An assembly line for an unmanned vehicle radar system

Abstract

This invention discloses an assembly line for an unmanned vehicle radar system, comprising: an interior removal station, a rear radar assembly station, a front radar assembly station, an IPC assembly station, a network configuration and testing station, a display assembly station, an exterior inspection station, and a manual configuration station arranged sequentially in a straight line; the rear radar assembly station includes a first station frame, a station status indication system, a rear radar conveyor line, and a first manual ladder; the station status indication system includes a ground guide rail, wheel alignment components, tire recognition components, a vehicle body recognition sensor, and a status indication screen. Compared to existing technologies, this invention decomposes the unmanned modification process of adding radar and other functional components to conventional vehicles into several modification steps, and correspondingly sets up multiple modification stations to perform multiple modification steps. Furthermore, based on the station status indication system, it facilitates the timely entry of vehicles into the next station, effectively improving modification efficiency.

Description

Technical Field

[0001] This invention relates to the field of vehicle unmanned transformation technology, and in particular to an assembly line for an unmanned vehicle radar system. Background Technology

[0002] Autonomous vehicles typically rely on components such as lidar for environmental perception. For example, Chinese patent CN201810375570.7 discloses an obstacle avoidance control device and method for autonomous vehicles based on Dubins paths. The device includes a camera mounted on the exterior of the left A-pillar and a camera mounted on the exterior of the right A-pillar, as well as a lidar mounted on the roof of the vehicle. The method involves: the lidar locating and measuring the speed of obstacles entering the camera's monitoring range; determining the sequence of obstacles that will collide with the vehicle based on an obstacle avoidance algorithm; and the vehicle replanning its obstacle avoidance path according to the new obstacle sequence to complete the obstacle avoidance operation. This application effectively solves the problem of blind spots in the autonomous vehicle's field of vision by placing the cameras in the middle of the two A-pillars, while improving the completeness and accuracy of the collected information. Furthermore, by employing different obstacle avoidance judgment algorithms for different obstacles in autonomous driving, the accuracy and precision of obstacle avoidance are improved.

[0003] When converting a traditional vehicle into a driverless vehicle, radar components need to be installed on the vehicle, and a series of modifications need to be made to the vehicle's interior and exterior to enable the driverless vehicle to perceive the environment and make behavioral decisions.

[0004] In existing vehicle modification processes, vehicles are parked in a work station, where modification personnel perform multiple modification steps in sequence. Different modification steps require different equipment and personnel, resulting in low efficiency and inconvenience for modification personnel. Summary of the Invention

[0005] The purpose of this invention is to provide an unmanned vehicle radar system assembly line that breaks down the unmanned modification process of adding radar and other functional components to conventional vehicles into several modification steps, and sets up multiple modification stations to carry out multiple modification steps accordingly. Furthermore, based on the station status indication system, it is convenient for vehicles to enter the next station in a timely manner, effectively improving the modification efficiency.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an assembly line for an unmanned vehicle radar system, comprising:

[0007] Interior removal station, which is used by modification personnel to manually remove the interior panels of the vehicle and lay cables;

[0008] The rear radar assembly station is used by modification personnel to manually install the rear radar components at the rear of the vehicle.

[0009] The front-end radar assembly station is used by modification personnel to manually install the lidar components on the left and right sides of the front of the vehicle.

[0010] IPC assembly station, which is used by modification personnel to manually install IPC components inside the vehicle;

[0011] The network configuration and testing station is used by modification personnel to configure and test the electrical network communication of the vehicle.

[0012] The display assembly station is used by modification personnel to manually install the in-vehicle displays.

[0013] The exterior inspection station is used by modification personnel to manually inspect the exterior of the vehicle.

[0014] The manual configuration station is used by modification personnel to manually set vehicle configuration parameters.

[0015] A calibration station, used for vehicle radar calibration;

[0016] The interior removal station, rear radar assembly station, front radar assembly station, IPC assembly station, network configuration and testing station, display assembly station, appearance inspection station, and manual configuration station are arranged in a straight line.

[0017] The rear radar assembly station includes a first station frame, a station status indication system, a rear radar conveyor line, and a first manual ladder. The station status indication system includes ground guide rails, wheel alignment components, tire recognition components, vehicle body recognition sensors, and a status indicator screen. Two parallel ground guide rails are set on the ground inside the first station frame. The wheel alignment components include two parallel wheel alignment parts with arc-shaped top surfaces. The tire recognition components are located at one end of the wheel alignment parts and include a first tire recognition sensor and a second tire recognition sensor. Two second tire recognition sensors are symmetrically arranged on both sides of the first tire recognition sensor, with one second tire recognition sensor corresponding to one wheel alignment part. The vehicle body recognition sensor is located at one end of the ground guide rails and is used to identify the front part of the vehicle body. The status indicator screen is connected to the station status indication system of the next station and is used to display the occupancy status information of the next station. The rear radar conveyor line is used to transport the rear radar components to the rear radar assembly station. The first manual ladder is slidably connected to the ground.

[0018] As a further description of the above technical solution:

[0019] The first manual ladder has a first protrusion at one end. Two parallel first travel limit blocks are set on the bottom surface of the rear radar assembly station. The first protrusion is set between the two first travel limit blocks. A first manual ladder travel recognition sensor for identifying the first protrusion is set on one side of the first travel limit block. The first manual ladder travel recognition sensor is connected to a status indicator screen.

