Then, a preset stop interval is set based on the moving time. This can be understood as triggering the target pallet spreader to continue moving after the shuttle has moved out of the overlapping area, thereby avoiding a collision.

[0085] In one specific embodiment of the present invention, the moving distance of the shuttle car out of the overlapping area is determined to be 9 meters, and the moving speed of the shuttle car is 3 m / s. Then, the moving time is calculated to be 3 seconds based on the moving distance and the moving speed. Furthermore, the preset stop interval is set to 3 to 5 seconds after receiving the stop command based on the moving time.

[0086] By setting the preset stopping range of the target pallet spreader based on the moving speed and distance of the shuttle, the long duration of the target pallet spreader being stopped can be avoided, thus preventing it from affecting the overall operating efficiency of the assembly line.

[0087] Based on the above processing method, after controlling the target pallet spreader to a stopped state, it is also necessary to restore the normal movement of the target pallet spreader. Specific methods may include:

[0088] Detect the location of the shuttle vehicle;

[0089] Once the shuttle has moved away from the pre-collision location, the target pallet spreader is driven to begin moving.

[0090] Among them, the location point refers to the current location information of the shuttle car; the pre-collision location point refers to the location information where the shuttle car and the target pallet spreader will collide.

[0091] Specifically, the location of the shuttle is detected; if the current location is after the pre-collision point, that is, after the shuttle has moved away from the pre-collision point, then no further collision will occur, and the target pallet spreader can be restored from the stopped state to the moving state to continue to complete the task of moving the parts.

[0092] In one specific embodiment of the present invention, the shuttle car is detected to be at position point a; position point a is 2 meters before the pre-collision position point, that is, the shuttle car has moved away from the pre-collision position point; based on the detection result that the shuttle car has moved away from the pre-collision position point, the target pallet spreader is driven to start moving.

[0093] By detecting when the shuttle car has moved away from the pre-collision point, the target pallet spreader is driven to start moving, thereby resuming the movement of the target pallet spreader after a collision is avoided, ensuring the continuous operation of the assembly line in the assembly workshop.

[0094] In practical applications, after the shuttle car is started to move, the following steps are also included:

[0095] The target pallet spreader is kept in a stopped state.

[0096] If no stop command is received for the shuttle within the preset range, the target pallet spreader will be driven to start moving.

[0097] Specifically, within the preset range, the target pallet spreader is kept in a stopped state, that is, after the shuttle car departs, the target pallet spreader is set to a stopped state; within the preset range, if no stop command is received, the target pallet spreader can be driven to start moving, that is, within the preset range, the shuttle car has moved away from the location where a collision may occur, and the target pallet spreader can move normally.

[0098] In one specific embodiment of the present invention, the shuttle car a is driven to start moving based on the dispatch command; the target pallet spreader is set to a stopped state, that is, the target pallet spreader does not move during the shuttle car a process; if no stop command is received within a preset interval, the target pallet spreader is driven to start moving after passing through the preset interval.

[0099] One embodiment of the present invention implements a mechanism that, in response to a dispatch command for a shuttle, drives the shuttle to begin moving, wherein the movement trajectory of the shuttle overlaps with the movement trajectory of the target pallet spreader; within a preset range after the shuttle leaves its initial position, if a stop command for the shuttle is received, then based on the stop command, a motion control strategy corresponding to the target object is adopted to control the target object to a target motion state, wherein the target object is the shuttle and / or the target pallet spreader.

[0100] By adjusting the target object to the target motion state upon receiving a stop command for the shuttle, the overlapping areas of the shuttle's and the target pallet spreader's motion trajectories are avoided, thereby preventing collisions between the shuttle and the target pallet spreader and improving production safety and efficiency in the assembly workshop production line.

[0101] The following is in conjunction with the appendix Figure 3 Taking the application of the motion control method for assembly workshop production lines provided by this invention in vehicle production as an example, the motion control method for assembly workshop production lines will be further explained. Figure 3 The diagram illustrates a process flow of a motion control method for an assembly line according to an embodiment of the present invention, which specifically includes the following steps:

[0102] Step 302: In response to the dispatch command for the shuttle, drive the shuttle to start moving, wherein the movement trajectory of the shuttle overlaps with the movement trajectory of the target pallet spreader.

[0103] Specifically, in response to the dispatch command for the shuttle, the shuttle and the target pallet spreader are driven to begin moving.

[0104] Step 304: Within the preset range where the shuttle has left its initial position, receive a stop command for the shuttle.

[0105] Step 306: Determine the motion control strategy for the shuttle based on the stop command.

[0106] Step 308: According to the motion control strategy, control the shuttle to stop within the preset driving range.

