A method, system and device for preventing interference from occurring in a transport carriage inspection

Abstract

The application discloses a transport bracket point inspection method, system and device for preventing interference and a medium, and relates to the technical field of transport bracket detection. A transmission system consistent with the AP transmission part and structure is made, and the bracket interference points and the workpiece stacking positions are adjusted offline in the initial stage. After adjustment, online confirmation and fine adjustment are performed to meet the conditions for production linkage. The application can implement the steps of online confirmation and adjustment offline, reduces the adjustment time and abnormal state online, and all product bracket daily point inspection can be taken to the TS machine for accuracy confirmation. In this way, the mechanical precision deviation of the bracket during long-time use can be protected, problems can be found in time to prevent interference and damage to the bracket and equipment parts. The online adjustment time can be greatly compressed to offline, without affecting the production time, and the high-load production capacity can be ensured.

Description

Technical Field

[0001] This invention belongs to the field of transport tray inspection technology, and particularly relates to a transport tray inspection method, system and device to prevent interference during online production. Background Technology

[0002] Currently, there are adjustment issues with the brackets on the C0 automated production line (remanufacturing and component replacement). If this is not confirmed after deployment, interference problems may occur. Furthermore, the brackets are part of the downstream automated transmission section of the C0 line and play a crucial role in equipment operation. The precise matching of the lifting brackets and the conveyor trolley brackets is extremely important. Long-term use of the lifting brackets and conveyor trolley brackets can cause mechanical precision deviations, leading to interference during production.

[0003] Based on the above analysis, the problems and shortcomings of the existing technology are as follows:

[0004] (1) The bracket precision adjustment needs to be carried out online, which takes a long time and will cause long downtime. Due to the large production load of the C0 line, the production task cannot be completed.

[0005] (2) There is no precision benchmark for bracket inspection. If the replacement of parts cannot be confirmed offline, precision problems and bracket damage and replacement problems must be confirmed online. Precision adjustment and confirmation cannot be performed offline, which affects the continuity of the production line and production tasks. Summary of the Invention

[0006] To overcome the problems existing in related technologies, a method, system, and device for inspecting transport trays to prevent interference are provided. Specifically, it relates to a tray adjustment TS machine.

[0007] The technical solution is as follows: According to a first aspect of the disclosed embodiments of the present invention, a method for inspecting transport trays to prevent interference during online production is provided, comprising:

[0008] Methods for inspecting transport trays to prevent interference during online production include: using the lifting tray of the production line AP transmission system to pick up finished parts transported by the press; using the transport trolley tray of the production line AP transmission system to pick up finished parts transported by the lifting machine and transfer them; and adjusting the interference points that occur during the picking process of the lifting tray and the transport trolley tray offline, so that the finished parts are transported from the lifting machine to the transport trolley tray for coordinated production.

[0009] In this invention, finished parts are placed on the bracket, and up and down movements are performed to check for interference. The bracket position is initially adjusted to meet the conditions for production linkage. The special effect of offline equipment is that the bracket can be adjusted offline to confirm the placement position of the parts and the interference position between the elevator and the transport trolley bracket. If the adjustment is performed offline, it will save a lot of time before going online. The initial placement accuracy and conveying accuracy of the bracket are confirmed to facilitate the rapid restoration of production continuity.

[0010] In one embodiment, the offline adjustment of interference points occurring during the receiving process of the elevator bracket and the transport trolley bracket includes:

[0011] Step 1: Establish a hybrid communication network by combining the elevator bracket receiving information and the transport trolley bracket receiving information. The overall process set for both the elevator bracket and transport trolley bracket receiving is defined as follows: The same resources are reused in different positions during the pickup process of the lifting platform bracket and the transport trolley bracket. Different transport trolley bracket pickup information within the overall pickup process uses orthogonal resources. A set of D2D communication links that reuse the same resources within the overall pickup process of the lifting platform bracket and the transport trolley bracket is defined as... Let the set of all information using the same resources and the set of D2D communication links in the entire communication system be respectively denoted as and Where D is the sum of the number of all D2D links using the same resources, and M is the number of interference points configured in the j-th access state. [j] The number of interference points configured for the k-th reception state is N. [k] and Strong and weak interferences coexist in the network. In the process of interference alignment, some weaker interferences are ignored. A receiving state is used as the central control interference point to obtain the global received channel state information CSIR. The receiving information of the transport trolley bracket and the D2D transmission interference point obtain the transmission channel state information CSIT of the useful channel. The D2D and information hybrid network is modeled as a partially connected interference channel.

