An engine assembly auxiliary device based on depth camera

Abstract

The present invention relates to the technical field of engine assembly, and in particular to an engine assembly auxiliary device based on a depth camera, the device comprising a fixed base, which is used to fix the position of the depth camera; an angle adjustment mechanism, which comprises a horizontal electric telescopic rod for driving the depth camera to perform vertical telescopic movement and a rotating electric telescopic rod for driving the depth camera to perform rotational movement; a depth camera, which is used to obtain engine part information and engine assembly information through image capture; a display analysis module, which comprises a display screen and an engine assembly unit for determining an engine assembly sequence, comprising a display screen for displaying the engine assembly information and engine part information obtained by the depth camera and an engine assembly unit for determining an engine model; an assembly method determination module, which is used to determine an engine assembly method; the present invention determines the engine assembly sequence by analyzing the engine part information obtained by the depth camera to provide assembly guidance.

Description

Technical Field

[0001] The present invention relates to the technical field of engine assembly, and in particular to an engine assembly auxiliary device based on a depth camera. Background Art

[0002] During the engine assembly process, especially for complex engine components, accurate position and orientation are crucial. The assembly assistance device based on the depth camera can monitor the position, angle and alignment of parts in real time, thereby reducing the possibility of assembly errors. Traditional engine assembly assistance devices based on depth cameras have the defect that the field of view is usually narrow and may not be able to fully capture all the details of large engine components, making some assembly details difficult to observe and operate.

[0003] Chinese patent application publication number: CN112122917B discloses a method for precise matching of engine assemblies. First, the camera internal and external parameters of two pairs of binocular cameras are calibrated respectively, and the camera coordinate system and the six-degree-of-freedom parallel platform coordinate system are calibrated. The two flexible parallel platform coordinate systems are converted to the base coordinate system by means of a laser tracker. The two engine bodies to be assembled are placed on the two flexible parallel platforms respectively, and the two flexible parallel platforms are rotated respectively so that the pins and pin holes of the two engine bodies to be assembled are completely imaged in the binocular vision system. Image acquisition, image processing, and three-dimensional reconstruction are performed to obtain the rigid conversion relationship between the pin holes and the pins on the flexible parallel platforms respectively, and the two flexible parallel platforms are reversed back to the original posture. The target position of the engine body to be assembled is obtained by calculation, and a one-time assembly is performed. Through the above method, the invention can overcome the disadvantages of the existing method that the coaxial adjustment is difficult, and has high precision, good stability, and can be assembled and adjusted once, with high efficiency.

[0004] It can be seen that the prior art has problems in that when assembling the engine, the real-time assembly information of the engine cannot be obtained in time and real-time adjustments cannot be made according to the real-time assembly information of the engine, and the accuracy of the control of the auxiliary process of engine assembly is low, resulting in low accuracy of the engine assembly process. Summary of the invention

[0005] To this end, the present invention provides an engine assembly assistance device based on a depth camera to overcome the problems in the prior art of not being able to timely obtain real-time assembly information of the engine and not being able to make real-time adjustments based on the real-time assembly information of the engine, and the low accuracy of the engine assembly assistance process control resulting in low accuracy of the engine assembly process.

[0006] To achieve the above object, the present invention provides an engine assembly auxiliary device based on a depth camera, comprising:

[0007] A fixed base, which is used to fix the position of the depth camera;

[0008] An angle adjustment mechanism, which is connected to the fixed base, includes a horizontal electric telescopic rod for driving the depth camera to perform vertical telescopic movement and a rotating electric telescopic rod for driving the depth camera to perform rotational movement;

[0009] A depth camera connected to the rotating telescopic rod, used to obtain engine parts information and engine assembly information through image capture;

[0010] A display analysis module, which is connected to the depth camera, including a display screen for displaying the engine assembly information and engine parts information acquired by the depth camera and an engine assembly unit for determining the engine assembly sequence according to the maximum similarity between the engine parts information in the historical assembly process of the engine and the engine parts information acquired by the depth camera and the number of engine parts acquired by the depth camera;

[0011] An assembly method determination module, which is connected to the display analysis module, is used to determine the working angle range of the depth camera according to the engine model, and determine the engine assembly method based on the working angle range of the depth camera and the compatibility of the engine assembly sequence;

[0012] A control adjustment module is connected to the assembly method determination module, and is used to determine whether to control the depth camera to adjust the working angle according to the interruption duration of the engine real-time image acquisition during the engine assembly process, and to determine whether to adjust the engine assembly process parameters according to the engine assembly completion time and the accuracy of the engine assembly process.