[0107] The motion control method for the assembly workshop production line in this embodiment avoids collisions between the shuttle car and the target pallet spreader by controlling the shuttle car to stop within a preset travel range, thereby improving the production safety and efficiency of the assembly workshop production line.

[0108] The following is in conjunction with the appendix Figure 4 Taking the application of the motion control method for assembly workshop production lines provided by this invention in furniture production as an example, the motion control method for assembly workshop production lines will be further explained. Figure 4 The present invention illustrates a process flow diagram of another motion control method for an assembly workshop production line according to an embodiment of the present invention, which specifically includes the following steps:

[0109] Step 402: In response to the dispatch command for the shuttle, drive the shuttle to start moving, wherein the movement trajectory of the shuttle overlaps with the movement trajectory of the target pallet spreader.

[0110] Step 404: Within the preset range where the shuttle has left its initial position, receive a stop command for the shuttle.

[0111] Step 406: Based on the stop command, determine the motion control strategy corresponding to the target pallet spreader.

[0112] Step 408: According to the motion control strategy, control the target pallet spreader to a stop state.

[0113] Step 410: Upon detecting that the shuttle has moved away from the pre-collision location, the target pallet spreader is driven to begin moving.

[0114] The motion control method for the assembly workshop production line in this embodiment controls the target pallet spreader to a stopped state based on a stop command, thereby avoiding collisions between the shuttle and the target pallet spreader, thus improving the production safety and efficiency of the assembly workshop production line; furthermore, when it is detected that the shuttle has moved away from the pre-collision position, the target pallet spreader is driven to start moving again, thereby timely resuming the stopped task and ensuring the execution efficiency of the assembly workshop production line.

[0115] See Figure 5 , Figure 5 A schematic diagram of a motion control system for an assembly line according to an embodiment of the present invention is shown, wherein:

[0116] The controller 502 is configured to receive a dispatch command for the shuttle and send it to the shuttle, wherein the movement trajectory of the shuttle overlaps with the movement trajectory of the target pallet spreader 506.

[0117] The shuttle 504 is configured to begin moving in response to the dispatch command;

[0118] The controller 502 is further configured to, within a preset range after the shuttle has left its initial position, if a stop command is received for the shuttle, then based on the stop command, adopt a motion control strategy corresponding to the target object to control the target object to a target motion state, wherein the target object is the shuttle 504 and / or the target pallet spreader 506.

[0119] This invention relates to a motion control system for an assembly line. It implements a system that, in response to a dispatch command for a shuttle, drives the shuttle to begin moving, wherein the shuttle's trajectory overlaps with the trajectory of a target pallet spreader. Within a preset range after the shuttle leaves its initial position, if a stop command is received for the shuttle, a motion control strategy corresponding to the target object (either the shuttle or the target pallet spreader) is applied to control the target object to a target motion state. By adjusting the target object to the target motion state upon receiving a stop command for the shuttle, the overlapping trajectories of the shuttle and the target pallet spreader are avoided, thus preventing collisions and improving production safety and efficiency in the assembly line.

[0120] Corresponding to the above method embodiments, the present invention also provides embodiments of motion control devices for assembly workshop production lines. Figure 6 A schematic diagram of a motion control device for an assembly line in an assembly workshop, according to an embodiment of the present invention, is shown. Figure 6As shown, the device includes:

[0121] The drive module 602 is configured to drive the shuttle to start moving in response to a dispatch command for the shuttle, wherein the movement trajectory of the shuttle overlaps with the movement trajectory of the target pallet spreader.

[0122] The control module 604 is configured to, within a preset range after the shuttle has left its initial position, if a stop command is received for the shuttle, then based on the stop command, adopt a motion control strategy corresponding to the target object to control the target object to a target motion state, wherein the target object is the shuttle and / or the target pallet spreader.

[0123] Optionally, the control module 604 is further configured to:

[0124] The preset travel range corresponding to the shuttle is determined based on the stop command;

[0125] The shuttle is controlled to stop within the preset travel range.

[0126] Optionally, the control module 604 is further configured to:

[0127] Based on the dispatch command, the target pallet spreader is driven to start moving;

[0128] Accordingly, when the target object is a target pallet spreader, based on the stop command, a motion control strategy corresponding to the target object is adopted to control the target object to the target motion state, including:

[0129] Based on the stop command, the target pallet spreader is controlled to stop.

[0130] Optionally, the control module 604 is further configured to:

[0131] Based on the dispatch command, the target pallet spreader is driven to start moving;

[0132] Accordingly, when the target object is a target pallet spreader, based on the stop command, a motion control strategy corresponding to the target object is adopted to control the target object to the target motion state, including:

[0133] Based on the stop command, a preset stop range corresponding to the target pallet spreader is determined;

[0134] Within the preset stop range, the target pallet spreader is controlled to a stop state.