[0012] Step two, the topology matrix T represents the global connectivity state of the network as follows:

[0013] T = [t] [kj] ],and

[0014] MIMO channel H [kk] Decomposed into There are 1 parallel and independent SISO channels, among which The number of interference points at the transmitting end. Or M [k] The number of interference points at the receiver, channel H[kk] The singular value decomposition is as follows:

[0015]

[0016] in, and It is a unitary matrix;

[0017]

[0018]

[0019] for The singular values;

[0020] For H [kk] rank;

[0021] The MIMO channel is equivalent to multiple SISO channels through singular value decomposition.

[0022] Step 3: Suppose there are n interference alignment sets in the system, where the set of all transmitted interference points in the i-th alignment set is denoted as . The corresponding set of receiving interference points that generate interference is denoted as The transmitted signals of all interference points in the i-th alignment set are aligned along the interference alignment matrix. Alignment, V i IA Satisfy ||V i IA || = 1, all V i IA The i = 1, ..., n pairs are mutually independent; if the MIMO system topology satisfies the condition of obtaining the maximum degree of freedom of 0.5, i.e., no internal conflicts, then its equivalent SISO system can still guarantee IA feasibility and each SISO link can obtain the maximum degree of freedom of 0.5; and for any user pair k, equivalent The equivalent transmission interference points of each SISO link must belong to the same alignment set and use the same interference alignment transmission matrix;

[0023] Step 4: The sent interference point k belongs to the set of sent interference points. Right now Then the corresponding receiving interference point k must belong to the set of receiving interference points. And m≠i, let the set of receiving interference points affected by interference from transmitting interference point k be denoted as The set of transmitting interference points that interfere with the receiving interference point k is denoted as... The signal received by the l-th SISO link at interference point k is:

[0024]

[0025] in, For the equivalent k-th user to the l-th SISO link channel coefficient, This represents the transmission signal from the k-th user to the l-th SISO link. V represents the signal transmitted by the j-th user to the s-th SISO link. i IA and Align the precoding matrix with interference for network topology. This represents the equivalent interference channel coefficient between the j-th user and the s-th SISO link, and between the k-th user and the l-th SISO link. This represents the noise received by the k-th user on the l-th SISO link after the equivalent signal.

[0026] Step 5: Use the interference alignment decoding matrix to receive interference point k. To perform signal estimation in order to recover the useful signal:

[0027]

[0028] Step six, based on the objective of aligning the precoding matrix according to topological interference, is to maximize the minimum rate, thus obtaining... It is a variable related to the number of aligned sets n, denoted as Using C n replace Establish the following sum and rate maximization problem:

[0029] (P1)

[0030] st(1)

[0031] (2)

[0032] in Let the interference point vector be... The network topology matrix, and This is the equivalent channel gain. This is the equivalent noise interference point;

[0033] Step 7: Solve the two subproblems of topological matrix and interference point optimization in sequence to obtain the solution to optimization problem P1, and construct the topological matrix with the maximum degree of freedom.

[0034] Step eight, the interference point optimization problem becomes:

[0035] (P2)

[0036]

[0037] Rewrite the objective function of optimization problem P2 in convex-convex form:

[0038]

[0039] in,

[0040]

[0041] A first-order Taylor expansion of g(P) approximates it as a linear function, and the objective function is approximated as a convex function. An iterative approach yields a stable solution to the optimization problem (2). In the i-th iteration, the approximate convex function is:

[0042]

[0043] in, Let g(P) be a first-order Taylor expansion approximation function, expressed as:

[0044]

[0045] Step 9: One access state serves as the central control interference point. Different access states are connected by a low-latency backhaul link. Through information exchange between access states, the central control interference point can obtain the global CSIR. The transmitting interference point only knows its own useful channel information. The transmitting interference point stores a pre-calculated interference alignment precoding matrix.

