Vehicle body welding method and device, computer device and storage medium

Abstract

The application relates to a vehicle body welding method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: determining a target material port and a target welding part according to a welding operation plan of a target vehicle body; identifying whether a part to be welded exists in the target material port; sending a part taking instruction to a transport robot corresponding to the target material port in the case that the part to be welded does not exist in the target material port; judging whether the type of the part to be welded is consistent with that of the target welding part after the transport robot corresponding to the target material port puts the part to be welded into the target material port; and controlling a welding robot corresponding to the target material port to weld the part to be welded on the target vehicle body in the case that the type of the part to be welded is consistent with that of the target welding part. The flexible material port in the application obtains parts of different vehicle models through a transport robot, and realizes welding of different vehicle models through switching of corresponding welding robots, thereby improving the flexibility level of a vehicle body welding station.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to a vehicle body welding method, apparatus, computer equipment, storage medium, and computer program product. Background Technology

[0002] To meet the ever-growing product demands of consumers, automakers are increasingly focusing on diversifying their product range. Unlike passenger vehicles, commercial vehicles, as means of production, require even greater product diversification and have a more urgent need for diverse vehicle models. Under the dual pressures of market competition and consumer demand, the process planning of welding production lines is gradually shifting towards higher flexibility and automation to meet evolving market needs. The body-in-white assembly station on the main welding line, as the core station of the welding line, is a crucial step in forming the overall body structure and plays a vital role in body-in-white production. However, during workshop planning, to reduce investment costs, different platform bodyworks often share the main welding line and main assembly station, which places higher demands on the flexibility of the main assembly station. Summary of the Invention

[0003] Therefore, it is necessary to provide a more flexible vehicle body welding method, apparatus, computer equipment, computer-readable storage medium, and computer program product to address the aforementioned technical problems.

[0004] Firstly, this application provides a vehicle body welding method. It utilizes a controller to control the operation of a vehicle body welding station system. The vehicle body welding station system includes a main assembly fixture, multiple material inlets, and a transport robot and a welding robot corresponding to each material inlet. The main assembly fixture is located directly above the vehicle body welding station, and the multiple material inlets are distributed around the perimeter of the vehicle body welding station. The method includes:

[0005] Obtain the welding operation plan for the target vehicle body, and determine the target material inlet and target welding parts based on the welding operation plan. The target material inlet is at least one of multiple material inlets, and the target vehicle body refers to the vehicle body to be welded within the welding area of ​​the vehicle body welding station.

[0006] The system identifies whether there is a part to be welded in the target material inlet. If there is no part to be welded in the target material inlet, it sends a pick-up command to the transport robot corresponding to the target material inlet.

[0007] After the transport robot corresponding to the target material port puts the part to be welded into the target material port, it is determined whether the type of the part to be welded is consistent with that of the target welding part.

[0008] When the type of the part to be welded is the same as that of the target part to be welded, the welding robot corresponding to the target material port is controlled to weld the part to be welded onto the target vehicle body.

[0009] In one embodiment, after sending the pickup instruction to the transport robot corresponding to the target material inlet, the method further includes:

[0010] Receives a material inlet entry request command from the transport robot; the material inlet entry request command is triggered by the transport robot after it obtains the part to be welded according to the part picking command;

[0011] The material port request command is authenticated. If the material port request command is authenticated, the transport robot corresponding to the target material port is controlled to put the part to be welded into the target material port.

[0012] In one embodiment, the method further includes:

[0013] Receive a material outlet departure request sent by the transport robot. The material outlet departure request includes the material outlet information that the material outlet is requested to leave.

[0014] Obtain the working status of the feed port corresponding to the feed port information, and determine whether to respond to the feed port departure request based on the working status of the feed port.

[0015] In one embodiment, the welding robot corresponding to the target feed port is controlled to weld the part to be welded onto the target vehicle body, including:

[0016] Based on the location of the target material inlet and the welding position of the target welding part, determine the welding path for the welding robot to transfer the part to be welded from the target material inlet to the welding position.

[0017] According to the welding path, the welding robot corresponding to the target material port is controlled to transfer the part to be welded and weld it onto the target vehicle body.

[0018] In one embodiment, the method further includes:

[0019] Upon receiving a welding completion instruction from the welding robot corresponding to the target material inlet, the welding robot corresponding to the target material inlet is controlled to move to the initial position according to the welding path.

[0020] In one embodiment, the method further includes:

[0021] Obtain the completed welding information corresponding to the target vehicle body, and determine whether the target vehicle body has been welded based on the completed welding information and the welding operation plan;

[0022] With the target car body already welded, obtain the current position of the welding robot corresponding to all material inlets;

[0023] If all welding robots are in the same current position as their initial position, move the target car body to the next station of the car body welding station.