[0020] As a further description of the above technical solution:

[0021] The front-end radar assembly station includes a second station frame, a front-end radar conveyor return line, a clamping and anti-fall device, and a second manual ladder. The front-end radar conveyor return line is used to transport the left and right radar components to the rear radar assembly station. The front-end radar conveyor return line includes a second horizontal conveying system and a vertical conveying system. The second horizontal conveying system includes a loading conveyor line and a return conveyor line, which are arranged in parallel, with the return conveyor line positioned above the loading conveyor line. The vertical conveying system includes a front-end radar inlet elevator, a left radar elevator, and a right radar elevator. The front-end radar inlet elevator and the left radar elevator are symmetrically arranged at both ends of the second horizontal conveying system. The loading conveyor line includes a first loading conveyor unit and a second loading conveyor unit, which are symmetrically arranged at both ends of the right radar elevator. One end of the first loading conveyor unit is equipped with a left and right radar tray identification component, which includes a first sensor. The device includes a support bracket and a first buffer. The first sensor bracket is equipped with a left radar tray identification sensor and a right radar tray identification sensor. The left radar tray is equipped with a first identification block corresponding to the position of the left radar tray identification sensor, and the right radar tray is equipped with a second identification block corresponding to the position of the right radar tray identification sensor. The first buffer is fixedly installed on the first lifting drive component. The first buffer rod of the first buffer is equipped with a first buffer stop. One end of the front radar feeding elevator is equipped with left and right radar feeding ports. A first horizontal conveyor line is set on one side of the left and right radar feeding ports. A left radar discharge port is set on one side of the left radar elevator. A second horizontal conveyor line is set on one side of the left radar discharge port. A right radar discharge port is set on one side of the right radar elevator. A third horizontal conveyor line is set on one side of the right radar discharge port. A clamping and anti-fall device is fixedly installed on the second workstation frame. The clamping and anti-fall device is used to clamp and lift the left radar component and the right radar component. The second manual ladder is slidably connected to the ground.

[0022] As a further description of the above technical solution:

[0023] The clamping anti-fall device includes a hanging module and a clamping module. It includes a mounting frame, a first lifting beam, and a first spring balancer. The mounting frame is fixedly mounted on a second workstation frame. The first lifting beam is fixedly mounted on the mounting frame. A sliding seat is provided on the first lifting beam, and the sliding seat is slidably connected to the first lifting beam. A material picking position sensor is provided at one end of the first lifting beam, and a material releasing position sensor is provided at the opposite end. The upper side of the first spring balancer is detachably mounted on the sliding seat. The clamping module includes a mounting base plate, pneumatic grippers, a clamping control handle, and a lifting guide rod. A first lifting ring is provided on the mounting base plate, and the first lifting ring is hooked onto... On the first hook of the first spring balancer, a pneumatic gripper is fixedly mounted on the mounting base plate. The mounting base plate has symmetrically arranged clamping control handles on both sides. The clamping control handles are equipped with a first control switch and a second control switch. The first control switch is located on the upper side of the clamping control handle and is used to control the pneumatic gripper to open. The second control switch is located on the side wall of the clamping control handle and is used to control the pneumatic gripper to close and clamp. The mounting base plate is equipped with at least one lifting guide rod. The radar tray is equipped with a lifting guide sleeve whose position corresponds to the lifting guide rod. The radar tray is used to place radar components.

[0024] As a further description of the above technical solution:

[0025] The rear radar conveyor line includes a rear radar infeed elevator, a first horizontal conveyor system, and a rear radar take-up elevator. The rear radar infeed elevator and the rear radar take-up elevator are symmetrically arranged at both ends of the first horizontal conveyor system. A first horizontal conveyor line for the rear radar is set on one side of the rear radar infeed elevator, and a second horizontal conveyor line for the rear radar is set on one side of the rear radar take-up elevator.

[0026] As a further description of the above technical solution:

[0027] The appearance inspection station includes a third station frame and a light panel, with the light panel fixedly installed on the third station frame.

[0028] As a further description of the above technical solution:

[0029] The calibration station consists of a perimeter wall and calibration targets. The perimeter wall encloses the test space, and several calibration targets are set up within the test space.

[0030] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0031] 1. In this invention, the unmanned modification process of adding radar and other functional components to conventional vehicles is broken down into several modification steps, and multiple modification stations are set up accordingly to carry out multiple modification steps, simplifying the function of a single station, forming an assembly line, effectively reducing the modification difficulty and improving the modification efficiency.

[0032] 2. In this invention, each of the eight workstations arranged in a straight line in the assembly line is equipped with a workstation status indication system. The status indicator screen in the current workstation displays the occupancy status information of the next workstation, specifically displaying three types of information: "No vehicle", "Passing", and "Production". This makes it easier for the vehicle driver at the current workstation to determine whether they can enter the next workstation, allowing the vehicle to enter the next workstation in a timely manner without collision damage, and effectively improving the modification efficiency.

[0033] 3. In this invention, when the tire recognition component identifies whether a vehicle is parked correctly in the workstation, one first tire recognition sensor and two second tire recognition sensors simultaneously identify the vehicle's tires, ensuring that the wheels are accurately positioned between the two wheel positioning components. Only when multiple sensors simultaneously identify the tires is the wheel determined to be in place, avoiding misidentification. Furthermore, the first tire recognition sensor and two second tire recognition sensors are arranged sequentially in a straight line. The order in which the three sensors identify and provide signal feedback can assist in determining the vehicle's direction of travel. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of an assembly line for an unmanned vehicle radar system.

[0036] Figure 2 This is a side-view structural diagram of the rear radar assembly station in an unmanned vehicle radar system assembly line.

[0037] Figure 3 This is a schematic diagram of the structure of the rear radar assembly station in an unmanned vehicle radar system assembly line. Figure 1 .

[0038] Figure 4 This is a schematic diagram of the structure of the rear radar assembly station in an unmanned vehicle radar system assembly line. Figure 2 .

[0039] Figure 5 for Figure 4 A magnified view of a portion of point A in the middle.

[0040] Figure 6 A schematic diagram of the structure of a workstation status indication system in an assembly line for an unmanned vehicle radar system. Figure 1 .