[0046] Step seven, which constructs the topology matrix with the maximum degrees of freedom based on the interference influence factor, is performed as follows:

[0047] (1) Initialization: [λ [kj] ] = 0, Where λ [kj] Defined as the interference impact factor, its expression is:

[0048]

[0049] It represents the increase in rate that can be obtained at the receiving interference point k after the interference from the sending interference point j to the receiving interference point k is removed; topology matrix Represents network connectivity; the set of sending interference points in any alignment set is initialized to an empty set: The corresponding set of receiving interference points affected by this interference is initialized to an empty set: n is the number of alignment sets, and m is the number of iterations;

[0050] (2) and and If t [kj] =0, update λ [kj] If t [kj] =1,λ [kj] =0;

[0051] (3) Select λ [kj] The largest interference link is denoted as Will send interference points Add to collection middle: Will receive the interference point Add to collection middle: Place Return to step (2) and update λ [kj] ,exist Okay, select the second interference link and denote it as... Will send interference points Add to collection middle: Place

[0052] (4) Repeat steps (2) and (3) until m = n;

[0053] (5) For the remaining transmission interference points and By solving Select the sending interference point j * Assign it to the mth * In the alignment set: And at the same time, ensure that the number of interference points sent meets the condition. in, int(·) is the integer rounding operation, g n =D+L-2(n-2)-g1, set Return (2);

[0054] (6) Repeat steps (2) and (5) until all interference points are assigned to n alignment sets;

[0055] (7) For the remaining receiving interference points and Assign the alignment set n in the following manner * :if The size of the set is g1, denoted as Then there is otherwise in For all sending interference points Place Receiving interference point k * Add to collection middle: Until all receiving interference points have been allocated.

[0056] In one embodiment, the placement of finished parts is adjusted simultaneously when the interference point is adjusted offline;

[0057] After adjusting the interference points and the placement of finished parts offline, the process is confirmed and further adjusted online to meet the conditions for production linkage.

[0058] The production line AP transmission system uses TS machines.

[0059] Another object of the present invention is to provide a transport tray inspection and control system to prevent interference during online production, comprising:

[0060] TS machine is used for initial offline adjustments to bracket interference points and part stacking positions.

[0061] The online server connects to the TS machine and is used to receive information from the TS machine regarding the initial adjustments made to the bracket interference points and the placement of parts offline. It then confirms and compares the information, and sends any outliers back to the TS machine.

[0062] In one embodiment, the transport tray inspection and control system for preventing interference during online production further includes:

[0063] The communication module, mounted on the TS machine, is used to transmit information between the TS machine and the online server.

[0064] The TS machine includes: a lifting platform for receiving finished parts transported by the press;

[0065] The conveying trolley bracket is used to receive and transport finished parts transported by the elevator.

[0066] The TS machine also includes:

[0067] The bracket initial adjustment module is used for initial offline adjustments to the bracket interference points and the placement of parts.

[0068] The bracket fine-tuning module is used to execute fine-tuning commands for the bracket issued by the online server;

[0069] An actuator is used to execute control commands from the bracket initial adjustment module and the bracket fine-tuning module to the bracket.

[0070] According to a third aspect of the embodiments disclosed in this invention, a lifting platform bracket device is provided, which implements the transport bracket inspection method for preventing interference during online production.

[0071] According to a fourth aspect of the embodiments disclosed in this invention, a transport trolley bracket device is provided, which implements the transport bracket inspection method for preventing interference during online production.

[0072] According to a fifth aspect of the present invention, a user input program storage medium is provided, wherein the stored computer program causes an electronic device to perform the transport tray inspection method for preventing interference during online production.

[0073] According to a sixth aspect of the embodiments disclosed in this invention, an application of the transport tray inspection method for preventing interference during online production is provided in vehicle production and warehouse logistics transportation.