[0135] Optionally, the control module 604 is further configured to:

[0136] Determine the distance the shuttle vehicle travels in the overlapping area;

[0137] Based on the travel distance and the travel speed of the shuttle, a preset stop interval corresponding to the target pallet spreader is determined.

[0138] Optionally, the device further includes a detection module configured to:

[0139] Detect the location of the shuttle vehicle;

[0140] Once the shuttle has moved away from the pre-collision location, the target pallet spreader is driven to begin moving.

[0141] Optionally, the device further includes a control module configured to:

[0142] The target pallet spreader is kept in a stopped state.

[0143] If no stop command is received for the shuttle within the preset range, the target pallet spreader will be driven to start moving.

[0144] This invention relates to a motion control device for an assembly line. In response to a dispatch command for a shuttle, the device drives the shuttle to begin moving, wherein the shuttle's trajectory overlaps with the trajectory of a target pallet spreader. Within a preset range after the shuttle leaves its initial position, if a stop command is received for the shuttle, a motion control strategy corresponding to the target object is adopted based on the stop command to control the target object to a target motion state. The target object is the shuttle and / or the target pallet spreader.

[0145] By adjusting the target object to the target motion state upon receiving a stop command for the shuttle, the overlapping areas of the shuttle's and the target pallet spreader's motion trajectories are avoided, thereby preventing collisions between the shuttle and the target pallet spreader and improving production safety and efficiency in the assembly workshop production line.

[0146] The above is a schematic scheme of a motion control device for an assembly workshop production line according to this embodiment. It should be noted that the technical solution of this motion control device for an assembly workshop production line and the technical solution of the motion control method for an assembly workshop production line described above belong to the same concept. For details not described in detail in the technical solution of the motion control device for an assembly workshop production line, please refer to the description of the technical solution of the motion control method for an assembly workshop production line described above.

[0147] Figure 7A structural block diagram of a computing device 700 according to an embodiment of the present invention is shown. The components of the computing device 700 include, but are not limited to, a memory 710 and a processor 720. The processor 720 is connected to the memory 710 via a bus 730, and a database 750 is used to store data.

[0148] The computing device 700 also includes an access device 740, which enables the computing device 700 to communicate via one or more networks 760. Examples of these networks include Public Switched Telephone Network (PSTN), Local Area Network (LAN), Wide Area Network (WAN), Personal Area Network (PAN), or combinations of communication networks such as the Internet. The access device 740 may include one or more of any type of wired or wireless network interface (e.g., a network interface card (NIC)), such as an IEEE 802.11 Wireless Local Area Network (WLAN) wireless interface, a Wi-MAX (Worldwide Interoperability for Microwave Access) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, or a Near Field Communication (NFC) interface.

[0149] In one embodiment of the present invention, the above-described components of the computing device 700 and Figure 7 Other components, not shown, can also be connected to each other, for example, via a bus. It should be understood that... Figure 7 The illustrated block diagram of the computing device is for illustrative purposes only and is not intended to limit the scope of the invention. Those skilled in the art can add or replace other components as needed.

[0150] The computing device 700 can be any type of stationary or mobile computing device, including mobile computers or mobile computing devices (e.g., tablet computers, personal digital assistants, laptop computers, notebook computers, netbooks, etc.), mobile phones (e.g., smartphones), wearable computing devices (e.g., smartwatches, smart glasses, etc.) or other types of mobile devices, or stationary computing devices such as desktop computers or personal computers (PCs). The computing device 700 can also be a mobile or stationary server.

[0151] The processor 720 is used to execute the following computer-executable instructions, which, when executed by the processor, implement the steps of the motion control method for the assembly workshop production line described above.

[0152] The above is a schematic representation of a computing device according to this embodiment. It should be noted that the technical solution of this computing device belongs to the same concept as the aforementioned motion control method for assembly line production lines. Details not described in detail in the technical solution of the computing device can be found in the description of the aforementioned motion control method for assembly line production lines.

[0153] An embodiment of the present invention also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the motion control method for an assembly workshop production line described above.

[0154] The above is an illustrative scheme of a computer-readable storage medium according to this embodiment. It should be noted that the technical solution of this storage medium belongs to the same concept as the technical solution of the motion control method for assembly line described above. For details not described in detail in the technical solution of the storage medium, please refer to the description of the technical solution of the motion control method for assembly line described above.

[0155] An embodiment of the present invention also provides a computer program, wherein when the computer program is executed in a computer, the computer is instructed to perform the steps of the motion control method for the assembly workshop production line described above.

