Mobile workbench control method and device, computer device and storage medium

Abstract

The application relates to a mobile workbench control method and device, computer equipment and a storage medium. The method is applied to a data processing center in a vehicle frame assembly system, and the vehicle frame assembly system further comprises at least one mobile workbench used for fixing a vehicle frame part to be assembled. The method comprises the following steps: obtaining specification information of a vehicle frame to be assembled, obtaining relative position parameters between the mobile workbenches according to the specification information, then obtaining actual positions of the mobile workbenches, and finally controlling the mobile workbenches to move to corresponding target positions according to the actual positions of the mobile workbenches and the relative position parameters. According to the method, the relevant working parameters of the mobile workbenches can be automatically adjusted according to different models of vehicle frames to be assembled, and the applicability of vehicle frame assembly is improved.

Description

Technical Field

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

[0002] In MTC chassis, MTC stands for Module To Chassis, meaning that the chassis is composed of battery modules. The battery system is located in the center of the chassis. Therefore, the front and rear chassis sections are initially separate. It is necessary to ensure the accuracy of the overall dimensional relationship between the front and rear chassis sections while positioning the longitudinal beams of the front and rear chassis sections.

[0003] When assembling MTC chassis for commercial vehicles, the three-section structure necessitates precise positioning of the front and rear chassis before assembly. This ensures that dimensions and tolerances, including the spacing and parallelism of the left and right longitudinal beams, the parallelism between the front and rear chassis, and the distance between the front and rear chassis, meet the drawing requirements. Normal positioning and assembly methods require complex positioning fixtures, which are not only difficult to install but also cannot be quickly adapted to chassis of different sizes, failing to meet the flexible assembly demands of modern industrial production.

[0004] The current chassis assembly system has poor applicability. Summary of the Invention

[0005] Therefore, it is necessary to provide a mobile workbench control method, device, computer equipment, computer-readable storage medium, and computer program product that can improve the applicability of chassis assembly, in order to address the above-mentioned technical problems.

[0006] In a first aspect, this application provides a mobile workbench control method applied to a data processing center in a vehicle frame assembly system. The vehicle frame assembly system further includes at least one mobile workbench, which is used to fix the vehicle frame components to be assembled. The method includes:

[0007] Obtain the specifications of the chassis to be assembled, and based on the specifications, obtain the relative position parameters between each moving worktable;

[0008] Obtain the actual position of each moving workbench;

[0009] Based on the actual and relative positions of each moving worktable, control each moving worktable to move to its corresponding target position.

[0010] In one embodiment, obtaining the specification information of the frame to be assembled includes:

[0011] Obtain the frame width, parallelism, flatness, and diagonal of the frame to be assembled;

[0012] Based on the frame width, parallelism, flatness, and diagonal, determine the outer width of the longitudinal beams, the diagonal dimensions of the longitudinal beams, and the location information of the positioning points on the longitudinal beams of the frame to be assembled, as the specification information.

[0013] In one embodiment, the relative position parameters between each mobile worktable are obtained based on specification information, including:

[0014] Based on the outer width of the longitudinal beam, determine the lateral distance between the first set of worktables between the first and second moving worktables, and the lateral distance between the second set of worktables between the third and fourth moving worktables.

[0015] Determine the lateral distance and longitudinal distance between the front and rear longitudinal beams based on the diagonal dimensions of the longitudinal beams;

[0016] Based on the location information of the positioning points on the longitudinal beam, determine the distance from the positioning point to the end face of the frame, the distance from the positioning point to the end face, the distance from the positioning point to the lower wing surface, and the distance from the lower wing surface to the ground;

[0017] The lateral distance of the first set of workbenches, the lateral distance of the second set of workbenches, the lateral distance of the front and rear longitudinal beams, the longitudinal distance of the front and rear longitudinal beams, the distance from the positioning point to the end face of the frame, the distance from the positioning point to the end face, the distance from the positioning point to the lower wing surface, and the distance from the lower wing surface to the ground are used as relative position parameters.

[0018] In one embodiment, the chassis assembly system further includes an optical three-dimensional measuring device for measuring the actual position of each moving workbench and transmitting the data to a data processing center.

[0019] In one embodiment, controlling each mobile worktable to move to a corresponding target position based on the actual and relative position parameters of each mobile worktable includes:

[0020] Identify a reference stage in at least one movable stage;

[0021] The target positions of each moving worktable are obtained based on the relative position parameters and the actual position of the reference worktable; the target position of the reference worktable is determined based on the actual position of the reference worktable.