[0074] Compare the repair effects of parts with the same anomalies and the same countermeasures:

[0075] Pinfan abnormal reason Repair measures Downtime TS machine not used 61621.2-391 Bracket deformation and remanufacturing Online debugging 195 minutes Using TS machine 61621.2-391 Bracket deformation and remanufacturing Online debugging 60 minutes

[0076] This invention allows for the complete implementation of the confirmation and adjustment steps required online offline, reducing the adjustment time and abnormal conditions during online operation. All frequently used brackets can be inspected daily using a TS machine for accuracy verification. This protects the brackets from mechanical precision deviations during long-term use and allows for timely detection of problems to prevent interference that could damage the brackets and equipment components.

[0077] After debugging with the TS machine, the original online adjustment time for the bracket was about 2 hours, but now, after offline adjustment, the online adjustment time is about 20 minutes.

[0078] The time required for online adjustments can be significantly reduced to offline processes, without disrupting production time and ensuring high-volume production.

[0079] The present invention adjusts the interference points that occur during the receiving process of the elevator bracket and the transport trolley bracket offline to ensure intelligent control, and the control accuracy is high.

[0080] This invention creates a transmission system that is consistent with the AP transmission unit and structure. Offline inspection of the bracket can be carried out together with the accuracy inspection to prevent interference during online production. If problems are found offline, the online team can be contacted for debugging and confirmation to avoid interference, bracket damage and mechanical precision deviation of equipment components.

[0081] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the disclosure of this invention. Attached Figure Description

[0082] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0083] Figure 1 This is a flowchart of a method for inspecting transport trays to prevent interference during online production, provided by an embodiment of the present invention.

[0084] Figure 2 This is a schematic diagram of a transport tray inspection and control system provided in an embodiment of the present invention to prevent interference during online production.

[0085] In the diagram: 1. TS machine; 1-1. Initial adjustment module for bracket; 1-2. Fine adjustment module for bracket; 1-3. Actuator; 2. Online server; 3. Communication module.

[0086] Figure 3 This is a schematic diagram of the structure of the actuator provided in this embodiment of the invention, in which the workpiece is connected vertically between the elevator bracket and the transport trolley bracket to adjust the accuracy of the bracket.

[0087] In the diagram: 1-3-1, elevator bracket; 1-3-2, transport trolley bracket. Detailed Implementation

[0088] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0089] Example 1, as Figure 1 As shown, the method for inspecting transport trays to prevent interference during online production, provided by an embodiment of the present invention, includes:

[0090] S101, using a transmission system identical in construction to the AP transmission unit, initial adjustments are made offline to the bracket interference points and component stacking positions; the steps are as follows:

[0091] 1. Install the elevator bracket and the transfer trolley bracket.

[0092] 2. Adjust the conveying distance (700 / 1000);

[0093] 3. After loosening the screws fixing the bracket, place the finished part on the elevator bracket;

[0094] 4. After adjusting, rock the lever to lower it to confirm the accuracy of the transfer trolley bracket in picking up the workpiece and the interference points;

[0095] 5. After adjustment, repeatedly check the rise and fall to confirm the status is OK.

[0096] S102, after adjustment, went online for confirmation and fine-tuning, meeting the conditions for production linkage.

[0097] It is understandable that, since the TS mechanism is consistent with the production line, there may be slight deviations in mechanical precision. Once the deviations in the mechanical parts are adjusted and the interference is confirmed to be in place, the system can be linked.

[0098] In step S101, the transmission system is a TS machine.

[0099] In a preferred embodiment of the present invention, the offline adjustment of the interference points that occur during the receiving process of the elevator bracket and the transport trolley bracket includes:

[0100] Step 1: Establish a hybrid communication network by combining the elevator bracket receiving information and the transport trolley bracket receiving information. The overall process set for both the elevator bracket and transport trolley bracket receiving is defined as follows: The same resources are reused in different positions during the pickup process of the lifting platform bracket and the transport trolley bracket. Different transport trolley bracket pickup information within the overall pickup process uses orthogonal resources. A set of D2D communication links that reuse the same resources within the overall pickup process of the lifting platform bracket and the transport trolley bracket is defined as... Let the set of all information using the same resources and the set of D2D communication links in the entire communication system be respectively denoted as and Where D is the sum of the number of all D2D links using the same resources, and M is the number of interference points configured in the j-th access state. [j] The number of interference points configured for the k-th reception state is N. [k] and Strong and weak interferences coexist in the network. In the process of interference alignment, some weaker interferences are ignored. A receiving state is used as the central control interference point to obtain the global received channel state information CSIR. The receiving information of the transport trolley bracket and the D2D transmission interference point obtain the transmission channel state information CSIT of the useful channel. The D2D and information hybrid network is modeled as a partially connected interference channel.