[0013] Further, the engine assembly unit determines the engine assembly sequence including:

[0014] The engine assembly unit determines that the engine assembly sequence is the historical assembly sequence of the engine according to a comparison result in which the maximum similarity between the engine parts information in the historical assembly process of the engine and the engine parts information acquired by the depth camera is greater than or equal to a preset similarity;

[0015] The engine assembly unit determines an analysis of the number of engine parts acquired by the depth camera according to a comparison result in which the maximum similarity between the engine parts information in the historical assembly process of the engine and the engine parts information acquired by the depth camera is less than a preset similarity.

[0016] Furthermore, under the condition of analyzing the number of engine parts acquired by the depth camera, the engine assembly unit determines the engine assembly order based on the engine parts assembly order in which the first special part has a dependency relationship according to the comparison result that the number of engine parts is greater than a preset number, or determines the engine assembly order based on the engine parts assembly order replaced by the second special part according to the comparison result that the number of engine parts is equal to the preset number.

[0017] Furthermore, the assembly method determination module determines the engine assembly method including:

[0018] The assembly method determination module determines that the engine is assembled using a single-line assembly method according to a comparison result that the working angle range of the depth camera is smaller than a preset working angle range;

[0019] The assembly method determination module performs secondary determination on the engine assembly method according to a comparison result that the working angle range of the depth camera is greater than or equal to a preset working angle range.

[0020] Furthermore, the assembly method determination module determines whether to assemble the engine using the multi-line assembly method based on a comparison result that the engine assembly sequence compatibility degree is greater than or equal to a preset compatibility degree, or determines whether to assemble the engine using the single-line assembly method based on a comparison result that the engine assembly sequence compatibility degree is less than a preset compatibility degree, under the condition of performing a secondary judgment on determining the engine assembly method.

[0021] Furthermore, the degree of compatibility of the engine assembly sequence is determined according to the ratio of the number of parts that can be installed simultaneously to the total number of parts in the engine assembly sequence.

[0022] Further, the control adjustment module determines whether to control the depth camera to adjust the working angle, including:

[0023] The control adjustment module determines to adjust the working angle of the control depth camera according to the comparison result that the intermittent time length of the engine real-time image acquisition is greater than or equal to the preset intermittent time length;

[0024] The control adjustment module determines that it is not necessary to control the depth camera to adjust the working angle according to a comparison result that the interruption time length of the engine real-time image acquisition is less than a preset interruption time length.

[0025] Further, the control adjustment module determines whether to adjust the parameters of the engine assembly process, including:

[0026] The control adjustment module determines that the parameters of the engine assembly process need to be adjusted according to a comparison result that the engine assembly completion time is greater than or equal to a preset completion time;

[0027] The control adjustment module performs a secondary determination on whether to adjust the parameters of the engine assembly process according to a comparison result that the engine assembly completion time is less than a preset completion time.

[0028] Further, the control adjustment module determines whether to adjust the parameters of the engine assembly process by making a secondary judgment on whether to adjust the parameters of the engine assembly process, and determines that the parameters of the engine assembly process need to be adjusted according to a comparison result that the accuracy of the engine assembly process is less than a preset accuracy, wherein the engine assembly process parameters include a preset similarity and a preset interruption duration.

[0029] Furthermore, the adjustment amount of the preset similarity is positively correlated with the completion time of the engine assembly, and the adjustment amount of the preset interruption time is negatively correlated with the accuracy of the engine assembly process.

[0030] Compared with the prior art, the beneficial effect of the present invention lies in that the present invention determines whether an engine is a customized engine based on the maximum similarity between the engine parts information in the historical assembly process of the engine and the engine parts information acquired by the depth camera; if the maximum similarity is greater than or equal to the preset similarity, it indicates that the engine is not a customized engine, and the engine can be assembled according to the historical assembly sequence. The above method improves the real-time and accuracy of obtaining the engine assembly information, thereby improving the accuracy of the engine assembly process.