[0156] The above is an illustrative scheme of a computer program according to this embodiment. It should be noted that the technical solution of this computer program belongs to the same concept as the technical solution of the motion control method for assembly workshop production lines described above. For details not described in detail in the technical solution of the computer program, please refer to the description of the technical solution of the motion control method for assembly workshop production lines described above.

[0157] The foregoing has described specific embodiments of the invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0158] The computer instructions include computer program code, which may be in the form of source code, object code, executable file, or certain intermediate forms. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium may be appropriately added or removed according to the requirements of patent practice. For example, in some regions, according to patent practice, computer-readable media may not include electrical carrier signals and telecommunication signals.

[0159] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the embodiments of the present invention.

[0160] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0161] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. The optional embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the embodiments of the present invention. These embodiments are selected and specifically described to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A motion control method for an assembly line, characterized in that, include: In response to a dispatch command for the shuttle, the shuttle is driven to start moving, wherein the movement trajectory of the shuttle overlaps with the movement trajectory of the target pallet spreader. Within a preset range after the shuttle car leaves its initial position, if a stop command is received for the shuttle car, then based on the stop command, a motion control strategy corresponding to the target object is adopted to control the target object to the target motion state, wherein the target object is the shuttle car and / or the target pallet spreader; When the target object is a shuttle, the preset travel range corresponding to the shuttle is determined based on the stop command, and the shuttle is controlled to stop within the preset travel range so that the shuttle stops after traveling out of the overlapping area.

2. The method as described in claim 1, characterized in that, After the shuttle car is started to move, the following is also included: Based on the dispatch command, the target pallet spreader is driven to start moving; Accordingly, when the target object is a target pallet spreader, based on the stop command, a motion control strategy corresponding to the target object is adopted to control the target object to the target motion state, including: Based on the stop command, the target pallet spreader is controlled to stop.

3. The method as described in claim 1, characterized in that, After the shuttle car is started to move, the following is also included: Based on the dispatch command, the target pallet spreader is driven to start moving; Accordingly, when the target object is a target pallet spreader, based on the stop command, a motion control strategy corresponding to the target object is adopted to control the target object to the target motion state, including: Based on the stop command, a preset stop range corresponding to the target pallet spreader is determined; Within the preset stop range, the target pallet spreader is controlled to a stop state.

4. The method as described in claim 3, characterized in that, Determining the preset stop range corresponding to the target pallet spreader includes: Determine the distance the shuttle vehicle travels in the overlapping area; Based on the travel distance and the travel speed of the shuttle, a preset stop interval corresponding to the target pallet spreader is determined.

5. The method according to any one of claims 2-4, characterized in that, After controlling the target pallet spreader to a stopped state, the method further includes: Detect the location of the shuttle vehicle; Once the shuttle has moved away from the pre-collision location, the target pallet spreader is driven to begin moving.

6. The method as described in claim 1, characterized in that, After the shuttle car is started to move, the following is also included: The target pallet spreader is kept in a stopped state. If no stop command is received for the shuttle within the preset range, the target pallet spreader will be driven to start moving.

7. A motion control device for an assembly line, characterized in that, include: The drive module is configured to drive the shuttle to start moving in response to a dispatch command for the shuttle, wherein the movement trajectory of the shuttle overlaps with the movement trajectory of the target pallet spreader. The control module is configured to, within a preset range after the shuttle has left its initial position, if a stop command is received for the shuttle, then based on the stop command, adopt a motion control strategy corresponding to the target object to control the target object to a target motion state, wherein the target object is the shuttle and / or the target pallet spreader; When the target object is a shuttle, the preset travel range corresponding to the shuttle is determined based on the stop command, and the shuttle is controlled to stop within the preset travel range so that the shuttle stops after traveling out of the overlapping area.

8. A computing device, characterized in that, include: Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions, which, when executed by the processor, implement the steps of the method according to any one of claims 1 to 6.

9. A motion control system for an assembly line, characterized in that, The motion control system includes a controller, a shuttle, and a target pallet spreader, wherein: The controller is configured to receive a dispatch command for the shuttle and send it to the shuttle, wherein the movement trajectory of the shuttle overlaps with the movement trajectory of the target pallet spreader. The shuttle is configured to begin moving in response to the dispatch command; The controller is further configured to, within a preset range after the shuttle has left its initial position, if a stop command is received for the shuttle, then based on the stop command, adopt a motion control strategy corresponding to the target object to control the target object to the target motion state, wherein the target object is the shuttle and / or the target pallet spreader; When the target object is a shuttle, the preset travel range corresponding to the shuttle is determined based on the stop command, and the shuttle is controlled to stop within the preset travel range so that the shuttle stops after traveling out of the overlapping area.

Images