[0101] Step two, the topology matrix T represents the global connectivity state of the network as follows:

[0102] T = [t] [kj] ],and

[0103] MIMO channel H [kk] Decomposed into There are 1 parallel and independent SISO channels, among which The number of interference points at the transmitting end. Or M [k] The number of interference points at the receiver, channel H [kk] The singular value decomposition is as follows:

[0104]

[0105] in, and It is a unitary matrix;

[0106]

[0107]

[0108] for The singular values;

[0109] For H [kk] rank;

[0110] The MIMO channel is equivalent to multiple SISO channels through singular value decomposition.

[0111] Step 3: Suppose there are n interference alignment sets in the system, where the set of all transmitted interference points in the i-th alignment set is denoted as . The corresponding set of receiving interference points that generate interference is denoted as The transmitted signals of all interference points in the i-th alignment set are aligned along the interference alignment matrix. Alignment, V i IA Satisfy ||V i IA || = 1, all V i IA The i = 1, ..., n pairs are mutually independent; if the MIMO system topology satisfies the condition of obtaining the maximum degree of freedom of 0.5, i.e., no internal conflicts, then its equivalent SISO system can still guarantee IA feasibility and each SISO link can obtain the maximum degree of freedom of 0.5; and for any user pair k, equivalent The equivalent transmission interference points of each SISO link must belong to the same alignment set and use the same interference alignment transmission matrix;

[0112] Step 4: The sent interference point k belongs to the set of sent interference points. Right now Then the corresponding receiving interference point k must belong to the set of receiving interference points. And m≠i, let the set of receiving interference points affected by interference from transmitting interference point k be denoted as The set of transmitting interference points that interfere with the receiving interference point k is denoted as... The signal received by the l-th SISO link at interference point k is:

[0113]

[0114] in, For the equivalent k-th user to the l-th SISO link channel coefficient, This represents the transmission signal from the k-th user to the l-th SISO link. V represents the signal transmitted by the j-th user to the s-th SISO link. i IA and Align the precoding matrix with interference for network topology. This represents the equivalent interference channel coefficient between the j-th user and the s-th SISO link, and between the k-th user and the l-th SISO link. This represents the noise received by the k-th user on the l-th SISO link after the equivalent signal.

[0115] Step 5: Use the interference alignment decoding matrix to receive interference point k. To perform signal estimation in order to recover the useful signal:

[0116]

[0117] Step six, based on the objective of aligning the precoding matrix according to topological interference, is to maximize the minimum rate, thus obtaining... It is a variable related to the number of aligned sets n, denoted as Using C n replace Establish the following sum and rate maximization problem:

[0118] (P1)

[0119] st(1)

[0120] (2)

[0121] in Let the interference point vector be... The network topology matrix, and This is the equivalent channel gain. This is the equivalent noise interference point;

[0122] Step 7: Solve the two subproblems of topological matrix and interference point optimization in sequence to obtain the solution to optimization problem P1, and construct the topological matrix with the maximum degree of freedom.

[0123] Step eight, the interference point optimization problem becomes:

[0124] (P2)

[0125]

[0126] Rewrite the objective function of optimization problem P2 in convex-convex form:

[0127]

[0128] in,

[0129]

[0130] A first-order Taylor expansion of g(P) approximates it as a linear function, and the objective function is approximated as a convex function. An iterative approach yields a stable solution to the optimization problem (2). In the i-th iteration, the approximate convex function is:

[0131]

[0132] in, Let g(P) be a first-order Taylor expansion approximation function, expressed as:

[0133]

[0134] Step 9: One access state serves as the central control interference point. Different access states are connected by a low-latency backhaul link. Through information exchange between access states, the central control interference point can obtain the global CSIR. The transmitting interference point only knows its own useful channel information. The transmitting interference point stores a pre-calculated interference alignment precoding matrix.