[0031] When analyzing the number of engine parts acquired by the depth camera, the present invention, if the number of engine parts is greater than the preset number of parts, indicates that the customer-customized engine needs to add a first special part, and the engine assembly order is determined based on the first special part and the assembly order of engine parts that have a dependency relationship with the first special part; if the number of engine parts is equal to the preset number of parts, indicates that the customer-customized engine needs to use a second special part that is different from conventional engine parts, and the engine assembly order is determined based on the assembly order of engine parts replaced by the second special part. The above method improves the real-time and accuracy of obtaining engine assembly information, thereby improving the accuracy of the engine assembly process.

[0032] Furthermore, the present invention determines the working angle range of the depth camera based on the engine model, and compares the working angle range with the preset working angle range to determine the assembly method of the engine. If the working angle range of the depth camera is less than the preset working angle range, it means that more precise operation and monitoring are required during the engine assembly process. At this time, choosing to assemble the engine by a single-line assembly method can improve the accuracy of the engine assembly process. If the working angle range of the depth camera is greater than or equal to the preset working angle range, the compatibility of the engine assembly sequence is further analyzed at this time. If the compatibility of the engine assembly sequence is greater than or equal to the preset compatibility, it means that a multi-line assembly method can be used to assemble the engine during the engine assembly process, thereby improving the assembly efficiency of the engine. If the compatibility of the engine assembly sequence is less than the preset compatibility, it means that the engine assembly sequence has limitations. At this time, choosing to assemble the engine by a single-line assembly method improves the real-time and accuracy of obtaining engine assembly information and thereby improves the accuracy of the engine assembly process.

[0033] Furthermore, the present invention determines whether to adjust the working angle of the depth camera by analyzing the interruption duration of the depth camera's acquisition of real-time images of the engine. If the interruption duration is greater than or equal to a preset interruption duration, it means that the depth camera cannot acquire the real-time image of the engine due to an obstacle in front. At this time, it is necessary to adjust the working angle of the depth camera to acquire a complete real-time image of the engine. The above method avoids the phenomenon of low engine assembly efficiency and low accuracy due to the inability to provide engine assembly guidance in a timely manner due to untimely acquisition of the real-time image of the engine.

[0034] Furthermore, the present invention determines whether the engine assembly process needs to be adjusted based on the comparison result of the engine assembly completion time and the preset completion time. If the engine assembly completion time is greater than or equal to the preset completion time, it means that there are many errors in the engine assembly process. At this time, the engine assembly process needs to be adjusted. If the engine assembly completion time is less than the preset completion time, the accuracy of the engine assembly process is further analyzed. If the accuracy of the engine assembly process is less than the preset accuracy, the engine assembly process needs to be adjusted. The above method avoids the phenomenon of not adjusting the engine assembly process when the engine assembly completion time is less than the preset assembly completion time but the accuracy of the engine assembly process is low, which causes waste of manpower or resources.

[0035] Furthermore, the present invention determines an adjustment method based on a comparison result of a difference between the engine assembly completion time and the preset completion time and a preset difference. If the difference is greater than or equal to the preset difference, it means that the engine assembly sequence determined during the engine assembly process is incorrect due to the small preset similarity, resulting in a large amount of time wasted in the subsequent assembly process. At this time, it is necessary to use a first adjustment coefficient to increase the preset similarity and thereby improve the accuracy of the engine assembly sequence judgment. If the difference is less than the preset difference, it means that during the assembly process in which the engine model is accurately judged, the real-time acquisition of the engine assembly information is low, resulting in incorrect installation of engine parts and thereby increasing the engine assembly completion time. At this time, it is necessary to use a second adjustment coefficient to reduce the preset interruption time and thereby improve the real-time acquisition of the engine assembly information. The above method improves the real-time and accuracy of the engine assembly information acquisition and thereby improves the accuracy of the engine assembly process. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a workflow diagram of an assembly method determination module in an engine assembly auxiliary device based on a depth camera according to an embodiment of the present invention;

[0037] Figure 2 It is a structural schematic diagram of an engine assembly auxiliary device based on a depth camera according to an embodiment of the present invention;