[0022] Based on the actual position and target position of each mobile workstation, obtain the movement path of each mobile workstation.

[0023] Based on the movement path of each mobile worktable, control each mobile worktable to move to the corresponding target position.

[0024] In one embodiment, each movable worktable is provided with a positioning device and a clamping device, and the method further includes:

[0025] Obtain assembly instructions; assembly instructions include assembly status information of the chassis to be assembled;

[0026] Identify assembly status information from assembly instructions, and determine the next assembly step for the chassis to be assembled based on the assembly status information.

[0027] Adjust the positioning and clamping devices of each moving worktable according to the next assembly step.

[0028] Secondly, this application also provides a mobile workbench control device, applied to a data processing center in a chassis assembly system. The chassis assembly system further includes at least one mobile workbench, which is used to fix the chassis components to be assembled. The device includes:

[0029] The acquisition module is used to acquire the specification information of the chassis to be assembled, and based on the specification information, to acquire the relative position parameters between each moving worktable;

[0030] The positioning module is used to obtain the actual position of each moving workbench;

[0031] The control module is used to control each mobile worktable to move to the corresponding target position based on the actual position and relative position parameters of each mobile worktable.

[0032] Thirdly, this application also provides a computer device, 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:

[0033] Obtain the specifications of the chassis to be assembled, and based on the specifications, obtain the relative position parameters between each moving worktable;

[0034] Obtain the actual position of each moving workbench;

[0035] Based on the actual and relative positions of each moving worktable, control each moving worktable to move to its corresponding target position.

[0036] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0037] Obtain the specifications of the chassis to be assembled, and based on the specifications, obtain the relative position parameters between each moving worktable;

[0038] Obtain the actual position of each moving workbench;

[0039] Based on the actual and relative positions of each moving worktable, control each moving worktable to move to its corresponding target position.

[0040] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0041] Obtain the specifications of the chassis to be assembled, and based on the specifications, obtain the relative position parameters between each moving worktable;

[0042] Obtain the actual position of each moving workbench;

[0043] Based on the actual and relative positions of each moving worktable, control each moving worktable to move to its corresponding target position.

[0044] The aforementioned mobile workbench control method, device, computer equipment, storage medium, and computer program product are applied to the data processing center of a chassis assembly system. The chassis assembly system also includes at least one mobile workbench for fixing the chassis components to be assembled. By acquiring the specification information of the chassis to be assembled, and based on this information, the relative position parameters between the mobile workbenches are obtained; then, the actual position of each mobile workbench is acquired; finally, based on the actual position and relative position parameters of each mobile workbench, the system controls each mobile workbench to move to its corresponding target position. This allows for automatic adjustment of the relevant working parameters of the mobile workbench for different models of chassis to be assembled, improving the applicability of chassis assembly. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a diagram illustrating the application environment of a mobile workbench control method in one embodiment.

[0047] Figure 2 This is a flowchart illustrating a mobile workbench control method in one embodiment;

[0048] Figure 3 This is a schematic diagram illustrating the working principle of the system in one embodiment;

[0049] Figure 4 This is a schematic diagram of the mobile worktable structure in one embodiment;

[0050] Figure 5 This is a schematic diagram showing system size information in one embodiment;

[0051] Figure 6 This is a schematic diagram of the vehicle frame assembly state in one embodiment;

[0052] Figure 7 This is a schematic diagram of the second assembly state of the vehicle frame in one embodiment;

[0053] Figure 8 This is a schematic diagram of the vehicle frame assembly state two from another perspective in one embodiment;

[0054] Figure 9 This is a schematic diagram of the three assembly states of the vehicle frame in one embodiment;

[0055] Figure 10 This is a structural block diagram of a mobile worktable control device in one embodiment;

[0056] Figure 11 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0057] 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.