[0024] Secondly, this application also provides a car body welding apparatus, applied to a controller. The controller is used to control the operation of a car body welding station system. The car body welding station system includes a main assembly fixture, multiple material inlets, and a transport robot and a welding robot corresponding to each material inlet. The main assembly fixture is located directly above the car body welding station, and the multiple material inlets are distributed around the car body welding station. The apparatus includes:

[0025] The data acquisition module is used to acquire the welding operation plan of the target body and determine the target material port and target welding parts based on the welding operation plan. The target material port is at least one of multiple material ports, and the target body refers to the body in the body welding station.

[0026] The material port recognition module is used to identify whether there is a part to be welded in the target material port. If there is no part to be welded in the target material port, a pick-up command is sent to the transport robot corresponding to the target material port.

[0027] The part judgment module is used to determine whether the type of the part to be welded is consistent with that of the target welding part after the transport robot corresponding to the target material port puts the part to be welded into the target material port.

[0028] The welding module is used to control the welding robot corresponding to the target material port to weld the part to be welded onto the target vehicle body when the type of the part to be welded is the same as that of the target part to be welded.

[0029] Thirdly, this application also provides a car body welding system, which includes a controller and a car body welding station system; wherein, the car body welding station system includes a main assembly fixture, multiple material inlets and a transport robot and a welding robot corresponding to each material inlet; the main assembly fixture is located directly above the car body welding station, and the multiple material inlets are distributed around the car body welding station.

[0030] The controller is used to control the operation of the car body welding station system, specifically for any step in the above-mentioned car body welding method.

[0031] In one embodiment, the vehicle body welding station system includes a first material inlet, a second material inlet, a third material inlet, a first robot mobile platform, a second robot mobile platform, a first welding robot, and a second welding robot;

[0032] The first material inlet is located on one side of the main assembly fixture, and the second material inlet is located on the other side of the main assembly fixture; the third material inlet is located in the direction of the previous process of the main assembly fixture; the first robot moving platform is located between the main assembly fixture and the first material inlet, and the first welding robot is installed on the first robot moving platform; the second robot moving platform is located between the main assembly fixture and the second material inlet, and the second welding robot is installed on the second robot moving platform.

[0033] Fourthly, 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:

[0034] Obtain the welding operation plan for the target vehicle body, and determine the target material inlet and target welding parts based on the welding operation plan. The target material inlet is at least one of multiple material inlets, and the target vehicle body refers to the vehicle body to be welded within the welding area of ​​the vehicle body welding station.

[0035] The system identifies whether there is a part to be welded in the target material inlet. If there is no part to be welded in the target material inlet, it sends a pick-up command to the transport robot corresponding to the target material inlet.

[0036] After the transport robot corresponding to the target material port puts the part to be welded into the target material port, it is determined whether the type of the part to be welded is consistent with that of the target welding part.

[0037] When the type of the part to be welded is the same as that of the target part to be welded, the welding robot corresponding to the target material port is controlled to weld the part to be welded onto the target vehicle body.

[0038] Fifthly, 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:

[0039] Obtain the welding operation plan for the target vehicle body, and determine the target material inlet and target welding parts based on the welding operation plan. The target material inlet is at least one of multiple material inlets, and the target vehicle body refers to the vehicle body to be welded within the welding area of ​​the vehicle body welding station.

[0040] The system identifies whether there is a part to be welded in the target material inlet. If there is no part to be welded in the target material inlet, it sends a pick-up command to the transport robot corresponding to the target material inlet.

[0041] After the transport robot corresponding to the target material port puts the part to be welded into the target material port, it is determined whether the type of the part to be welded is consistent with that of the target welding part.

[0042] When the type of the part to be welded is the same as that of the target part to be welded, the welding robot corresponding to the target material port is controlled to weld the part to be welded onto the target vehicle body.

[0043] Sixthly, 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:

[0044] Obtain the welding operation plan for the target vehicle body, and determine the target material inlet and target welding parts based on the welding operation plan. The target material inlet is at least one of multiple material inlets, and the target vehicle body refers to the vehicle body to be welded within the welding area of ​​the vehicle body welding station.

[0045] The system identifies whether there is a part to be welded in the target material inlet. If there is no part to be welded in the target material inlet, it sends a pick-up command to the transport robot corresponding to the target material inlet.

[0046] After the transport robot corresponding to the target material port puts the part to be welded into the target material port, it is determined whether the type of the part to be welded is consistent with that of the target welding part.

[0047] When the type of the part to be welded is the same as that of the target part to be welded, the welding robot corresponding to the target material port is controlled to weld the part to be welded onto the target vehicle body.