[0038] Figure 3 This is a workflow diagram of a control and adjustment module in an engine assembly auxiliary device based on a depth camera according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0040] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0041] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0042] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] See also Figure 1-Figure 3 As shown, Figure 1 This is a workflow diagram of an assembly method determination module in an engine assembly auxiliary device based on a depth camera according to an embodiment of the present invention; Figure 2 It is a structural schematic diagram of an engine assembly auxiliary device based on a depth camera according to an embodiment of the present invention; Figure 3 This is a workflow diagram of a control and adjustment module in an engine assembly auxiliary device based on a depth camera according to an embodiment of the present invention.

[0044] The engine assembly auxiliary device based on a depth camera according to an embodiment of the present invention comprises:

[0045] A fixed base, which is used to fix the position of the depth camera;

[0046] An angle adjustment mechanism connected to the fixed base, comprising a horizontal electric telescopic rod for driving the depth camera to perform vertical telescopic movement and a rotating electric telescopic rod for driving the depth camera to perform rotational movement;

[0047] A depth camera connected to the rotating telescopic rod, used to obtain engine parts information and engine assembly information through image capture;

[0048] A display analysis module, which is connected to the depth camera, including a display screen for displaying the engine assembly information and engine parts information acquired by the depth camera and an engine assembly unit for determining the engine assembly sequence according to the maximum similarity between the engine parts information in the historical assembly process of the engine and the engine parts information acquired by the depth camera and the number of engine parts acquired by the depth camera;

[0049] An assembly method determination module, which is connected to the display analysis module, is used to determine the working angle range of the depth camera according to the engine model, and determine the engine assembly method based on the working angle range of the depth camera and the compatibility of the engine assembly sequence;

[0050] A control adjustment module is connected to the assembly method determination module, and is used to determine whether to control the depth camera to adjust the working angle according to the interruption duration of the engine real-time image acquisition during the engine assembly process, and to determine whether to adjust the engine assembly process parameters according to the engine assembly completion time and the accuracy of the engine assembly process.

[0051] The engine parts information in the embodiment of the present invention includes but is not limited to "engine parts model, engine parts name and engine parts material", and the engine assembly information includes but is not limited to "engine assembly progress information, engine assembly image acquisition interruption duration information and engine assembly process assembly error information".

[0052] Specifically, the engine assembly unit determines the engine assembly sequence as the historical assembly sequence of the engine according to a comparison result of the maximum similarity G between the engine parts information in the historical assembly process of the engine and the engine parts information acquired by the depth camera and a preset similarity G0;

[0053] If G≥G0, the engine assembly unit determines the engine assembly sequence as the historical assembly sequence of the engine;

[0054] If G<G0, the engine assembly unit determines to analyze the number of engine parts acquired by the depth camera;

[0055] The value range of the preset similarity G0 is set to 0.8-1, and the value of the preset similarity G0 is preferably 0.9, but the above value is not limited thereto, and those skilled in the art may also adjust the value according to actual needs.

[0056] The maximum similarity between the engine parts information during the historical assembly process of the engine in the embodiment of the present invention and the engine parts information acquired by the depth camera is the ratio of the number of engine parts during the historical assembly process of the engine whose models, names and materials are the same as the model, names and materials of the engine parts acquired by the depth camera to the number of engine parts during the historical assembly process of the engine.

[0057] The present invention determines whether an engine is a customized engine based on the maximum similarity between the engine parts information in the historical assembly process of the engine and the engine parts information acquired by the depth camera. If the maximum similarity is greater than or equal to the preset similarity, it means that the engine is not a customized engine, and the engine can be assembled according to the historical assembly sequence. The above method improves the real-time and accuracy of obtaining the engine assembly information, thereby improving the accuracy of the engine assembly process.

[0058] Specifically, the engine assembly unit determines the engine model according to the comparison result of the number of engine parts N and the preset number N0 under the condition of analyzing the number of engine parts acquired by the depth camera;

[0059] If N>N0, determining the assembly order of the engine based on the assembly order of the engine parts having a dependency relationship with the first special part;

[0060] If N=N0, the engine assembly unit determines the engine assembly sequence based on the engine parts assembly sequence replaced by the second special part;

[0061] If N<N0, the engine assembly unit determines to issue an engine parts shortage warning.