[0058] The mobile workbench control method provided in this application embodiment can be applied to, for example... Figure 1In 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 placed on a cloud or other network server. Terminal 102 includes a data input center and a data processing center, and communicates with optical 3D measurement equipment and at least one mobile workbench. Each mobile workbench is equipped with a positioning device and a clamping device for fixing the frame components to be assembled. The main data sources for the data input center consist of two parts: dimensional information of MTC frames of different specifications and positional information of the frame under actual working conditions obtained through optical 3D measurement data. These data are sent together to the data processing center, which performs real-time matching of the two parts of data to match the positional relationship between the longitudinal beams under actual working conditions with the theoretical frame dimensional information, calculating the path that the mobile workbench needs to move. The mobile positioning platform consists of a mobile base, a positioning device, and a clamping device. After the mobile workbench clamps the frame, both move together under the control of commands sent by the data processing center to reach the designated target position. The 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, and smart in-vehicle systems. Portable wearable devices can include smartwatches, smart bracelets, and head-mounted devices. The server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0059] In one exemplary embodiment, such as Figure 2 As shown, a mobile workbench control method is provided, which is applied to... Figure 1 Taking terminal 102 as an example, the explanation includes the following steps 202 to 206.

[0060] in:

[0061] Step 202: Obtain the specification information of the chassis to be assembled, and obtain the relative position parameters between each moving workbench based on the specification information.

[0062] Optionally, the data input center obtains the frame width, parallelism, flatness, and diagonal of the frame to be assembled; based on the frame width, parallelism, flatness, and diagonal, it determines the outer width dimension of the longitudinal beam, the diagonal dimension of the longitudinal beam, and the position information of the positioning points on the longitudinal beam, and transmits them to the data processing center as specification information.

[0063] Furthermore, taking four movable workbenches as an example, the data processing center determines the X-axis distance between the first and second movable workbenches and the second movable workbench, as well as the X-axis distance between the third and fourth movable workbenches, based on the outer width dimensions of the longitudinal beams. Based on the diagonal dimensions of the longitudinal beams, the center determines the X-axis distance and Y-axis distance between the front and rear longitudinal beam sections. Based on the location information of the positioning points on the longitudinal beams, the center determines the distances from the positioning points to the end face of the frame, the end face, the lower wing surface, and the ground. These distances are used as relative position parameters.

[0064] Step 204: Obtain the actual position of each moving workbench.

[0065] Optionally, the optical 3D measuring equipment measures the actual position of each moving worktable and transmits it to the data processing center, which then receives the actual position of each moving worktable.

[0066] Step 206: Based on the actual and relative position parameters of each moving worktable, control each moving worktable to move to the corresponding target position.

[0067] Optionally, the data processing center determines a reference workstation among at least one mobile workstation; obtains the target position of each mobile workstation based on the relative position parameters and the actual position of the reference workstation; the target position of the reference workstation is determined based on the actual position of the reference workstation; obtains the movement path of each mobile workstation based on the actual position and the target position of each mobile workstation; and controls each mobile workstation to move to the corresponding target position based on the movement path of each mobile workstation.

[0068] Furthermore, the data processing center obtains assembly instructions; the assembly instructions include the assembly status information of the chassis to be assembled; the assembly status information is identified from the assembly instructions, and the next assembly step of the chassis to be assembled is determined based on the assembly status information; according to the next assembly step, the positioning devices and clamping devices of each moving worktable are adjusted.

[0069] In the aforementioned mobile workbench control method, the data processing center of the chassis assembly system is used. The chassis assembly system also includes at least one mobile workbench, which is used to fix the chassis components to be assembled. By acquiring the specification information of the chassis to be assembled, the relative position parameters between each mobile workbench are obtained based on the specification information; then, the actual position of each mobile workbench is obtained; finally, based on the actual position and relative position parameters of each mobile workbench, each mobile workbench is controlled to move to its corresponding target position. This method can automatically adjust the relevant working parameters of the mobile workbench for different models of chassis to be assembled, improving the applicability of chassis assembly.

[0070] In one embodiment, a mobile workbench control method includes:

[0071] Obtain the frame width, parallelism, flatness, and diagonal of the frame to be assembled; based on the frame width, parallelism, flatness, and diagonal, determine the outer width dimension of the longitudinal beam, the diagonal dimension of the longitudinal beam, and the position information of the positioning points on the longitudinal beam, as the specification information.

[0072] Based on the outer width of the longitudinal beam, determine the lateral distance between the first set of worktables and the second set of worktables, as well as the lateral distance between the third and fourth sets of worktables. Based on the diagonal dimensions of the longitudinal beam, determine the lateral distance between the front and rear longitudinal beam sections and the longitudinal distance between the front and rear longitudinal beam sections. Based on the location information of the positioning points on the longitudinal beam, determine the distances from the positioning points to the end face of the frame, the positioning points to the end face, the positioning points to the lower wing surface, and the lower wing surface to the ground. Use the lateral distances of the first set of worktables, the lateral distances of the second set of worktables, the lateral distances between the front and rear longitudinal beam sections, the longitudinal distances between the front and rear longitudinal beam sections, the distances from the positioning points to the end face of the frame, the positioning points to the end face, the positioning points to the lower wing surface, and the lower wing surface to the ground as relative position parameters.