[0048] The aforementioned vehicle body welding method, apparatus, computer equipment, storage medium, and computer program products acquire a welding operation plan for the target vehicle body, determine the target material inlet and target welding part based on the welding operation plan, wherein the target material inlet is at least one of multiple material inlets, and the target vehicle body refers to the vehicle body to be welded within the welding area of ​​the vehicle body welding station; identify whether there is a part to be welded in the target material inlet, and if there is no part to be welded in the target material inlet, send a part-picking instruction to the transport robot corresponding to the target material inlet; after the transport robot corresponding to the target material inlet places the part to be welded into the target material inlet, determine whether the type of the part to be welded and the type of the target welding part are consistent; if the type of the part to be welded and the type of the target welding part are consistent, control the welding robot corresponding to the target material inlet to weld the part to be welded onto the target vehicle body. The flexible material inlet in this application acquires parts for different vehicle models through a transport robot, and achieves welding of different vehicle models by switching the corresponding welding robot to grasp them, thereby improving the flexibility of the vehicle body welding station. Attached Figure Description

[0049] Figure 1 This is a diagram illustrating the application environment of a vehicle body welding method in one embodiment;

[0050] Figure 2 This is a flowchart illustrating a vehicle body welding method in one embodiment;

[0051] Figure 3 This is a schematic diagram of the vehicle body welding station system in one embodiment;

[0052] Figure 4 This is a flowchart illustrating the vehicle body welding method in another embodiment;

[0053] Figure 5 This is a flowchart illustrating the vehicle body welding method in yet another embodiment;

[0054] Figure 6 This is a structural block diagram of the vehicle body welding device in one embodiment;

[0055] Figure 7 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0056] 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.

[0057] The vehicle body welding method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or located in the cloud or on other network servers. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, etc. Portable wearable devices can include smartwatches, smart bracelets, head-mounted devices, etc. Server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0058] In one embodiment, such as Figure 2 As shown, a car body welding method is provided, which is applied to... Figure 1 Taking the example of [example], this method applies to [example], [example]. Figure 3 The body welding station system shown includes a main assembly fixture 1, multiple material inlets (3, 4, 6, 8, 9), and a transport robot and welding robot 2 and 10 corresponding to each material inlet; the main assembly fixture 1 is located directly above the body welding station, and the multiple material inlets are distributed around the body welding station. Figure 3 The illustrated car body welding station system also includes robot mobile platforms 5 and 7, with welding robots 2 and 10 mounted on robot mobile platforms 5 and 7, respectively; the method includes:

[0059] Step 202: Obtain the welding operation plan for the target vehicle body. Determine the target material inlet and target welding parts based on the welding operation plan. The target material inlet is at least one of multiple material inlets. The target vehicle body refers to the vehicle body to be welded within the welding area of ​​the vehicle body welding station.

[0060] Here, "target body" refers to the body-in-white. "Welding operation plan" refers to the welding work plan list of the body welding station system, which includes information about the body to be welded and the parts to be welded to the body. "Target feed port" refers to the feed port required when welding the target body, and "target welding parts" refers to the parts included in the welding operation plan that need to be welded to the body-in-white.

[0061] Since the car body welding station system uses welding robots to weld the target car body, each part to be welded to the target car body needs to be placed in a position that the welding robot can grasp. This grasping position is the corresponding material inlet position of the welding robot. Generally, there are welding areas around the entire car body, therefore the car body welding station system includes multiple material inlets and corresponding welding robots. After the target car body (white body) is placed on the car body welding station, parts are retrieved from the material inlets around the target car body and welded by the corresponding welding robots. The welding operation plan for the target car body includes the target parts to be welded and their positions on the target car body.

[0062] Specifically, after placing the target vehicle body in the welding area of ​​the vehicle body welding station, the positional relationship between each material inlet and the target vehicle body is determined; then, based on the position of the target welding part on the target vehicle body in the welding operation plan, the corresponding target material inlet is determined. It can be understood that there is a positional correspondence between the target welding part and the target material inlet; that is, if the target welding part belongs to the right-side assembly of the target vehicle body, then the corresponding target material inlet is the material inlet on the right side of the target vehicle body.

[0063] Step 204: Identify whether there is a part to be welded in the target material port. If there is no part to be welded in the target material port, send a pick-up command to the transport robot corresponding to the target material port.