[0041] Figure 7 A schematic diagram of the structure of a workstation status indication system in an assembly line for an unmanned vehicle radar system. Figure 2 .

[0042] Figure 8 This is a schematic diagram of the front-end radar assembly station in an assembly line for an unmanned vehicle radar system.

[0043] Figure 9 A schematic diagram of the front-end radar transport return line in an assembly line for an unmanned vehicle radar system. Figure 1 .

[0044] Figure 10 A schematic diagram of the front-end radar transport return line in an assembly line for an unmanned vehicle radar system. Figure 2 .

[0045] Figure 11 for Figure 10 A magnified view of a section at point B.

[0046] Figure 12 This is a schematic diagram of the left radar tray in an assembly line for an unmanned vehicle radar system.

[0047] Figure 13 This is a schematic diagram of the right radar tray in an assembly line for an unmanned vehicle radar system.

[0048] Figure 14 This is a schematic diagram of the installation of a fall protection device in an assembly line for an unmanned vehicle radar system.

[0049] Figure 15 A schematic diagram of the structure for clamping a fall protection device in an assembly line for an unmanned vehicle radar system. Figure 1 .

[0050] Figure 16 A schematic diagram of the structure for clamping a fall protection device in an assembly line for an unmanned vehicle radar system. Figure 2 .

[0051] Figure 17 This is a schematic diagram of the clamping module in an assembly line for an unmanned vehicle radar system.

[0052] Figure 18 This is a schematic diagram of clamping modules in an assembly line for an unmanned vehicle radar system.

[0053] Figure 19 This is a structural diagram of the appearance inspection station in an assembly line for an unmanned vehicle radar system.

[0054] Figure 20 This is a schematic diagram of the calibration station in an assembly line for an unmanned vehicle radar system.

[0055] Legend:

[0056] 1. Interior trim removal station; 2. Rear radar assembly station; 21. First station frame; 22. Station status indication system; 221. Ground guide rail; 222. Vehicle body recognition sensor; 223. Status indicator screen; 224. Wheel alignment components; 225. First tire recognition sensor; 226. Second tire recognition sensor; 23. Rear radar conveyor line; 231. Rear radar infeed elevator; 2311. Rear radar first horizontal conveyor line; 232. First horizontal conveyor system; 233. Rear radar receiving elevator; 2331 1. Rear radar second horizontal conveyor line; 24. First manual ladder; 241. First protrusion; 242. First travel limit stop; 3. Front radar assembly station; 31. Second station frame; 32. Front radar conveyor return line; 321. Loading conveyor line; 3211. First loading conveyor unit; 32111. First sensor bracket; 321111. Left radar tray recognition sensor; 321112. Right radar tray recognition sensor; 32112. First buffer; 321121. First buffer stop; 32113. 3212. Lifting drive unit; 322. Second feeding conveyor unit; 323. Return conveyor line; 324. Front-end radar feed elevator; 325. First lifting conveyor module; 326. Left radar elevator; 327. Second horizontal conveyor line; 328. Right radar elevator; 329. Third horizontal conveyor line; 320. First horizontal conveyor line; 321. Left radar tray; 321. First marker block; 322. Right radar tray; 323. Second marker block; 33. Clamping anti-fall device; 334. Hanging module; 335. Mounting frame; 3322, First lifting beam; 33221, Sliding seat; 33222, Material pick-up position sensor; 33223, Material release position sensor; 3323, First spring balancer; 333, Clamping module; 3331, Mounting base plate; 33311, First lifting ring; 3332, Pneumatic gripper; 3333, Clamping control handle; 33331, First control switch; 33332, Second control switch; 3334, Lifting guide rod; 339, Radar tray; 3391, Lifting guide sleeve; 34, Second manual ladder; 4, IPC assembly station; 5, Network configuration and testing station; 6, Display assembly station; 7, Appearance inspection station; 71, Third station frame; 72, Light panel; 8, Manual configuration station; 9, Calibration station; 91, Enclosure wall; 92, Calibration target point. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0058] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0059] Please see Figure 1-20 This invention provides a technical solution: an assembly line for an unmanned vehicle radar system, comprising:

[0060] Interior Removal Station 1 is used by modification personnel to manually remove the interior panels of the vehicle and lay cables.

[0061] Rear radar assembly station 2 is used by modification personnel to manually install the rear radar components at the rear of the vehicle, specifically blind spot radar:

[0062] Front-end radar assembly station 3 is used for modification personnel to manually install the lidar components on the left and right sides of the front of the vehicle. The lidar components specifically include lidar, millimeter-wave radar, etc.

[0063] IPC assembly station 4 is used for modification personnel to manually install the vehicle's internal IPC components. A pre-assembly table is set up on one side of IPC assembly station 4. After the IPC components (i.e., the in-vehicle main unit) are pre-assembled and tested, they are automatically transported to IPC assembly station 4 by AGV. The modification personnel at IPC assembly station 4 connect the pre-assembled in-vehicle main unit to the corresponding wiring inside the vehicle to complete the installation of the in-vehicle main unit.

[0064] Network configuration and testing station 5 is used by modification personnel to configure and test the electrical network communication of the vehicle. Specifically, the modification personnel power on the vehicle to enable communication between the previously modified and added components (rear radar component, lidar component, IPC component), configure the parameters, disconnect the connection, mark the location, and record the work.

[0065] Display assembly station 6 is used for modification personnel to manually install the in-vehicle display. The display is automatically transported to display assembly station 6 by AGV, and then transported into the vehicle body by the collaborative robot set in display assembly station 6. The modification personnel fix the display on the vehicle and connect the wires.

[0066] Visual inspection station 7 is used by modification personnel to manually inspect the exterior of the vehicle;

[0067] Manual configuration station 8 is used by modification personnel to manually set vehicle configuration parameters;

[0068] Calibration station 9 is used for vehicle radar calibration.