[0073] The actual position of each moving worktable is measured using optical three-dimensional measuring equipment to obtain the actual position of each moving worktable.

[0074] Identify a reference worktable among at least one movable worktable; obtain the target position of each movable worktable based on the relative position parameters and the actual position of the reference worktable; determine the target position of the reference worktable based on its actual position; obtain the movement path of each movable worktable based on its actual position and target position; and control each movable worktable to move to its corresponding target position based on its movement path.

[0075] Obtain assembly instructions; assembly instructions include assembly status information of the chassis to be assembled; identify assembly status information from assembly instructions, determine the next assembly step of the chassis to be assembled based on the assembly status information; adjust the positioning and clamping devices of each moving worktable according to the next assembly step.

[0076] In one exemplary embodiment, a method is provided as follows: Figure 3 The MTC chassis flexible assembly system shown automates chassis positioning during the chassis assembly process, ensuring the accuracy of key chassis dimensions and assisting assemblers in chassis assembly. Its application scenarios include chassis assembly in commercial vehicle production lines and the prototyping process of commercial vehicles with various chassis size types. It can be used, but is not limited to, MTC chassis assembly; the system can also be used for positioning in ordinary chassis assembly. The system includes a data input center, a data processing center, and optical 3D measuring equipment. Data transmission between the data input center, data processing center, and optical 3D measuring equipment is achieved via wired connection. Data transmission between the data processing center and the mobile workbench is achieved via wired or wireless connection depending on the work scenario. The structure of the mobile workbench is as follows. Figure 4 As shown.

[0077] The basic parameters that need to be guaranteed for the assembly of the frame include frame width (distance between the outer web surfaces of the left and right longitudinal beams of the frame), parallelism (the difference in distance between the two sets of symmetrical holes on the left and right sides of the longitudinal beams is within the specified range), flatness (parallelism of the upper flange surfaces of the left and right longitudinal beams of the frame), and diagonal (the difference in diagonal distance between the two sets of symmetrical holes on the front and rear sides of the left and right longitudinal beams is within the specified range).

[0078] Based on the above basic parameters, the feasibility of the positioning method is confirmed. From the structure of the moving worktable, it can be seen that a two-sided, one-pin positioning method is used between the moving worktable and the frame longitudinal beam. An XYZ three-dimensional coordinate system is established for the entire assembly system. The two positioning surfaces are the web surface (YZ surface) of the frame longitudinal beam and the flange surface (XY surface) of the frame longitudinal beam. Therefore, when the XY and YZ surfaces of the moving worktable are fully engaged with the frame longitudinal beam, the parallelism and flatness of the frame assembly can be guaranteed. Analyzing the frame width, the frame width is the distance between the YZ surfaces of the moving worktables; therefore, ensuring the distance between the moving worktables guarantees the frame width. Analyzing the diagonal dimensions of the frame, based on the symmetrical nature of the frame and the requirement that the diagonal lengths be the same, it can be seen that the dimensional relationship between the front and rear frame sections can form an isosceles trapezoid. Therefore, it is only necessary to ensure that the two dimensions between longitudinal beams L1 and L3 and the two dimensions between longitudinal beams L2 and L4 (the X-direction distance A2 between the front and rear longitudinal beams and the Y-direction distance B2 between the front and rear longitudinal beams) are basically the same to ensure that the diagonal dimensions of the frame remain consistent.

[0079] The main dimensional information that needs to be entered into the data input center initially is the outer width of the longitudinal beam, the diagonal dimension of the longitudinal beam, and the position information of the positioning points on the longitudinal beam.

[0080] The above data is sent to the data processing center for processing, such as... Figure 5 As shown, the outer width dimensions of the frame longitudinal beams are converted into X-direction distances A1 and A3 between the moving worktables T1T2 and T3T4. The diagonal dimensions of the frame longitudinal beams are converted into X-direction distances A2 and Y-direction distances B2 between the front and rear longitudinal beams. The position information of the positioning points on the frame longitudinal beams is converted into distances B1 from the positioning point to the end face of the frame, B3 from the positioning point to the end face, C1 from the positioning point to the lower wing surface, and C2 from the lower wing surface to the ground.