[0064] The part to be welded refers to the part in the feed inlet that has not yet been welded. It should be noted that the part to be welded is not necessarily the same as the target part to be welded; this needs to be determined. Therefore, after identifying the target feed inlet and the target part to be welded for the target vehicle body, and before the welding robot begins welding, RFID or other means are used to identify whether the part to be welded exists in the target feed inlet and whether it matches the target part to be welded. If the part to be welded is not in the target feed inlet, a pick-up command is sent to the corresponding transport robot, which then retrieves the target part to be welded. The transport robot can be an Automated Guided Vehicle (AGV).

[0065] It should be noted that the part retrieval instruction includes information about the target welding part to be acquired, such as part name, part type, and part parameters. In one embodiment, after the transport robot acquires a part to be welded that matches the information of the target welding part, it can identify and detect the acquired part to determine whether it has been acquired correctly. If it has been acquired correctly, the transport robot will transport the acquired part to be welded to the target material inlet.

[0066] Step 206: After the transport robot corresponding to the target material port puts the part to be welded into the target material port, determine whether the type of the part to be welded is consistent with that of the target welding part.

[0067] After acquiring the part to be welded, the transport robot, if permitted by the vehicle body welding station system, places the part to be welded into the target material inlet. The vehicle body welding station system then uses RFID and other methods to verify whether the type of the part to be welded matches the target part. Specifically, the system can determine the type of the part to be welded by using information such as the part type, part number, and part name of the target part.

[0068] Step 208: If the type of the part to be welded is the same as that of the target part to be welded, control the welding robot corresponding to the target material port to weld the part to be welded onto the target vehicle body.

[0069] When the part to be welded in the target material inlet is consistent with the type of the target welding part, it means that the part to be welded in the target material inlet conforms to the welding operation plan of the target body and needs to be welded at the position of the target body corresponding to the target material inlet. For example, if it is a part in the right assembly of the target body, then the welding robot needs to be controlled to obtain the part to be welded from the target material inlet corresponding to the right assembly of the target body and weld it to the target body.

[0070] In the method provided in the above embodiments, a welding operation plan for the target vehicle body is obtained; a target material inlet and a target welding part are determined according to the welding operation plan; the target material inlet is at least one of multiple material inlets; the target vehicle body refers to the vehicle body to be welded within the welding area of ​​the vehicle body welding station; it is identified whether a part to be welded exists in the target material inlet; if no part to be welded exists in the target material inlet, a part-picking instruction is sent to the transport robot corresponding to the target material inlet; after the transport robot corresponding to the target material inlet places the part to be welded into the target material inlet, it is determined whether the type of the part to be welded and the type of the target welding part are consistent; if the type of the part to be welded and the type of the target welding part are consistent, the welding robot corresponding to the target material inlet is controlled to weld the part to be welded onto the target vehicle body. The flexible material inlet in this application obtains parts for different vehicle models through a transport robot, and welding of different vehicle models is achieved by switching the corresponding welding robot to grasp them, thus improving the flexibility of the vehicle body welding station.

[0071] In one embodiment, such as Figure 4 As shown, after sending the pickup instruction to the transport robot corresponding to the target material inlet, the process also includes:

[0072] Step 402: Receive the material inlet entry request instruction sent by the transport robot; the material inlet entry request instruction is triggered by the transport robot after it obtains the part to be welded according to the part picking instruction;

[0073] Step 404: Verify the material port request command. If the material port request command is verified, control the transport robot corresponding to the target material port to put the part to be welded into the target material port.

[0074] The material inlet entry request instruction is sent by the transport robot. Specifically, for a target material inlet, its corresponding transport robot, upon receiving the pick-up instruction, will leave the target material inlet to retrieve the part to be welded. Theoretically, the transport robot corresponding to the target material inlet will return to the target material inlet after retrieving the part to be welded. However, to ensure the accuracy of the part to be welded, the transport robot needs to receive a material inlet entry request instruction from the target material inlet before entering the target material inlet. This is to verify the identity based on the material inlet entry request instruction and prevent the transport robot at material inlet A from transporting the part to be welded to material inlet B.

[0075] Specifically, there is a corresponding relationship between the material inlet and its corresponding transport robot. For example, the correspondence is determined by binding the target material inlet number with the transport robot number. Furthermore, it should be noted that one material inlet may correspond to multiple transport robots. Therefore, after the first transport robot retrieves the part to be welded and then re-enters the material inlet, the material inlet can detect whether it has received a material inlet entry request command from the first transport robot to determine the return time of the first transport robot. This allows it to determine whether other transport robots are present in the material inlet at that return time, thus avoiding conflicts between the work of multiple transport robots.

[0076] In the method provided in the above embodiments, the identity verification of the transport robot requesting to enter the material inlet is performed to avoid welding disorder caused by incorrect part transportation and to improve the efficiency of car body welding.