[0062] The value of the preset number N0 is the number of engine parts in the historical assembly process of the engine, but the above value is not limited to this, and technicians in this field can also adjust the value according to actual needs.

[0063] In the embodiment of the present invention, the first special part is an engine part that needs to be added to the customized engine. For example, the customer requires the engine to have a higher power output and selects a turbocharger as a key component for improving performance. In this case, the turbocharger is the first special part. The second special part is an engine part that needs to be added to the customized engine and that is a different model or material from that used in the historical assembly process of the engine. For example, the customer selects a synthetic lubricant that can maintain stability in a high temperature environment. In this case, the lubricating oil pipeline needs to select a lubricating oil pipeline that adapts to the characteristics of the new lubricant. The lubricating oil pipeline is the second special part.

[0064] In the embodiment of the present invention, determining the assembly order of the engine based on the assembly order of engine parts with which the first special part has a dependency relationship includes assembling the engine parts except the first special part and the engine parts with which the first special part has a dependency relationship according to the historical assembly order of the engine. The method for determining the first special part and the engine parts with which the first special part has a dependency relationship and the method for determining the assembly order of the first special part and the engine parts with which the first special part has a dependency relationship may be determined by an experimental method. For example, in the actual assembly process, when trying to install the first special part, observe whether it will affect the installation or adjustment of other parts. Determining the assembly order of the engine parts based on the assembly order of engine parts replaced by the second special part includes setting the assembly order of the second special part to the assembly order of the engine parts it replaces, and the assembly order of the remaining engine parts remains the historical assembly order of the engine.

[0065] When analyzing the number of engine parts acquired by the depth camera, the present invention, if the number of engine parts is greater than the preset number of parts, indicates that the customer-customized engine needs to add a first special part, and the engine assembly order is determined based on the first special part and the assembly order of engine parts that have a dependency relationship with the first special part; if the number of engine parts is equal to the preset number of parts, indicates that the customer-customized engine needs to use a second special part that is different from conventional engine parts, and the engine assembly order is determined based on the assembly order of engine parts replaced by the second special part. The above method improves the real-time and accuracy of obtaining engine assembly information, thereby improving the accuracy of the engine assembly process.

[0066] Specifically, the assembly method determination module determines the engine assembly method according to the comparison result of the working angle range S of the depth camera and the preset working angle range S0 under the condition of determining the engine assembly method;

[0067] If S<S0, the assembly method determination module determines to assemble the engine by a single-line assembly method;

[0068] If S≥S0, the assembly method determination module performs a secondary determination on the engine assembly method.

[0069] The working angle range of the depth camera in the embodiment of the present invention can be determined based on the historical maximum angle and the historical minimum angle of the engine assembly process of the same model. Comparing the working angle range of the depth camera with the preset working angle range includes comparing the difference between the maximum value and the minimum value of the working angle range of the depth camera with the difference between the maximum value and the minimum value of the preset working angle range. The preset working angle range is the average value of the working angle range of the depth camera in the historical assembly process, but the above value is not limited to this. Technical personnel in this field can also adjust the value according to actual needs.

[0070] Specifically, the assembly method determination module determines the engine assembly method according to the comparison result between the engine assembly sequence compatibility degree D and the preset compatibility degree D0 under the condition of performing a secondary determination on the engine assembly method;

[0071] If D≥D0, the assembly method determination module determines to assemble the engine by a multi-line assembly method;

[0072] If D<D0, the assembly method determination module determines to assemble the engine by a single-line assembly method;

[0073] Among them, the value range of the preset compatibility level D0 is set to 0.3-0.7, and the value of the preset compatibility level D0 is preferably 0.38, but the above value is not limited thereto, and those skilled in the art may also adjust the value according to actual needs.

[0074] The degree of compatibility of the assembly sequence of the engine in the embodiment of the present invention is the ratio of the number of parts that can be installed simultaneously in the engine assembly sequence to the total number of parts. Assembling the engine using the single-line assembly method includes that only one machine or one worker can perform the engine assembly work according to the engine assembly sequence generated by the engine assembly unit. Assembling the engine using the multi-line assembly method includes that multiple machines or multiple workers can perform the engine assembly work according to the engine assembly sequence generated by the engine assembly unit.