[0081] Simultaneously, the optical 3D measuring equipment measures the position of the moving worktable and sends its current position information to the data processing center. The data processing center matches the dimensional information input from the data input center with the moving worktable position information from the optical 3D measuring equipment to calculate the moving path of the moving base of the moving worktable to the frame assembly position and the required lifting height of the positioning pin. The data processing center sends the calculation results to the moving worktable, which uses the T1 worktable as its positioning reference. Other worktables move according to the calculated path. After moving to the designated position, the lifting system of the moving worktable lifts the positioning pin and the lower wing limit plate to the designated position based on the data sent by the data processing center.

[0082] After the mobile workbench reaches its fixed position, the data processing center temporarily stops sending commands. The assembler hoists the longitudinal beams onto the mobile workbench. At this point, the positioning pins on the mobile workbench are not extended. First, the longitudinal beams are hoisted onto the lower flange limiting plate, ensuring the lower flange of the longitudinal beam aligns with the limiting plate. Then, the position is adjusted so that the outer web surface of the longitudinal beam aligns with the YZ surface of the mobile workbench. Finally, the positioning holes of the frame longitudinal beams are aligned with the electric positioning pin holes of the mobile workbench. The data processing center is then restarted, sending commands to the mobile workbench. The electric positioning pins extend and insert into the positioning holes of the longitudinal beams, completing pin positioning. The clamping robotic arm then activates, clamping the longitudinal beams and the mobile workbench, eliminating the gap between the YZ surfaces of the longitudinal beams and the workbench, thus completing the fixation of the longitudinal beams.

[0083] After the longitudinal beams are fixed, the chassis reaches assembly state one, such as... Figure 6 As shown. Then, the assembler assembles the crossbeams based on the existing frame state, and the frame reaches assembly state two, as shown. Figure 7 and Figure 8 As shown, Figure 7 and Figure 8 These represent assembly state two from different perspectives. Finally, the assembly of the middle system is performed to achieve assembly state three, as shown below. Figure 9 As shown, this completes the assembly of the entire chassis.

[0084] It should be noted that currently, the longitudinal beams of the chassis need to be hoisted to the mobile workbench. A chassis longitudinal beam transport device can be added later and integrated into the entire system to interface with the mobile workbench. At present, the assembly system focuses on chassis positioning and auxiliary assembly. In the future, mobile workbenches with other functions can be added to assist in assembly, achieving complete chassis assembly.

[0085] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0086] Based on the same inventive concept, this application also provides a mobile worktable control device for implementing the mobile worktable control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the mobile worktable control device provided below can be found in the limitations of the mobile worktable control method described above, and will not be repeated here.

[0087] In one exemplary embodiment, such as Figure 10 As shown, a mobile workbench control device 1000 is provided, applied to the data processing center of a vehicle frame assembly system. The vehicle frame assembly system also includes at least one mobile workbench for fixing the vehicle frame components to be assembled. The device includes: an acquisition module 1001, a positioning module 1002, and a control module 1003, wherein:

[0088] The acquisition module 1001 is used to acquire the specification information of the frame to be assembled, and to acquire the relative position parameters between each moving workbench based on the specification information.

[0089] Positioning module 1002 is used to obtain the actual position of each moving workbench;

[0090] The control module 1003 is used to control each mobile worktable to move to the corresponding target position based on the actual position and relative position parameters of each mobile worktable.

[0091] In one embodiment, the acquisition module 1001 is further configured to acquire the frame width, parallelism, flatness, and diagonal of the frame to be assembled; and based on the frame width, parallelism, flatness, and diagonal, determine the outer width dimension of the longitudinal beam, the diagonal dimension of the longitudinal beam, and the position information of the positioning points on the longitudinal beam of the frame to be assembled, as specification information.