[0077] In one embodiment, the method further includes:

[0078] Receive a material outlet departure request sent by the transport robot. The material outlet departure request includes the material outlet information that the material outlet is requested to leave.

[0079] Obtain the working status of the feed port corresponding to the feed port information, and determine whether to respond to the feed port departure request based on the working status of the feed port.

[0080] The "Pack Departure Request" refers to the request triggered by the transport robot when it intends to leave the corresponding slot, including information about the request to leave the slot. The "Slot Working Status" refers to whether the slot needs to acquire welding parts. When the slot needs parts to be welded, it indicates that the slot is in operation and the transport robot needs to acquire the parts for welding. In this case, if a "Pack Departure Request" is received from the transport robot, the robot can respond to the request, thus agreeing to allow the transport robot to leave the slot. If the slot has sufficient parts to be welded, the slot does not need to acquire any parts. In this case, if a "Pack Departure Request" is received from the transport robot, the robot will not respond to the request.

[0081] In the method provided in the above embodiments, it is determined whether the transport robot is allowed to leave based on the working status of the material inlet, so as to avoid the impact of the departure of the transport robot on the welding work when there are no parts to be welded, and to ensure the normal operation of the body welding.

[0082] In one embodiment, such as Figure 5 As shown, the welding robot corresponding to the target material inlet welds the parts to be welded onto the target vehicle body, including:

[0083] Step 502: Based on the location of the target material inlet and the welding position of the target welding part, determine the welding path for the welding robot to transfer the part to be welded from the target material inlet to the welding position.

[0084] Step 504: According to the welding path, control the welding robot corresponding to the target material port to transfer the part to be welded and weld it onto the target vehicle body.

[0085] The location of the target material inlet is fixed and can be determined based on the distribution of various parts in the vehicle body welding station system. The welding position of the target welding part refers to the welding position of the part on the target vehicle body. It should be noted that the location of the target material inlet and the welding position of the target welding part in this application are determined in the same coordinate system, that is, the position is determined relative to the same reference point. In some embodiments, if this condition is not met, a position coordinate transformation is required before proceeding to the next step.

[0086] After determining the location of the target material inlet and the welding position of the target welding part, the welding path for the welding robot to transfer the welding part from the target material inlet to the welding position can be determined according to the path planning algorithm. Then, the welding robot is controlled to transfer the welding part to the welding position on the target vehicle body according to this welding path and perform welding.

[0087] The method provided in the above embodiments improves the movement and welding efficiency of the welding robot through path planning.

[0088] In one embodiment, the method further includes:

[0089] Upon receiving a welding completion instruction from the welding robot corresponding to the target material inlet, the welding robot corresponding to the target material inlet is controlled to move to the initial position according to the welding path.

[0090] When the welding robot receives a welding completion command from the target material inlet, it indicates that the welding robot has completed the welding task for the part to be welded. To improve the management efficiency of the welding robot, it needs to be moved back to its initial position after each welding task. The initial position can be the location of the target material inlet, in which case the welding robot can directly return according to the aforementioned welding path; or it can be an initial position determined based on the location of the target material inlet, in which case a new path to return to the initial position needs to be determined based on the aforementioned welding path, and then the welding robot is controlled to return.

[0091] In the method provided in the above embodiments, after the welding robot completes each welding task, the welding robot is controlled to return to the initial position according to the welding path, which improves the management efficiency of the welding robot, avoids management chaos of the welding robot, and thus improves welding efficiency.

[0092] In one embodiment, the method further includes:

[0093] Obtain the completed welding information corresponding to the target vehicle body, and determine whether the target vehicle body has been welded based on the completed welding information and the welding operation plan;

[0094] With the target car body already welded, obtain the current position of the welding robot corresponding to all material inlets;

[0095] If all welding robots are in the same current position as their initial position, move the target car body to the next station of the car body welding station.

[0096] The completed welding information is generated based on the welding completion status of the parts to be welded. The completed welding information corresponding to the target body is determined by the parts that have been welded on the target body. The presence of completed welding information for all target welding parts in the welding operation plan of the target body indicates that the target body has completed all welding tasks.

[0097] Since the welding robot returns to its initial position after each welding operation, when the target car body is in a state of completed welding, it is necessary to determine whether all welding robots in the car body welding station system have returned to their corresponding initial positions. This avoids situations where the target car body is considered complete based on completed welding information, even when the welding robots are still welding. Therefore, the current position of each welding robot is obtained, and the target car body is only moved to the next welding station only when the current positions of all welding robots are the same as their initial positions.

[0098] In the method provided in the above embodiments, the welding completion status of the target car body is judged by combining the completed welding information and the current position of each welding robot, thereby improving the safety of car body welding.