[0069] Interior removal station 1, rear radar assembly station 2, front radar assembly station 3, IPC assembly station 4, network configuration and testing station 5, display assembly station 6, appearance inspection station 7, and manual configuration station 8 are arranged in a straight line.

[0070] The rear radar assembly station 2 includes a first station frame 21, a station status indication system 22, a rear radar conveyor line 23, and a first manual ladder 24. The station status indication system 22 includes ground guide rails 221, wheel alignment components, tire recognition components, vehicle body recognition sensors 222, and a status indicator screen 223. Two parallel ground guide rails 221 are arranged on the ground inside the first station frame 21. The wheel alignment components include two parallel wheel alignment parts 224, each with an arc-shaped top surface. The tire recognition component is located at one end of the wheel alignment part 224 and includes a first tire recognition sensor 225. The first tire recognition sensor 225 and the second tire recognition sensor 226 are symmetrically arranged on both sides of the first tire recognition sensor 225. Each second tire recognition sensor 226 corresponds to a wheel positioning component 224. The vehicle body recognition sensor 222 is set at one end of the ground guide rail 221. The vehicle body recognition sensor 222 is used to recognize the vehicle body in front of the wheel. The status indicator screen 223 is connected to the workstation status indicator system 22 of the next workstation. The status indicator screen 223 is used to display the occupancy status information of the next workstation. The rear radar conveyor line 23 is used to transport the rear radar component to the rear radar assembly workstation 2. The first manual ladder 24 is slidably connected to the ground.

[0071] Since there is no workstation status indication system 22 in calibration station 9, the status indication screen 223 of the workstation status indication system 22 in manually configured workstation 8 does not display the occupancy status of calibration station 9 based on the tire recognition sensor and the vehicle body recognition sensor.

[0072] The wheel alignment component 224 has a structure similar to a vehicle speed bump. Two wheel alignment components 224 abut against the wheel alignment component 224 from the front and rear sides to restrict the rolling of the wheels. Together with the ground guide guardrails 221 on both sides of the vehicle, it ensures that the position of the vehicle entering the work station is the same each time, which makes it easy for the modification personnel to use the equipment in the rear radar assembly work station 2 for modification and ensures the quality of modification.

[0073] When the tire recognition component identifies whether a vehicle is parked correctly in the workstation, a first tire recognition sensor 225 and two second tire recognition sensors 226 simultaneously detect the vehicle's tires, ensuring that the wheels are accurately positioned between the two wheel positioning components 224. The system determines the wheels are in place only when multiple sensors simultaneously detect the tires, avoiding false identification. Furthermore, the first tire recognition sensor 225 and the two second tire recognition sensors 226 are arranged sequentially in a straight line. The order in which the three sensors detect and provide signal feedback helps determine the vehicle's direction of travel.

[0074] The first manual ladder 24 has a first protrusion 241 at one end. Two parallel first travel limit blocks 242 are arranged on the bottom surface of the rear radar assembly station 2. The first protrusion 241 is located between the two first travel limit blocks 242. A first manual ladder travel recognition sensor for identifying the first protrusion 241 is provided on one side of the first travel limit block 242. The first manual ladder travel recognition sensor is connected to the status indicator screen 223.

[0075] When assembling the rear radar components at rear radar assembly station 2, the operator pulls the first manual ladder 24. The first protrusion 241 of the first manual ladder 24 moves from one first travel limit block 242 to another, putting the first manual ladder 24 into use. The operator stands on the first manual ladder 24 to perform the assembly work. The first protrusion 241 and the first travel limit block 242 can be locked in place using a pin or similar component to prevent the first manual ladder 24 from changing position during use. After the rear radar components are installed at rear radar assembly station 2, the first manual ladder 24 is pulled back, resetting to its initial position to prevent vehicles from entering rear radar assembly station 2 that might interfere with interior removal station 1. The first manual ladder 24 is then in an idle state.

[0076] The first manual ladder travel recognition sensor identifies the position of the first manual ladder 24 to determine whether the first manual ladder 24 is in use or idle. The status indicator screen 223 also displays the usage status of the first manual ladder 24, prompting the vehicle operator at the previous workstation to avoid colliding with the first manual ladder 24.

[0077] The front-end radar assembly station 3 includes a second station frame 31, a front-end radar transport return line 32, a clamping and anti-fall device 33, and a second manual ladder 34. The front-end radar transport return line 32 is used to transport the left radar assembly and the right radar assembly to the rear radar assembly station 2.

[0078] The front-end radar conveyor return line 32 includes a second horizontal conveying system and a vertical conveying system. The second horizontal conveying system includes a feeding conveyor line 321 and a return conveyor line 322, which are arranged in parallel. The return conveyor line 322 is located above the feeding conveyor line 321. The vertical conveying system includes a front-end radar feed elevator 323, a left radar elevator 324, and a right radar elevator 325, which are symmetrically arranged at both ends of the second horizontal conveying system. The feeding conveyor line 321 includes a first feeding conveyor unit 3211 and a second feeding conveyor unit 3212, which are symmetrically arranged at both ends of the right radar elevator 325. One end of the first feeding conveyor unit 3211 is provided with a left and right radar tray identification component, which includes a first sensor bracket 32111 and a first buffer 32112. The left radar tray is provided on the first sensor bracket 32111. The system includes a tray recognition sensor 321111 and a right radar tray recognition sensor 321112. A first identifier block 3271, corresponding to the position of the left radar tray recognition sensor 321111, is provided on the left radar tray 327. A second identifier block 3281, corresponding to the position of the right radar tray recognition sensor 321112, is provided on the right radar tray 328. A first buffer 32112 is fixedly mounted on a first lifting drive component 32113. A first buffer stop is provided on the first buffer rod of the first buffer 32112. 321121, The front-end radar feed elevator 323 is equipped with left and right radar feed ports at one end, and a first horizontal conveyor line 326 is provided on one side of the left and right radar feed ports. The left radar elevator 324 is equipped with a left radar discharge port on one side, and a second horizontal conveyor line 3241 is provided on one side of the left radar discharge port. The right radar elevator 325 is equipped with a right radar discharge port on one side, and a third horizontal conveyor line 3251 is provided on one side of the right radar discharge port. The front-end radar feed elevator 323 is equipped with a first lifting and conveying module 3231.