[0092] In one embodiment, the acquisition module 1001 is further configured to determine, based on the outer width dimension of the longitudinal beam, the lateral distance between the first set of worktables between the first and second movable worktables, and the lateral distance between the third and fourth movable worktables between the second set of worktables; based on the diagonal dimension of the longitudinal beam, determine the lateral distance between the front and rear longitudinal beams and the longitudinal distance between the front and rear longitudinal beams; based on the location information of the positioning points on the longitudinal beam, determine the distance from the positioning point to the end face of the frame, the distance from the positioning point to the end face, the distance from the positioning point to the lower wing surface, and the distance from the lower wing surface to the ground; and use the lateral distance of the first set of worktables, the lateral distance of the second set of worktables, the lateral distance between the front and rear longitudinal beams, the longitudinal distance between the front and rear longitudinal beams, the distance from the positioning point to the end face of the frame, the distance from the positioning point to the end face, the distance from the positioning point to the lower wing surface, and the distance from the lower wing surface to the ground as relative position parameters.

[0093] In one embodiment, the chassis assembly system further includes an optical three-dimensional measuring device for measuring the actual position of each moving workbench and transmitting the data to the positioning module 1002.

[0094] In one embodiment, the control module 1003 is further configured to determine a reference worktable among at least one mobile worktable; obtain the target position of each mobile worktable based on relative position parameters and the actual position of the reference worktable; determine the target position of the reference worktable based on the actual position of the reference worktable; obtain the movement path of each mobile worktable based on the actual position and the target position of each mobile worktable; and control each mobile worktable to move to the corresponding target position based on the movement path of each mobile worktable.

[0095] In one embodiment, each movable workbench is equipped with a positioning device and a clamping device, and the control module 1003 is also used to acquire assembly instructions; the assembly instructions include assembly status information of the frame to be assembled; the assembly status information is identified from the assembly instructions, and the next assembly step of the frame to be assembled is determined according to the assembly status information; the positioning device and clamping device of each movable workbench are adjusted according to the next assembly step.

[0096] Each module in the aforementioned mobile workbench control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0097] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 11 As shown, this computer device includes a processor, memory, input / output interfaces (I / O), and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores mobile workstation position data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements a mobile workstation control method.

[0098] Those skilled in the art will understand that Figure 11 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.

[0099] In one exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: obtaining specification information of the frame to be assembled; obtaining relative position parameters between each mobile workbench based on the specification information; obtaining the actual position of each mobile workbench; and controlling each mobile workbench to move to a corresponding target position based on the actual position and relative position parameters of each mobile workbench.

[0100] In one embodiment, when the processor executes the computer program, it further performs the following steps: obtaining the frame width, parallelism, flatness, and diagonal of the frame to be assembled; and determining the outer width dimension of the longitudinal beam, the diagonal dimension of the longitudinal beam, and the position information of the positioning points on the longitudinal beam of the frame to be assembled, based on the frame width, parallelism, flatness, and diagonal, as specification information.

[0101] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining the lateral distance between the first set of worktables and the second set of worktables, and the lateral distance between the third set of worktables and the fourth set of worktables, based on the outer width dimension of the longitudinal beam; determining the lateral distance between the front and rear longitudinal beam sections and the longitudinal distance between the front and rear longitudinal beam sections, based on the diagonal dimension of the longitudinal beam; determining the distance from the positioning point to the end face of the frame, the distance from the positioning point to the end face, the distance from the positioning point to the lower wing surface, and the distance from the lower wing surface to the ground, based on the positioning point position information on the longitudinal beam; and using the lateral distance of the first set of worktables, the lateral distance of the second set of worktables, the lateral distance between the front and rear longitudinal beam sections, the longitudinal distance between the front and rear longitudinal beam sections, the distance from the positioning point to the end face of the frame, the distance from the positioning point to the end face, the distance from the positioning point to the lower wing surface, and the distance from the lower wing surface to the ground as relative position parameters.

[0102] In one embodiment, when the processor executes the computer program, it also performs the following steps: measuring the actual position of each moving worktable using an optical three-dimensional measuring device.

[0103] In one embodiment, when the processor executes the computer program, it further performs the following steps: determining a reference workstation among at least one mobile workstation; obtaining a target position for each mobile workstation based on relative position parameters and the actual position of the reference workstation; determining the target position of the reference workstation based on the actual position of the reference workstation; obtaining a movement path for each mobile workstation based on the actual position and the target position of each mobile workstation; and controlling each mobile workstation to move to the corresponding target position based on the movement path of each mobile workstation.

[0104] In one embodiment, when the processor executes the computer program, it further performs the following steps: obtaining assembly instructions; the assembly instructions include assembly status information of the frame to be assembled; identifying the assembly status information from the assembly instructions, and determining the next assembly step of the frame to be assembled based on the assembly status information; and adjusting the positioning devices and clamping devices of each moving worktable according to the next assembly step.