[0099] In one embodiment, a car body welding system is provided, the system including a controller and a car body welding station system; wherein, the car body welding station system includes a main assembly fixture, multiple material inlets, and a transport robot and a welding robot corresponding to each material inlet; the main assembly fixture is located directly above the car body welding station, and the multiple material inlets are distributed around the car body welding station.

[0100] The controller is used to control the operation of the car body welding station system, specifically for any step in the aforementioned car body welding method.

[0101] In the aforementioned vehicle body welding system, the vehicle body welding station system includes a first material inlet, a second material inlet, a third material inlet, a first robot moving platform, a second robot moving platform, a first welding robot, and a second welding robot.

[0102] The first material inlet is located on one side of the main assembly fixture, and the second material inlet is located on the other side of the main assembly fixture; the third material inlet is located in the direction of the previous process of the main assembly fixture; the first robot moving platform is located between the main assembly fixture and the first material inlet, and the first welding robot is installed on the first robot moving platform; the second robot moving platform is located between the main assembly fixture and the second material inlet, and the second welding robot is installed on the second robot moving platform.

[0103] It should be understood that although the steps in the flowcharts of the above embodiments 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 above embodiments 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.

[0104] Based on the same inventive concept, this application also provides a vehicle body welding apparatus for implementing the vehicle body welding method described above. The solution provided by this apparatus is similar to the solution described in the above method; therefore, the specific limitations in one or more vehicle body welding apparatus embodiments provided below can be found in the limitations of the vehicle body welding method described above, and will not be repeated here.

[0105] In one embodiment, such as Figure 6 As shown, a car body welding device is provided, which is applied to a controller. The controller is used to control the operation of a car body welding station system. The car body welding station system includes a main assembly fixture, multiple material inlets, and a transport robot and a welding robot corresponding to each material inlet. The main assembly fixture is located directly above the car body welding station, and the multiple material inlets are distributed around the car body welding station. The device includes a data acquisition module 601, a material inlet recognition module 602, a part judgment module 603, and a welding module 604, wherein:

[0106] The data acquisition module 601 is used to acquire the welding operation plan of the target car body, and determine the target material port and target welding parts according to the welding operation plan. The target material port is at least one of multiple material ports, and the target car body refers to the car body in the car body welding station.

[0107] The material port recognition module 602 is used to identify whether there is a part to be welded in the target material port. If there is no part to be welded in the target material port, a pick-up command is sent to the transport robot corresponding to the target material port.

[0108] The part judgment module 603 is used to determine whether the type of the part to be welded is consistent with that of the target welding part after the transport robot corresponding to the target material port puts the part to be welded into the target material port.

[0109] Welding module 604 is used to control the welding robot corresponding to the target material port to weld the part to be welded onto the target vehicle body when the part to be welded and the target part to be welded are of the same type.

[0110] Each module in the aforementioned vehicle body welding device 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.

[0111] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 7 As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. 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 and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a vehicle body welding method. The display screen can be an LCD screen or an e-ink display screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0112] Those skilled in the art will understand that Figure 7 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.

[0113] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0114] Obtain the welding operation plan for the target vehicle body, and determine the target material inlet and target welding parts based on the welding operation plan. The target material inlet is at least one of multiple material inlets, and the target vehicle body refers to the vehicle body to be welded within the welding area of ​​the vehicle body welding station.

[0115] The system identifies whether there is a part to be welded in the target material inlet. If there is no part to be welded in the target material inlet, it sends a pick-up command to the transport robot corresponding to the target material inlet.

[0116] After the transport robot corresponding to the target material port puts the part to be welded into the target material port, it is determined whether the type of the part to be welded is consistent with that of the target welding part.

[0117] When the type of the part to be welded is the same as that of the target part to be welded, the welding robot corresponding to the target material port is controlled to weld the part to be welded onto the target vehicle body.

[0118] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0119] Receives a material inlet entry request command from the transport robot; the material inlet entry request command is triggered by the transport robot after it obtains the part to be welded according to the part picking command;

[0120] The material port request command is authenticated. If the material port request command is authenticated, the transport robot corresponding to the target material port is controlled to put the part to be welded into the target material port.

[0121] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0122] Receive a material outlet departure request sent by the transport robot. The material outlet departure request includes the material outlet information that the material outlet is requested to leave.

[0123] Obtain the working status of the feed port corresponding to the feed port information, and determine whether to respond to the feed port departure request based on the working status of the feed port.

[0124] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0125] Based on the location of the target material inlet and the welding position of the target welding part, determine the welding path for the welding robot to transfer the part to be welded from the target material inlet to the welding position.

[0126] According to the welding path, the welding robot corresponding to the target material port is controlled to transfer the part to be welded and weld it onto the target vehicle body.