[0135] Step seven, which constructs the topology matrix with the maximum degrees of freedom based on the interference influence factor, is performed as follows:

[0136] (1) Initialization: [λ [kj] ] = 0, Where λ [kj] Defined as the interference impact factor, its expression is:

[0137]

[0138] It represents the increase in rate that can be obtained at the receiving interference point k after the interference from the sending interference point j to the receiving interference point k is removed; topology matrix Represents network connectivity; the set of sending interference points in any alignment set is initialized to an empty set: The corresponding set of receiving interference points affected by this interference is initialized to an empty set: n is the number of alignment sets, and m is the number of iterations;

[0139] (2) and and If t [kj] =0, update λ [kj] If t [kj] =1,λ [kj] =0;

[0140] (3) Select λ [kj] The largest interference link is denoted as Will send interference points Add to collection middle: Will receive the interference point Add to collection middle: Place Return to step (2) and update λ [kj] ,exist Okay, select the second interference link and denote it as... Will send interference points Add to collection middle: Place

[0141] (4) Repeat steps (2) and (3) until m = n;

[0142] (5) For the remaining transmission interference points and By solving Select the sending interference point j * Assign it to the mth * In the alignment set: And at the same time, ensure that the number of interference points sent meets the condition. If n > 2, then, int(·) is the integer rounding operation, g n =D+L-2(n-2)-g1, set Return (2);

[0143] (6) Repeat steps (2) and (5) until all interference points are assigned to n alignment sets;

[0144] (7) For the remaining receiving interference points and Assign the alignment set n in the following manner * If The size of the set is g1, denoted as Then there is otherwise in For all sending interference points Place Receiving interference point k * Add to collection middle: Until all receiving interference points have been allocated.

[0145] Example 2, as Figure 2 As shown, the transport tray inspection and control system for preventing interference during online production provided in this embodiment of the invention includes:

[0146] TS machine 1, with the same structure as AP transmission unit, is used for initial offline adjustment of bracket interference points and workpiece stacking positions.

[0147] Online server 2 is connected to TS machine 1 and is used to receive information from the TS machine on the initial adjustment of the bracket interference point and the placement of the parts offline, to confirm and compare the information, and to send out the abnormal values ​​to the TS machine.

[0148] Communication module 3, mounted on TS machine 1, is used to transmit information between TS machine 1 and online server 2.

[0149] The TS machine 1 includes:

[0150] The bracket initial adjustment module 1-1 is used for initial offline adjustment of the bracket interference points and the placement of parts;

[0151] Bracket fine-tuning modules 1-2 are used to execute fine-tuning commands for the bracket issued by online server 2.

[0152] Actuators 1-3 are used to execute the control commands of the bracket initial adjustment module and the bracket fine adjustment module to the bracket.

[0153] The technical solution of the present invention will be further described below in conjunction with its working principle.

[0154] Based on the structure of the transmission section at the rear of the C0 line, a TS machine with the same structure is manufactured. The accuracy of the bracket can be adjusted offline. After the bracket and finished parts are installed on the TS machine offline, the interference points and the placement of the parts are initially adjusted according to the bracket adjustment method. After the adjustment, the production line is checked and fine-tuned before production can be linked. Without a TS machine, all the confirmation and preparation tools need to be confirmed on the production line. If there is a problem with the bracket, it will be remade, which will greatly waste production time and will not achieve the confirmation effect. In this way, the use of a TS machine in the initial stage greatly eliminates the above problems.

[0155] Example 3, as Figure 3 As shown. During the operation of actuator 1-3, the workpiece is connected vertically at the lifting bracket 1-3-1 and the conveying trolley bracket 1-3-2 to adjust the bracket accuracy. The conveying distance is also consistent with the production line, with 700 and 1000 conveying distances. After offline adjustment, fine adjustments and confirmations are made online before production can be linked.

[0156] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

[0157] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure should be limited by the appended claims.