[0105] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon. When the computer program is executed by a processor, it performs the following steps: obtaining specification information of the chassis to be assembled; obtaining relative position parameters between each mobile workbench based on the specification information; obtaining the actual position of each mobile workbench; and controlling each mobile workbench to move to a corresponding target position based on the actual position and relative position parameters of each mobile workbench.

[0106] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining the frame width, parallelism, flatness, and diagonal of the frame to be assembled; and determining the outer width dimension of the longitudinal beam, the diagonal dimension of the longitudinal beam, and the position information of the positioning points on the longitudinal beam of the frame to be assembled, as specification information, based on the frame width, parallelism, flatness, and diagonal.

[0107] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the lateral distance between the first set of worktables and the second set of worktables, and the lateral distance between the third set of worktables and the fourth set of worktables, based on the outer width dimension of the longitudinal beam; determining the lateral distance between the front and rear longitudinal beam sections and the longitudinal distance between the front and rear longitudinal beam sections, based on the diagonal dimension of the longitudinal beam; determining the distance from the positioning point to the end face of the frame, the distance from the positioning point to the end face, the distance from the positioning point to the lower wing surface, and the distance from the lower wing surface to the ground, based on the positioning point position information on the longitudinal beam; and using the lateral distance of the first set of worktables, the lateral distance of the second set of worktables, the lateral distance between the front and rear longitudinal beam sections, the longitudinal distance between the front and rear longitudinal beam sections, the distance from the positioning point to the end face of the frame, the distance from the positioning point to the end face, the distance from the positioning point to the lower wing surface, and the distance from the lower wing surface to the ground as relative position parameters.

[0108] In one embodiment, when the computer program is executed by the processor, it also performs the following steps: measuring the actual position of each moving worktable using an optical three-dimensional measuring device.

[0109] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining a reference workstation among at least one mobile workstation; obtaining a target position for each mobile workstation based on relative position parameters and the actual position of the reference workstation; determining the target position of the reference workstation based on the actual position of the reference workstation; obtaining a movement path for each mobile workstation based on the actual position and the target position of each mobile workstation; and controlling each mobile workstation to move to the corresponding target position based on the movement path of each mobile workstation.

[0110] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining assembly instructions; the assembly instructions include assembly status information of the frame to be assembled; identifying the assembly status information from the assembly instructions, and determining the next assembly step of the frame to be assembled based on the assembly status information; and adjusting the positioning devices and clamping devices of each moving worktable according to the next assembly step.

[0111] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps: obtaining specification information of the chassis to be assembled; obtaining relative position parameters between each mobile workbench based on the specification information; obtaining the actual position of each mobile workbench; and controlling each mobile workbench to move to a corresponding target position based on the actual position and relative position parameters of each mobile workbench.

[0112] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining the frame width, parallelism, flatness, and diagonal of the frame to be assembled; and determining the outer width dimension of the longitudinal beam, the diagonal dimension of the longitudinal beam, and the position information of the positioning points on the longitudinal beam of the frame to be assembled, as specification information, based on the frame width, parallelism, flatness, and diagonal.

[0113] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining the lateral distance between the first set of worktables and the second set of worktables, and the lateral distance between the third set of worktables and the fourth set of worktables, based on the outer width dimension of the longitudinal beam; determining the lateral distance between the front and rear longitudinal beam sections and the longitudinal distance between the front and rear longitudinal beam sections, based on the diagonal dimension of the longitudinal beam; determining the distance from the positioning point to the end face of the frame, the distance from the positioning point to the end face, the distance from the positioning point to the lower wing surface, and the distance from the lower wing surface to the ground, based on the positioning point position information on the longitudinal beam; and using the lateral distance of the first set of worktables, the lateral distance of the second set of worktables, the lateral distance between the front and rear longitudinal beam sections, the longitudinal distance between the front and rear longitudinal beam sections, the distance from the positioning point to the end face of the frame, the distance from the positioning point to the end face, the distance from the positioning point to the lower wing surface, and the distance from the lower wing surface to the ground as relative position parameters.

[0114] In one embodiment, when the computer program is executed by the processor, it also performs the following steps: measuring the actual position of each moving worktable using an optical three-dimensional measuring device.