[0079] The clamping and anti-fall device 33 is fixedly installed on the second workstation frame 31. The clamping and anti-fall device 33 is used to clamp and lift the left radar assembly and the right radar assembly. The second manual ladder 34 is slidably connected to the ground. The function of the second manual ladder 34 is the same as that of the first manual ladder 24.

[0080] The second horizontal conveying system can identify the materials being transported, allowing a front-end radar feed elevator 323 in the vertical conveying system to supply materials to the left radar elevator 324 and right radar elevator 325 at two workstations via the second horizontal conveying system. Furthermore, based on this technical solution, more "right radar elevators 325" in the intermediate area can be flexibly added as needed to supply materials to multiple workstations. The second horizontal conveying system has a double-layer structure, including a feeding conveyor line 321 and a return conveyor line 322. Feeding and return processes do not interfere with each other, effectively improving material transfer efficiency.

[0081] During product transport, the left radar assembly and the right radar assembly are placed in the left radar tray 327 and the right radar tray 328 respectively.

[0082] The loading process of the left radar tray 327 is as follows: At the inlet, the left radar tray 327 is placed on the first horizontal conveyor line 326. After the manual operation button is used to start the feeding, the left radar tray 327 on the first horizontal conveyor line 326 is transferred from the left and right radar inlets to the front radar inlet elevator 323. The first lifting conveyor module 3231 of the front radar inlet elevator 323 lifts the left radar tray 327 to the corresponding height of the loading conveyor line 321. The left radar tray 327 on the first lifting conveyor module 3231 is first conveyed to the first loading conveyor unit 3211 of the loading conveyor line 321 and then horizontally conveyed.

[0083] When the left radar tray 327 moves to one end of the first feeding and conveying unit 3211, it is stopped by the first buffer block 321121 of the first buffer 32112. During the buffering process, the first buffer rod retracts into the first buffer 32112. At this time, the left radar tray identification sensor 321111 on the first sensor bracket 32111 identifies the first identification block 3271 on the left radar tray 327, and the material is identified as left radar. Then, under the action of the first lifting drive 32113, the first buffer 32112 descends as a whole, and the first buffer block 321121 no longer stops the left radar tray 327, allowing the left radar tray 327 to continue conveying.

[0084] To transport the left radar tray 327 to the left radar elevator 324, the conveyor control system controls the right radar lifting and conveying module of the right radar elevator 325 to rise between the first feeding conveying unit 3211 and the second feeding conveying unit 3212. The right radar lifting and conveying module forms a "bridge" between the first feeding conveying unit 3211 and the second feeding conveying unit 3212. The left radar tray 327 enters the second feeding conveying unit 3212 via the right radar lifting and conveying module and continues to be transported. It then enters the left radar lifting and conveying module of the left radar elevator 324 from the end of the second feeding conveying unit 3212. The left radar lifting and conveying module drives the left radar tray 327 down to the third horizontal conveyor line 3251. The left radar tray 327 is then sent into the third horizontal conveyor line 3251. The operator removes the left radar component from the left radar tray 327 for construction.

[0085] The return process of the empty left radar tray 327 is as follows: The start button at the third horizontal conveyor line 3251 is pressed manually. The third horizontal conveyor line 3251 sends the empty left radar tray 327 into the left radar elevator 324. The left radar elevator 324 lifts the empty left radar tray 327 to the height of the return conveyor line 322. The empty left radar tray 327 is conveyed in reverse on the return conveyor line 322. The first lifting conveyor module 3231 of the front radar feed elevator 323 lifts it to one end of the return conveyor line 322 to receive the empty left radar tray 327. Then, the front radar feed elevator 323 carries the empty left radar tray 327 down to one side of the first horizontal conveyor line 326. The empty left radar tray 327 moves to the first horizontal conveyor line 326 for recycling, thus realizing the return.

[0086] The loading process of the right radar tray 328 is the same as that of the left radar tray 327. The difference is that after the right radar tray identification sensor 321112 on the first sensor bracket 32111 identifies the second identification block 3281 on the right radar tray 328, it is identified as right radar loading. Therefore, after the right radar lifting and conveying module of the right radar elevator 325 rises between the first loading and conveying unit 3211 and the second loading and conveying unit 3212, the right radar tray 328 is conveyed to the right radar lifting and conveying module and descends with the right radar lifting and conveying module to one side of the second horizontal conveyor line 3241. The right radar tray 328 is sent into the second horizontal conveyor line 3241, and the operator picks up and puts the right radar components on the second horizontal conveyor line 3241.

[0087] When the right radar tray 328 is returned, after the right radar tray 328 on the second horizontal conveyor line 3241 enters the right radar elevator 325, the right radar lifting conveyor module will rise to between the first feeding conveyor unit 3211 and the second feeding conveyor unit 3212. The right radar tray 328 enters the second feeding conveyor unit 3212. After the left radar elevator 324 receives the empty right radar tray 328 from the second feeding conveyor unit 3212, it continues to rise until its height is aligned with the return conveyor line 322, and sends the empty right radar tray 328 into the return conveyor line 322. The subsequent process is the same as that of the left radar tray 327, thus realizing the return.