[0127] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0128] Upon receiving a welding completion instruction from the welding robot corresponding to the target material inlet, the welding robot corresponding to the target material inlet is controlled to move to the initial position according to the welding path.

[0129] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0130] Obtain the completed welding information corresponding to the target vehicle body, and determine whether the target vehicle body has been welded based on the completed welding information and the welding operation plan;

[0131] With the target car body already welded, obtain the current position of the welding robot corresponding to all material inlets;

[0132] If all welding robots are in the same current position as their initial position, move the target car body to the next station of the car body welding station.

[0133] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0134] Obtain the welding operation plan for the target vehicle body, and determine the target material inlet and target welding parts based on the welding operation plan. The target material inlet is at least one of multiple material inlets, and the target vehicle body refers to the vehicle body to be welded within the welding area of ​​the vehicle body welding station.

[0135] The system identifies whether there is a part to be welded in the target material inlet. If there is no part to be welded in the target material inlet, it sends a pick-up command to the transport robot corresponding to the target material inlet.

[0136] After the transport robot corresponding to the target material port puts the part to be welded into the target material port, it is determined whether the type of the part to be welded is consistent with that of the target welding part.

[0137] When the type of the part to be welded is the same as that of the target part to be welded, the welding robot corresponding to the target material port is controlled to weld the part to be welded onto the target vehicle body.

[0138] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0139] Receives a material inlet entry request command from the transport robot; the material inlet entry request command is triggered by the transport robot after it obtains the part to be welded according to the part picking command;

[0140] The material port request command is authenticated. If the material port request command is authenticated, the transport robot corresponding to the target material port is controlled to put the part to be welded into the target material port.

[0141] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0142] Receive a material outlet departure request sent by the transport robot. The material outlet departure request includes the material outlet information that the material outlet is requested to leave.

[0143] Obtain the working status of the feed port corresponding to the feed port information, and determine whether to respond to the feed port departure request based on the working status of the feed port.

[0144] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0145] Based on the location of the target material inlet and the welding position of the target welding part, determine the welding path for the welding robot to transfer the part to be welded from the target material inlet to the welding position.

[0146] According to the welding path, the welding robot corresponding to the target material port is controlled to transfer the part to be welded and weld it onto the target vehicle body.

[0147] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0148] Upon receiving a welding completion instruction from the welding robot corresponding to the target material inlet, the welding robot corresponding to the target material inlet is controlled to move to the initial position according to the welding path.

[0149] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0150] Obtain the completed welding information corresponding to the target vehicle body, and determine whether the target vehicle body has been welded based on the completed welding information and the welding operation plan;

[0151] With the target car body already welded, obtain the current position of the welding robot corresponding to all material inlets;

[0152] If all welding robots are in the same current position as their initial position, move the target car body to the next station of the car body welding station.

[0153] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0154] Obtain the welding operation plan for the target vehicle body, and determine the target material inlet and target welding parts based on the welding operation plan. The target material inlet is at least one of multiple material inlets, and the target vehicle body refers to the vehicle body to be welded within the welding area of ​​the vehicle body welding station.

[0155] The system identifies whether there is a part to be welded in the target material inlet. If there is no part to be welded in the target material inlet, it sends a pick-up command to the transport robot corresponding to the target material inlet.

[0156] After the transport robot corresponding to the target material port puts the part to be welded into the target material port, it is determined whether the type of the part to be welded is consistent with that of the target welding part.

[0157] When the type of the part to be welded is the same as that of the target part to be welded, the welding robot corresponding to the target material port is controlled to weld the part to be welded onto the target vehicle body.

[0158] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0159] Receives a material inlet entry request command from the transport robot; the material inlet entry request command is triggered by the transport robot after it obtains the part to be welded according to the part picking command;

[0160] The material port request command is authenticated. If the material port request command is authenticated, the transport robot corresponding to the target material port is controlled to put the part to be welded into the target material port.

[0161] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0162] Receive a material outlet departure request sent by the transport robot. The material outlet departure request includes the material outlet information that the material outlet is requested to leave.

[0163] Obtain the working status of the feed port corresponding to the feed port information, and determine whether to respond to the feed port departure request based on the working status of the feed port.

[0164] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0165] Based on the location of the target material inlet and the welding position of the target welding part, determine the welding path for the welding robot to transfer the part to be welded from the target material inlet to the welding position.

[0166] According to the welding path, the welding robot corresponding to the target material port is controlled to transfer the part to be welded and weld it onto the target vehicle body.

[0167] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0168] Upon receiving a welding completion instruction from the welding robot corresponding to the target material inlet, the welding robot corresponding to the target material inlet is controlled to move to the initial position according to the welding path.