Claims

1. A method for inspecting transport trays to prevent interference during online production, characterized in that, The method for inspecting transport trays to prevent interference during online production includes: using the elevator tray of the production line AP transmission system to pick up finished parts transported by the press; using the transport trolley tray of the production line AP transmission system to pick up finished parts transported by the elevator and transfer them; and adjusting the interference points that occur during the picking process of the elevator tray and the transport trolley tray offline, so that the finished parts are transported from the elevator to the tray of the transport trolley for linked production. The offline adjustment of interference points that occur during the receiving process of the elevator bracket and the transport trolley bracket includes: Step 1: Establish a hybrid communication network by combining the elevator bracket receiving information and the transport trolley bracket receiving information. The overall process set for both the elevator bracket and transport trolley bracket receiving is defined as follows: The elevator bracket and transport trolley bracket receptacle processes reuse the same resources at different positions. Within the overall elevator bracket and transport trolley bracket receptacle process, different transport trolley bracket receptacle information uses orthogonal resources. A set of D2D communication links reusing the same resources within an overall elevator bracket and transport trolley bracket receptacle process is defined as... Let the set of all information using the same resources and D2D communication links in the entire communication system be respectively set as and ,in The sum of the number of D2D links using the same resources, the th The number of interference points configured for each access state is: , No. The number of interference points configured for each access state is: and ( ), Strong and weak interference exist simultaneously in the network. In the process of interference alignment, some weaker interference is ignored. A receiving state is used as the central control interference point to obtain the global received channel state information CSIR. The receiving information of the conveyor trolley bracket and the D2D transmission interference point obtain the transmission channel state information CSIT of the useful channel. The D2D and information hybrid network is modeled as a partially connected interference channel. Step 2, Topological Matrix The global connectivity state of a network is represented as: ,and , , ; MIMO channel Decomposed into There are 1 parallel and independent SISO channels, among which The number of interference points at the transmitting end. or The number of interference points at the receiver, the channel The singular value decomposition is as follows: ， ； in, and It is a unitary matrix; ； ， ； for The singular values; for rank; The MIMO channel is equivalent to multiple SISO channels through singular value decomposition. Step 3, assume the system has a total of The nth interference alignment set, where the nth... Let the set of all sending interference points in the alignment set be denoted as . Let the set of receiving interference points that generate interference be denoted as . , No. The transmitted signals of all interference points in the alignment set are aligned along the interference alignment matrix. Align them. satisfy All , The MIMO system topology is independent of each other; if the MIMO system topology satisfies the condition of obtaining the maximum degree of freedom of 0.5, i.e., no internal conflicts, then its equivalent SISO system can still guarantee IA feasibility and each SISO link can obtain the maximum degree of freedom of 0.5; and for any user pair , equivalent The equivalent transmission interference points of each SISO link must belong to the same alignment set and use the same interference alignment transmission matrix; Step 4, send interference points Belongs to the set of sending interference points ,Right now Then its corresponding receiving interference point It must belong to the set of receiving interference points. and Subject to interference from the sending point Let the set of receiving interference points be denoted as And for the receiving interference point Let the set of transmitting interference points that generate interference be denoted as , , Then the receiving interference point The The signals received by the SISO link are: ； in, For the equivalent of the first The user on the first SISO link channel coefficients, Indicates the first The user on the first The transmission signals of the SISO link, Indicates the first The user on the first The transmission signals of the SISO link, and Align the precoding matrix with interference for network topology. For the equivalent of the first The user on the first The first SISO link to the first The user on the first Equivalent interference channel coefficients of SISO links For the equivalent of the first The user on the first Noise received by a single SISO link; Step 5, Receive Interference Points Use interference to align the decoding matrix To perform signal estimation in order to recover the useful signal: ； Step six, based on the objective of aligning the precoding matrix according to topological interference, is to maximize the minimum rate, thus obtaining... , ( , ) is the number of aligned sets The relevant variables are denoted as ,use replace The following sum and rate maximization problem are established: (P1) ， s.t.(1) , , (2) ， ， ， in Let the interference point vector be... The network topology matrix, , and This is the equivalent channel gain. This is the equivalent noise interference point; Step 7: Solve the two subproblems of topological matrix and interference point optimization in sequence to obtain the solution to optimization problem P1, and construct the topological matrix with the maximum degree of freedom. Step eight, the interference point optimization problem becomes: ； s.t. , ; Rewrite the objective function of optimization problem P2 in convex-convex form: ； in, , ； right A first-order Taylor expansion approximates the objective function as a linear function, and an iterative approach is used to obtain a stable solution to the optimization problem (2). In the next iteration, the approximate convex function is: ； in, for The first-order Taylor expansion approximation function is expressed as: ； Step nine: One access state serves as the central control interference point. Different access states are connected by a low-latency backhaul link. Through information exchange between access states, the central control interference point can obtain the global CSIR. The transmitting interference point only knows its own useful channel information. The transmitting interference point stores a pre-calculated interference alignment precoding matrix.