[0088] When there are pallets on the upper return conveyor line 322, it waits for the front-end radar feed elevator 323 to pick up the return pallets. The program prioritizes conveying pallets with products, and then picks up empty pallets for return.

[0089] The clamping and anti-fall device 33 includes a hanging module 332 and a clamping module 333, comprising a mounting frame 3321, a first lifting beam 3322, and a first spring balancer 3323. The mounting frame 3321 is fixedly mounted on the second workstation frame 31, and the first lifting beam 3322 is fixedly mounted on the mounting frame 3321. A sliding seat 33221 is provided on the first lifting beam 3322, and the sliding seat 33221 is slidably connected to the first lifting beam 3322. A material picking position sensor 33222 is provided at one end of the first lifting beam 3322, and a material releasing position sensor 33223 is provided at the opposite end. The upper side of the first spring balancer 3323 is detachably mounted on the sliding seat 33221.

[0090] The clamping module 333 includes a mounting base plate 3331, a pneumatic gripper 3332, a clamping control handle 3333, and a lifting guide rod 3334. A first lifting ring 33311 is provided on the mounting base plate 3331, and the first lifting ring 33311 is hooked onto the first hook of the first spring balancer 3323. The pneumatic gripper 3332 is fixedly mounted on the mounting base plate 3331. The clamping control handles 3333 are symmetrically arranged on both sides of the mounting base plate 3331, and a first control switch 33331 and a second control switch 3333 are provided on the clamping control handles 3333. 2. A first control switch 33331 is located on the upper side of the clamping control handle 3333. The first control switch 33331 is used to control the pneumatic gripper 3332 to open. A second control switch 33332 is located on the side wall of the clamping control handle 3333. The second control switch 33332 is used to control the pneumatic gripper 3332 to close and clamp. At least one lifting guide rod 3334 is provided on the mounting base plate 3331. A lifting guide sleeve 3391 with a position corresponding to the lifting guide rod 3334 is provided on the radar tray 339. The radar tray 339 is used to place the radar assembly.

[0091] The pneumatic grippers 3332 can only open when the clamping module 333 moves to the material pick-up and unload positions at both ends of the first lifting beam 3322. This effectively prevents the pneumatic grippers 3332 from opening during the movement of the radar assembly held by the clamping module 333. Furthermore, when the pneumatic grippers 3332 open, both hands must simultaneously hold the clamping control handle 3333 and trigger the first control switch 33331 for an extended period to release the pneumatic grippers 3332. This effectively prevents the pneumatic grippers 3332 from being accidentally released, thus preventing the radar assembly from falling. Different switches are used on the clamping control handle 3333 to control the opening and closing of the pneumatic grippers 3332, and these switches are located on different sides, effectively preventing accidental operation of the pneumatic grippers 3332.

[0092] The clamping module 333 is suspended by the first spring balancer 3323, facilitating the operator to lift heavy objects (radar components) using the clamping module 333. When operating the clamping module 333 to grip the radar component, the clamping module 333 is first moved by pulling the first spring balancer 3323. The sliding seat 33221 then slides on the first lifting beam 3322. As the clamping module 333 moves to the material-retrieving position, the sliding seat 33221 is detected by the material-retrieving position sensor 33222. At this point, the pneumatic gripper 3332 can be opened. Specifically, the operator must hold the clamping control handle 3333 with both hands and simultaneously press and hold the first control switch 33331 on the upper side of the clamping control handle for three seconds or more to open the pneumatic gripper 3332. Then, pulling down the clamping module 333 stretches the first wire rope of the first spring balancer 3323, causing the clamping module 333 to descend and the lifting guide rod 3334 to insert into the lifting guide sleeve 3391 on the radar tray 339. This aligns the clamping module 333 with the radar component on the radar tray 339, lowering it to the correct height. The operator then holds the clamping control handle 3333 with both hands and simultaneously presses and holds the second control switch 33332 on the side for three seconds or more to close the pneumatic gripper 3332. The clamping module 333 is then lifted and slid in the opposite direction along the first lifting beam 3322 until it moves to the sliding seat 33221 and is detected by the material release position sensor 33223, at which point the pneumatic gripper 3332 can be opened. The first control switch 33331 is then operated with both hands in the same manner to release the pneumatic gripper 3332 for the next material conveying operation.

[0093] The rear radar conveyor line 23 includes a rear radar inlet elevator 231, a first horizontal conveyor system 232, and a rear radar take-up elevator 233. The rear radar inlet elevator 231 and the rear radar take-up elevator 233 are symmetrically arranged at both ends of the first horizontal conveyor system 232. A rear radar first horizontal conveyor line 2311 is provided on one side of the rear radar inlet elevator 231, and a rear radar second horizontal conveyor line 2331 is provided on one side of the rear radar take-up elevator 233.

[0094] After manual assembly at the rear radar pre-assembly workstation on one side of the rear radar assembly station 2, the rear radar components are placed in the rear radar tray. The rear radar tray and its components are placed on the first horizontal conveyor line 2311 and horizontally conveyed to the rear radar infeed elevator 231. The elevator lifts the tray to the height of the first horizontal conveyor system 232, which then sends it to the receiving elevator 233. The receiving elevator lowers the tray to the side of the second horizontal conveyor line 2331, allowing operators on the first ladder 24 to retrieve the rear radar components using a lifting device. The process is reversed when the tray is returned. The rear radar conveyor line 23 not only delivers the rear radar components to the rear radar assembly station 2, but also raises the height of the rear radar components, making it easier for the operators on the first manual ladder 24 to assemble the rear radar components.