[0115] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining a reference workstation among at least one mobile workstation; obtaining a target position for each mobile workstation based on relative position parameters and the actual position of the reference workstation; determining the target position of the reference workstation based on the actual position of the reference workstation; obtaining a movement path for each mobile workstation based on the actual position and the target position of each mobile workstation; and controlling each mobile workstation to move to the corresponding target position based on the movement path of each mobile workstation.

[0116] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining assembly instructions; the assembly instructions include assembly status information of the frame to be assembled; identifying the assembly status information from the assembly instructions, and determining the next assembly step of the frame to be assembled based on the assembly status information; and adjusting the positioning devices and clamping devices of each moving worktable according to the next assembly step.

[0117] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0118] 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.

[0119] 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.

[0120] 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 controlling a mobile workbench, characterized in that, A data processing center applied to a chassis assembly system, the chassis assembly system further comprising at least one movable worktable for fixing chassis components to be assembled, the method comprising: Obtain the specification information of the chassis to be assembled, and based on the specification information, obtain the relative position parameters between each moving workbench; Obtain the actual position of each moving workbench; Based on the actual position of each mobile worktable and the relative position parameters, control each mobile worktable to move to the corresponding target position; The vehicle frame assembly system also includes an optical three-dimensional measuring device, which is used to measure the actual position of each moving workbench and transmit the data to the data processing center.

2. The method according to claim 1, characterized in that, The process of obtaining the specification information of the chassis to be assembled includes: Obtain the frame width, parallelism, flatness, and diagonal of the frame to be assembled; Based on the frame width, parallelism, flatness, and diagonal, the outer width of the longitudinal beam, the diagonal dimension of the longitudinal beam, and the position information of the positioning points on the longitudinal beam of the frame to be assembled are determined as the specification information.

3. The method according to claim 2, characterized in that, The step of obtaining the relative position parameters between each mobile workbench based on the specification information includes: Based on the outer width of the longitudinal beam, determine the first set of lateral distances between the first and second movable worktables, and the second set of lateral distances between the third and fourth movable worktables. Based on the diagonal dimensions of the longitudinal beam, determine the lateral distance between the front and rear longitudinal beam sections and the longitudinal distance between the front and rear longitudinal beam sections; Based on the location information of the positioning points on the longitudinal beam, determine the distance from the positioning point to the end face of the frame, the distance from the positioning point to the end face, the distance from the positioning point to the lower wing surface, and the distance from the lower wing surface to the ground; The lateral distance of the first set of workbenches, the lateral distance of the second set of workbenches, the lateral distance of the front and rear longitudinal beams, the longitudinal distance of the front and rear longitudinal beams, the distance from the positioning point to the end face of the frame, the distance from the positioning point to the end face, the distance from the positioning point to the lower wing surface, and the distance from the lower wing surface to the ground are used as the relative position parameters.

4. The method according to claim 1, characterized in that, The step of controlling each mobile worktable to move to its corresponding target position based on its actual position and the relative position parameters includes: Identify a reference stage in at least one movable stage; The target positions of each moving worktable are obtained based on the relative position parameters and the actual position of the reference worktable; the target positions of the reference worktables are determined based on the actual positions of the reference worktables. Based on the actual position and target position of each mobile workstation, obtain the movement path of each mobile workstation. Based on the movement path of each mobile worktable, control each mobile worktable to move to the corresponding target position.

5. The method according to claim 1, characterized in that, Each movable worktable is equipped with a positioning device and a clamping device, and the method further includes: Obtain assembly instructions; the assembly instructions include the assembly status information of the frame to be assembled; The assembly status information is identified from the assembly instructions, and the next assembly step for the frame to be assembled is determined based on the assembly status information. According to the next assembly step, adjust the positioning and clamping devices of each moving worktable.

6. A mobile workbench control device, characterized in that, A data processing center applied to a chassis assembly system, the chassis assembly system further comprising at least one movable worktable for fixing chassis components to be assembled, the device comprising: The acquisition module is used to acquire the specification information of the chassis to be assembled, and to acquire the relative position parameters between each moving workbench based on the specification information. The positioning module is used to obtain the actual position of each moving workbench; The control module is used to control each mobile worktable to move to the corresponding target position based on the actual position of each mobile worktable and the relative position parameters. The vehicle frame assembly system also includes an optical three-dimensional measuring device, which is used to measure the actual position of each moving workbench and transmit the data to the positioning module.

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

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

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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