[0075] The present invention determines the working angle range of the depth camera based on the engine model, and compares the working angle range with the preset working angle range to determine the assembly method of the engine. If the working angle range of the depth camera is less than the preset working angle range, it means that more precise operation and monitoring are required during the engine assembly process. At this time, choosing to assemble the engine by a single-line assembly method can improve the accuracy of the engine assembly process. If the working angle range of the depth camera is greater than or equal to the preset working angle range, the compatibility degree of the engine assembly sequence is further analyzed at this time. If the compatibility degree of the engine assembly sequence is greater than or equal to the preset compatibility degree, it means that a multi-line assembly method can be used to assemble the engine during the engine assembly process, thereby improving the assembly efficiency of the engine. If the compatibility degree of the engine assembly sequence is less than the preset compatibility degree, it means that the engine assembly sequence has limitations. At this time, choosing to assemble the engine by a single-line assembly method improves the real-time and accuracy of obtaining engine assembly information and thereby improves the accuracy of the engine assembly process.

[0076] Specifically, the control adjustment module determines whether to control the depth camera to adjust the working angle according to the comparison result of the engine real-time image acquisition interruption time T and the preset interruption time T0 under the condition of determining whether to control the depth camera to adjust the working angle;

[0077] If T≥T0, the control adjustment module determines to control the depth camera to adjust the working angle;

[0078] If T<T0, the control adjustment module determines that it is not necessary to control the depth camera to adjust the working angle.

[0079] Among them, the value range of the preset interruption time length T0 is set to 8 seconds-30 seconds, and the value of the preset interruption time length T0 is preferably 15 seconds, but the above value is not limited to this, and technical personnel in this field can also adjust the value according to actual needs.

[0080] In the embodiment of the present invention, controlling the depth camera to adjust the working angle includes controlling the adjustment module to control the horizontal telescopic rod and the rotating telescopic rod to adjust the working angle range of the depth camera for photographing the engine assembly of the model to obtain a complete engine image.

[0081] The present invention determines whether to adjust the working angle of the depth camera by analyzing the interruption duration of the depth camera's acquisition of the real-time image of the engine. If the interruption duration is greater than or equal to the preset interruption duration, it means that the depth camera cannot obtain the real-time image of the engine in real time due to an obstacle in front. At this time, it is necessary to adjust the working angle of the depth camera to obtain a complete real-time image of the engine. The above method avoids the phenomenon of low engine assembly efficiency and low accuracy due to the inability to provide engine assembly guidance in time due to untimely acquisition of the real-time image of the engine.

[0082] Specifically, the control adjustment module determines whether the engine assembly process parameters need to be adjusted based on the comparison result of the engine assembly completion time W and the preset completion time W0 under the condition of determining whether the engine assembly process parameters need to be adjusted;

[0083] If W≥W0, the control adjustment module determines that the engine assembly process parameters need to be adjusted;

[0084] If W<W0, the control adjustment module performs a secondary determination on whether to adjust the parameters of the engine assembly process;

[0085] The preset completion time W0 is set to a historical average of the completion time of assembling engines of the same model, but the above value is not limited thereto, and those skilled in the art may also adjust the value according to actual needs.

[0086] Specifically, the control adjustment module determines whether the parameters of the engine assembly process need to be adjusted according to the comparison result of the accuracy P of the engine assembly process and the preset accuracy P0 under the condition of making a secondary judgment on whether to adjust the parameters of the engine assembly process;

[0087] If P≥P0, the control adjustment module determines that the engine assembly process parameters do not need to be adjusted;

[0088] If P<P0, the control adjustment module determines that the engine assembly process parameters need to be adjusted;

[0089] Among them, the value range of the preset accuracy level P0 is set to 0.75-1, and the value of the preset accuracy level P0 is preferably 0.86, but the above value is not limited to this, and technical personnel in this field can also adjust the value according to actual needs.

[0090] The engine assembly process parameters in the embodiment of the present invention include a preset similarity and a preset interruption duration, and the accuracy of the engine assembly process is the ratio of the difference between the total number of engine parts and the number of disassembled engine parts during the engine assembly process to the total number of engine parts.