[0095] The rear radar conveyor line 23 has the same structure as the front radar conveyor return line 32. The first horizontal conveying system 232 in the rear radar conveyor line 23 and the second horizontal conveying system in the front radar conveyor return line 32 also have the same structure. The difference lies in that one front radar feed elevator 323 in the front radar conveyor return line corresponds to two elevators: the left radar elevator 324 and the right radar elevator 325, while the rear radar feed elevator 231 corresponds to only one rear radar take-up elevator 233.

[0096] The appearance inspection station 7 includes a third station frame 71 and a light panel 72, with the light panel 72 fixedly installed on the third station frame 71. After the vehicle enters the appearance inspection station 7, the light panel 72 emits light to illuminate the vehicle body, and the vehicle appearance is manually inspected to check the installation quality of the added products and whether they are securely installed.

[0097] The calibration station 9 includes a enclosure wall 91 and calibration target points 92. The enclosure wall 91 encloses a test space, within which several calibration target points 92 are set up. The positions of the calibration target points 92 within the test space are movable. When a vehicle enters the calibration station 9, the calibration target points 92 are arranged around the vehicle to calibrate the added rear radar, left radar assembly, and right radar assembly, ensuring the vehicle's environmental perception capabilities.

[0098] Working principle: Each of the eight workstations arranged in a straight line in the assembly line is equipped with a workstation status indication system 22. The status indication screen 223 in the current workstation status indication system 22 displays the occupancy status information of the next workstation, specifically displaying three types of information: "No vehicle", "Passing", and "Production". This makes it easier for the vehicle driver at the current workstation to determine whether they can enter the next workstation, facilitating the timely entry of the vehicle into the next workstation without collision damage, and effectively improving the conversion efficiency.

[0099] The occupancy status information of the three workstations—"No Vehicle," "Passing," and "Production"—is identified and determined by the tire recognition component and the vehicle body recognition sensor 222 in the workstation status indication system 22. When one first tire recognition sensor 225 and two second tire recognition sensors 226 in the tire recognition component simultaneously recognize a vehicle tire, and the vehicle body recognition sensor 222 recognizes the vehicle body, the workstation status indication system 22 determines that the vehicle is accurately stationed in the construction area at the current workstation, and the occupancy status of the current workstation is "Production." At this time, the status indication screen 223 of the previous workstation displays "Production," and the driver of the vehicle at the previous workstation cannot operate the vehicle to enter the current workstation. When the vehicle moves to the next workstation, based on the sequence of feedback from the tire recognition component no longer recognizing a tire and the vehicle body recognition sensor 222 no longer recognizing a vehicle body, it is determined that the vehicle at the current workstation is in a passing state, and the occupancy status of the current workstation is "Passing." The driver of the vehicle at the previous workstation cannot operate the vehicle to enter the current workstation. If the tire recognition component does not recognize a tire and the vehicle recognition sensor 222 does not recognize a vehicle body, the current workstation is determined to be "no vehicle". The driver of the vehicle in the previous workstation can then operate the vehicle to enter the current workstation.

[0100] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An assembly line for an unmanned vehicle radar system, comprising: Interior removal station (1) is used by modification personnel to manually remove the interior panels of the vehicle and lay cables; Rear radar assembly station (2), which is used by modification personnel to manually install the rear radar components at the rear of the vehicle: Front-end radar assembly station (3) is used for modification personnel to manually install the lidar components on the left and right sides of the front of the vehicle. IPC assembly station (4) is used for modification personnel to manually install IPC components inside the vehicle. Network configuration and testing station (5) is used by modification personnel to configure and test the electrical network communication of the vehicle. Display assembly station (6) is used for modification personnel to manually install the vehicle's interior display; The appearance inspection station (7) is used by modification personnel to manually inspect the appearance of the vehicle; The manual configuration station (8) is used by modification personnel to manually set vehicle configuration parameters; Calibration station (9), which is used for vehicle radar calibration; The interior removal station (1), the rear radar assembly station (2), the front radar assembly station (3), the IPC assembly station (4), the network configuration and testing station (5), the display assembly station (6), the appearance inspection station (7), and the manual configuration station (8) are arranged sequentially along a straight line. The rear radar assembly station (2) includes a first station frame (21), a station status indication system (22), a rear radar conveyor line (23), and a first manual ladder (24). The station status indication system (22) includes a ground guide rail (221), a wheel alignment component, a tire recognition component, a vehicle body recognition sensor (222), and a status indication screen (223). Two parallel ground guide rails (221) are provided on the ground inside the first station frame (21). The wheel alignment component includes two parallel wheel alignment parts (224). The wheel alignment parts (224) have an arc-shaped top surface. The tire recognition component is located at one end of the wheel alignment parts (224). The tire recognition component includes a first tire recognition sensor (225) and a second tire recognition sensor (226). Tire recognition sensor (226), two second tire recognition sensors (226) are symmetrically arranged on both sides of the first tire recognition sensor (225), one second tire recognition sensor (226) corresponds to one of the wheel positioning components (224), the body recognition sensor (222) is set at one end of the ground guide rail (221), the body recognition sensor (222) is used to identify the body in front of the wheel, the status indicator screen (223) is connected to the workstation status indicator system (22) of the next workstation, the status indicator screen (223) is used to display the occupancy status information of the next workstation, the rear radar conveyor line (23) is used to transport the rear radar assembly to the rear radar assembly workstation (2), and the first manual ladder (24) is slidably connected to the ground; The first manual ladder (24) has a first protrusion (241) at one end. The bottom surface of the vehicle rear radar assembly station (2) is provided with two parallel first travel limit blocks (242). The first protrusion (241) is located between the two first travel limit blocks (242). A first manual ladder travel identification sensor for identifying the first protrusion (241) is provided on one side of the first travel limit block (242). The first manual ladder travel identification sensor is connected to the status indicator screen (223). A first tire recognition sensor (225) and two second tire recognition sensors (226) are arranged in a straight line. The recognition and signal feedback sequence of the three sensors help determine the direction of travel of the vehicle.