[0169] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0170] Obtain the completed welding information corresponding to the target vehicle body, and determine whether the target vehicle body has been welded based on the completed welding information and the welding operation plan;

[0171] With the target car body already welded, obtain the current position of the welding robot corresponding to all material inlets;

[0172] If all welding robots are in the same current position as their initial position, move the target car body to the next station of the car body welding station.

[0173] 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.

[0174] Those skilled in the art will understand that all or part of the processes in the methods of 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 of the above methods. 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), graphene memory, 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, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0175] 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.

[0176] 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 welding a car body, characterized in that, The controller is used to control the operation of the car body welding station system, which includes a main assembly fixture, multiple material inlets, and a transport robot and a welding robot corresponding to each material inlet. The main assembly fixture is located directly above the vehicle body welding station, and the multiple material inlets are distributed around the vehicle body welding station; the method includes: Obtain the welding operation plan for the target vehicle body, and determine the target material inlet and target welding parts according to the welding operation plan. The target material inlet is at least one of the plurality of material inlets, and the target vehicle body refers to the vehicle body to be welded in the welding area of ​​the vehicle body welding station. The system identifies whether there is a part to be welded in the target material port. If there is no part to be welded in the target material port, a pick-up instruction is sent to the transport robot corresponding to the target material port. The pick-up instruction includes at least one of the following information: part name, part type, and part parameters of the target welding part. Receive a material inlet entry request instruction sent by the transport robot; the material inlet entry request instruction is triggered by the transport robot after it obtains the part to be welded according to the part retrieval instruction; The material port request command is authenticated. If the material port request command is authenticated, the transport robot corresponding to the target material port is controlled to put the part to be welded into the target material port. After the transport robot corresponding to the target material inlet places the part to be welded into the target material inlet, it is determined whether the type of the part to be welded is consistent with that of the target welding part; When the part to be welded is of the same type as the target part to be welded, the welding robot corresponding to the target material port is controlled to weld the part to be welded onto the target vehicle body.

2. The method according to claim 1, characterized in that, The method further includes: Receive a material outlet departure request sent by the transport robot, wherein the material outlet departure request includes material outlet information requesting departure; Obtain the working status of the feed port corresponding to the feed port information, and determine whether to respond to the feed port departure request based on the working status of the feed port.

3. The method according to claim 1, characterized in that, The process of controlling the welding robot corresponding to the target material inlet to weld the part to be welded onto the target vehicle body includes: Based on the location of the target material inlet and the welding position of the target welding part, determine the welding path for the welding robot corresponding to the target material inlet to transfer the welding part from the target material inlet to the welding position. According to the welding path, the welding robot corresponding to the target material port is controlled to transfer the part to be welded and weld it to the target vehicle body.

4. The method according to claim 3, characterized in that, The method further includes: Upon receiving a welding completion command from the welding robot corresponding to the target material inlet, the welding robot corresponding to the target material inlet is controlled to move to the initial position according to the welding path.

5. The method according to claim 4, characterized in that, The initial position is the position of the target material inlet corresponding to the welding robot, or the position determined based on the position of the target material inlet.

6. The method according to claim 4, characterized in that, The method further includes: Obtain the completed welding information corresponding to the target vehicle body, and determine whether the target vehicle body has been welded based on the completed welding information and the welding operation plan; With the target vehicle body already welded, obtain the current position of the welding robot corresponding to all material inlets; If all welding robots are in the same current position as their initial position, move the target car body to the next station of the car body welding station.

7. A vehicle body welding system, the system comprising a controller and a vehicle body welding station system; wherein, The vehicle body welding station system includes a main assembly fixture, multiple material inlets, and a transport robot and a welding robot corresponding to each material inlet; the main assembly fixture is located directly above the vehicle body welding station, and the multiple material inlets are distributed around the vehicle body welding station; The controller is used to control the operation of the vehicle body welding station system, specifically to perform the method steps of any one of claims 1-6.

8. The system according to claim 7, characterized in that, The vehicle body welding station system includes a first material inlet, a second material inlet, a third material inlet, a first robot mobile platform, a second robot mobile platform, a first welding robot, and a second welding robot; Wherein, the first material inlet is located on one side of the main assembly fixture, and the second material inlet is located on the other side of the main assembly fixture; the third material inlet is located in the previous process direction of the main assembly fixture; the first robot moving platform is located between the main assembly fixture and the first material inlet, and the first welding robot is mounted on the first robot moving platform; the second robot moving platform is located between the main assembly fixture and the second material inlet, and the second welding robot is mounted on the second robot moving platform.

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 6.

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 6.

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