[0091] The present invention determines whether the engine assembly process needs to be adjusted based on the comparison result of the engine assembly completion time and the preset completion time. If the engine assembly completion time is greater than or equal to the preset completion time, it means that many errors occur in the engine assembly process, and the engine assembly process needs to be adjusted at this time. If the engine assembly completion time is less than the preset completion time, the accuracy of the engine assembly process is further analyzed at this time. If the accuracy of the engine assembly process is less than the preset accuracy, the engine assembly process needs to be adjusted at this time. The above method avoids the phenomenon of not adjusting the engine assembly process when the engine assembly completion time is less than the preset assembly completion time but the accuracy of the engine assembly process is low, which causes waste of manpower or resources.

[0092] Specifically, the control adjustment module determines the adjustment method according to the comparison result of the difference ΔW between the engine assembly completion time and the preset completion time and the preset difference ΔW0 under the condition that it is determined that the engine assembly process parameters need to be adjusted;

[0093] If ΔW≥ΔW0, the control adjustment module determines to adjust the preset similarity by a first adjustment coefficient K1;

[0094] If ΔW<ΔW0, the control adjustment module determines to adjust the preset intermittent duration by a second adjustment coefficient K2;

[0095] The preset difference ΔW0 is set to one tenth of the preset completion time, but the above value is not limited thereto, and those skilled in the art may also adjust the value according to actual needs.

[0096] In the embodiment of the present invention, the difference between the engine assembly completion time and the preset completion time is the difference obtained by subtracting the preset completion time from the engine assembly completion time.

[0097] Specifically, the first adjustment coefficient K1 is calculated and set by the following formula: ;

[0098] The second adjustment coefficient K2 is calculated and set by the following formula: ;

[0099] The adjusted preset similarity G0' is set to G0'=K1×G0;

[0100] The adjusted preset pause duration W0' is set to W0'=K2×W0.

[0101] In the embodiment of the present invention, the first adjustment coefficient is calculated by the above formula, but the value range of the first adjustment coefficient is set to 1-1.1. If the value of the first adjustment coefficient calculated according to the above formula is greater than 1.1, the first adjustment coefficient is 1.1.

[0102] The present invention determines an adjustment method based on a comparison result of a difference between an engine assembly completion time and a preset completion time and a preset difference. If the difference is greater than or equal to the preset difference, it indicates that the engine assembly sequence determined in the engine assembly process is incorrect due to a small preset similarity, resulting in a large amount of time wasted in the subsequent assembly process. At this time, it is necessary to use a first adjustment coefficient to increase the preset similarity and thereby improve the accuracy of the engine assembly sequence judgment. If the difference is less than the preset difference, it indicates that in the assembly process in which the engine model is accurately judged, the real-time acquisition of the engine assembly information is low, resulting in incorrect installation of engine parts and thereby increasing the engine assembly completion time. At this time, it is necessary to use a second adjustment coefficient to reduce the preset interruption time and thereby improve the real-time acquisition of the engine assembly information. The above method improves the real-time and accuracy of the acquisition of the engine assembly information and thereby improves the accuracy of the engine assembly process.

[0103] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0104] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An engine assembly auxiliary device based on a depth camera, characterized in that: include: Fixed base; An angle adjustment mechanism, which is connected to the fixed base, includes a horizontal electric telescopic rod for driving the depth camera to perform vertical telescopic movement and a rotating electric telescopic rod for driving the depth camera to perform rotational movement; A depth camera connected to the rotating telescopic rod, used to obtain engine parts information and engine assembly information through image capture; A display analysis module, which is connected to the depth camera, including a display screen for displaying the engine assembly information and engine parts information acquired by the depth camera and an engine assembly unit for determining the engine assembly sequence according to the maximum similarity between the engine parts information in the historical assembly process of the engine and the engine parts information acquired by the depth camera and the number of engine parts acquired by the depth camera; An assembly method determination module, which is connected to the display analysis module, is used to determine the working angle range of the depth camera according to the engine model, and determine the engine assembly method based on the working angle range of the depth camera and the compatibility of the engine assembly sequence; A control adjustment module is connected to the assembly method determination module, and is used to determine whether to control the depth camera to adjust the working angle according to the interruption duration of the engine real-time image acquisition during the engine assembly process, and to determine whether to adjust the engine assembly process parameters according to the engine assembly completion time and the accuracy of the engine assembly process.