2. The unmanned vehicle radar system assembly line according to claim 1, characterized in that, The front-end radar assembly station (3) includes a second station frame (31), a front-end radar conveyor return line (32), a clamping anti-fall device (33), and a second manual ladder (34). The front-end radar conveyor return line (32) is used to convey the left radar assembly and the right radar assembly to the rear radar assembly station (2). The front-end radar conveyor return line (32) includes a second horizontal conveying system and a vertical conveying system. The second horizontal conveying system includes a loading conveyor line (321) and a return conveyor line (322). The loading conveyor line (321) and the return conveyor line (322) are arranged in parallel. The return conveyor line (322) is located above the loading conveyor line (321). The vertical conveying system includes a front-end radar assembly frame (31), a front-end radar conveyor return line (322), a front-end radar conveyor return line (322), a rear radar assembly frame (321), a front-end radar conveyor return line (322), a rear radar assembly frame (321), a rear radar assembly frame (32 ... The system includes a front-end radar feed elevator (323), a left radar elevator (324), and a right radar elevator (325). The front-end radar feed elevator (323) and the left radar elevator (324) are symmetrically arranged at both ends of the second horizontal conveying system. The feeding conveyor line (321) includes a first feeding conveyor unit (3211) and a second feeding conveyor unit (3212). The first feeding conveyor unit (3211) and the second feeding conveyor unit (3212) are symmetrically arranged at both ends of the right radar elevator (325). One end of the first feeding conveyor unit (3211) is provided with a left and right radar tray identification component. The left and right radar tray identification component includes a first sensor bracket (32111) and a first buffer ( 32112), the first sensor bracket (32111) is provided with a left radar tray identification sensor (321111) and a right radar tray identification sensor (321112). The left radar tray (327) is provided with a first identification block (3271) whose position corresponds to the left radar tray identification sensor (321111), and the right radar tray (328) is provided with a second identification block (3281) whose position corresponds to the right radar tray identification sensor (321112). The first buffer (32112) is fixedly installed on the first lifting drive component (32113). The first buffer rod of the first buffer (32112) is provided with a first buffer stop (321121). The front radar feed The elevator (323) is provided with left and right radar inlets at one end. A first horizontal conveyor line (326) is provided on one side of the left and right radar inlets. A left radar outlet is provided on one side of the left radar elevator (324). A second horizontal conveyor line (3241) is provided on one side of the left radar outlet. A right radar outlet is provided on one side of the right radar elevator (325). A third horizontal conveyor line (3251) is provided on one side of the right radar outlet. A first lifting and conveying module (3231) is provided on the front-end radar inlet elevator (323). The clamping and anti-fall device (33) is fixedly installed on the second workstation frame (31). The clamping and anti-fall device (33) is used to clamp and lift the left radar assembly and the right radar assembly.The second artificial ladder (34) is slidably connected to the ground.

3. The unmanned vehicle radar system assembly line according to claim 2, characterized in that, The clamping anti-fall device (33) includes a hanging module (332) and a clamping module (333). The hanging module (332) includes a mounting frame (3321), a first lifting beam (3322), and a first spring balancer (3323). The mounting frame (3321) is fixedly mounted on the second workstation frame (31), and the first lifting beam (3322) is fixedly mounted on the mounting frame (3321). A sliding seat (33221) is provided on the first lifting beam (3322), and the sliding seat (33221) is slidably connected to the first spring balancer. On the lifting beam (3322), a material picking position sensor (33222) is provided at one end of the first lifting beam (3322), and a material releasing position sensor (33223) is provided at the opposite end. The upper side of the first spring balancer (3323) is detachably mounted on the sliding seat (33221). The clamping module (333) includes a mounting base plate (3331), a pneumatic gripper (3332), a clamping control handle (3333), and a lifting guide rod (3334). A first lifting ring (33311) is provided on the mounting base plate (3331). The first lifting ring (33311) is hooked onto the first hook of the first spring balancer (3323). The pneumatic gripper (3332) is fixedly mounted on the mounting base plate (3331). The mounting base plate (3331) has symmetrically arranged clamping control handles (3333) on both sides. The clamping control handles (3333) are equipped with a first control switch (33331) and a second control switch (33332). The first control switch (33331) is located on the upper side of the clamping control handle (3333). (33331) is used to control the pneumatic gripper (3332) to open. The second control switch (33332) is provided on the side wall of the clamping control handle (3333). The second control switch (33332) is used to control the pneumatic gripper (3332) to close and clamp. At least one hoisting guide rod (3334) is provided on the mounting base plate (3331). A hoisting guide sleeve (3391) with a position corresponding to the hoisting guide rod (3334) is provided on the radar tray (339). The radar tray (339) is used to place the radar assembly.

4. The unmanned vehicle radar system assembly line according to claim 1, characterized in that, The rear radar conveyor line (23) includes a rear radar inlet elevator (231), a first horizontal conveyor system (232), and a rear radar take-up elevator (233). The rear radar inlet elevator (231) and the rear radar take-up elevator (233) are symmetrically arranged at both ends of the first horizontal conveyor system (232). A rear radar first horizontal conveyor line (2311) is provided on one side of the rear radar inlet elevator (231), and a rear radar second horizontal conveyor line (2331) is provided on one side of the rear radar take-up elevator (233).

5. An assembly line for an unmanned vehicle radar system according to claim 1, characterized in that, The appearance inspection station (7) includes a third station frame (71) and a light panel (72), the light panel (72) being fixedly installed on the third station frame (71).

6. An assembly line for an unmanned vehicle radar system according to claim 1, characterized in that, The calibration station (9) includes a enclosure wall (91) and calibration target points (92). The enclosure wall (91) encloses and forms a test space, and a number of calibration target points (92) are set in the test space.

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