2. The method for inspecting transport trays to prevent interference during online production, as described in claim 1, is characterized in that, Step seven, which constructs the topology matrix with the maximum degrees of freedom based on the interference influence factor, is performed as follows: (1) Initialization: , ,in Defined as the interference impact factor, its expression is: ； ， It indicates when the interference point is sent To the receiving interference point After the interference is removed, the receiving interference point Available rate increase; topology matrix Represents network connectivity; the set of sending interference points in any alignment set is initialized to an empty set: The set of receiving interference points affected by this interference is initialized to an empty set: , , , To align the number of sets, m is the number of iterations; (2) and , ,and , ,if =0, update ;if =1, =0; (3) Select The largest interference link is denoted as Interference points will be sent. Add to collection middle: The receiving interference point Add to collection middle: , place Return to step (2) to update ,exist Okay, select the second interference link and denote it as... Interference points will be sent. Add to collection middle: , place , ; (4) Repeat steps (2) and (3) until... ; (5) For the remaining transmission interference points ,and , By solving Select the sending interference point Assign it to the first In the alignment set: And at the same time, ensure that the number of interference points sent meets the condition. ,in, , For rounding operations, , place , return (2); (6) Repeat steps (2) and (5) until all interference points are assigned. One alignment set; (7) For the remaining receiving interference points and , Assign to the alignment set in the following manner :if The size of the set is , recorded as Then there is ;otherwise ,in For all sending interference points , place Receiving interference point Add to collection middle: This continues until all receiving interference points have been allocated.

3. The method for inspecting transport trays to prevent interference during online production, as described in claim 1, is characterized in that... When adjusting the interference points offline, the stacking position of the finished parts should also be adjusted at the same time; After adjusting the interference points and the placement of finished parts offline, the process is confirmed and further adjusted online to meet the conditions for production linkage. The production line AP transmission system uses TS machines.

4. A transport tray inspection and control system for preventing interference during online production, implementing the transport tray inspection method for preventing interference during online production as described in any one of claims 1 to 3, characterized in that, The transport tray inspection and control system for preventing interference during online production includes: TS machine is used for initial offline adjustments to bracket interference points and part stacking positions. The online server connects to the TS machine and is used to receive information from the TS machine regarding the initial adjustments made to the bracket interference points and the placement of parts offline. It then confirms and compares the information, and sends any outliers back to the TS machine.

5. The transport tray inspection and control system for preventing interference during online production according to claim 4, characterized in that, The transport tray inspection and control system for preventing interference during online production also includes: The communication module, mounted on the TS machine, is used to transmit information between the TS machine and the online server; The TS machine includes: a lifting platform for receiving finished parts transported by the press; The conveying trolley bracket is used to receive and transport finished parts transported by the elevator. The TS machine also includes: The bracket initial adjustment module is used for initial offline adjustments to the bracket interference points and the placement of parts. The bracket fine-tuning module is used to execute fine-tuning commands for the bracket issued by the online server; An actuator is used to execute control commands from the bracket initial adjustment module and the bracket fine-tuning module to the bracket.

6. A lifting platform bracket device, characterized in that, The elevator bracket device implements the transport bracket inspection method for preventing interference during online production as described in any one of claims 1 to 3.

7. A conveying trolley bracket device, characterized in that, The transport trolley bracket device implements the transport bracket inspection method for preventing interference during online production as described in any one of claims 1 to 3.

8. A storage medium for receiving user input programs, wherein the stored computer program causes an electronic device to execute the transport tray inspection method of claim 1 for preventing interference during online production.

9. The application of a transport pallet inspection method as described in any one of claims 1 to 3 to prevent interference during online production in vehicle production and warehouse logistics transportation.

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