2. The engine assembly auxiliary device based on a depth camera according to claim 1, characterized in that: The engine assembly unit determines the engine assembly sequence including: The engine assembly unit determines that the engine assembly sequence is the historical assembly sequence of the engine according to a comparison result in which the maximum similarity between the engine parts information in the historical assembly process of the engine and the engine parts information acquired by the depth camera is greater than or equal to a preset similarity; The engine assembly unit determines an analysis of the number of engine parts acquired by the depth camera according to a comparison result in which the maximum similarity between the engine parts information in the historical assembly process of the engine and the engine parts information acquired by the depth camera is less than a preset similarity.

3. The engine assembly auxiliary device based on a depth camera according to claim 2, characterized in that: The engine assembly unit determines the engine assembly order based on the engine parts assembly order in which the first special part has a dependency relationship according to a comparison result that the engine parts quantity is greater than a preset quantity, under the condition of analyzing the engine parts quantity acquired by the depth camera, or determines the engine assembly order based on the engine parts assembly order replaced by a second special part according to a comparison result that the engine parts quantity is equal to the preset quantity.

4. The engine assembly auxiliary device based on a depth camera according to claim 3, characterized in that: The assembly method determination module determines the engine assembly method including: The assembly method determination module determines that the engine is assembled using a single-line assembly method according to a comparison result that the working angle range of the depth camera is smaller than a preset working angle range; The assembly method determination module performs secondary determination on the engine assembly method according to a comparison result that the working angle range of the depth camera is greater than or equal to a preset working angle range.

5. The engine assembly auxiliary device based on a depth camera according to claim 4, characterized in that: The assembly method determination module determines, under the condition of performing a secondary determination on the engine assembly method, whether to assemble the engine using the multi-line assembly method according to a comparison result that the engine assembly sequence compatibility degree is greater than or equal to a preset compatibility degree, or to assemble the engine using the single-line assembly method according to a comparison result that the engine assembly sequence compatibility degree is less than a preset compatibility degree.

6. The engine assembly auxiliary device based on a depth camera according to claim 5, characterized in that: The degree of compatibility of the engine assembly sequence is determined according to the ratio of the number of parts that can be installed simultaneously to the total number of parts in the engine assembly sequence.

7. The engine assembly auxiliary device based on a depth camera according to claim 6, characterized in that: The control adjustment module determines whether to control the depth camera to adjust the working angle, including: The control adjustment module determines to adjust the working angle of the control depth camera according to the comparison result that the intermittent time length of the engine real-time image acquisition is greater than or equal to the preset intermittent time length; The control adjustment module determines that it is not necessary to control the depth camera to adjust the working angle according to a comparison result that the interruption time length of the engine real-time image acquisition is less than a preset interruption time length.

8. The engine assembly auxiliary device based on a depth camera according to claim 7, characterized in that: The control adjustment module determines whether to adjust the parameters of the engine assembly process, including: The control adjustment module determines that the parameters of the engine assembly process need to be adjusted according to a comparison result that the engine assembly completion time is greater than or equal to a preset completion time; The control adjustment module performs a secondary determination on whether to adjust the parameters of the engine assembly process according to a comparison result that the engine assembly completion time is less than a preset completion time.

9. The engine assembly auxiliary device based on a depth camera according to claim 8, characterized in that: The control adjustment module determines whether to adjust the parameters of the engine assembly process by making a secondary determination on whether to adjust the parameters of the engine assembly process, based on a comparison result that the accuracy of the engine assembly process is less than a preset accuracy, that the parameters of the engine assembly process need to be adjusted, wherein the parameters of the engine assembly process include a preset similarity and a preset interruption duration.

10. The engine assembly auxiliary device based on a depth camera according to claim 9, characterized in that: The adjustment amount of the preset similarity is positively correlated with the completion time of the engine assembly, and the adjustment amount of the preset interruption time is negatively correlated with the accuracy of the engine assembly process.

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