Island assembly method, device and equipment based on robot control

Abstract

The application provides an island assembly method, device and equipment based on robot control, which comprises the following steps: for each production line robot, scheduling the production line robot to run according to an assembly route; when the production line robot reaches an assembly island along the assembly route, controlling the installation robot to assemble the material matched with the assembly island to the product to be assembled carried by the production line robot; if the product to be assembled carried by the production line robot has completed installation, when the production line robot reaches a target position configured along the assembly route, scheduling the production line robot to leave the assembly route from the target position. Through the technical scheme of the application, the installation robot based on the assembly island realizes automatic installation of the material, and improves the installation efficiency of the material.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to an island assembly method, device and equipment based on robot control. BACKGROUND

[0002] In recent years, various types of robots (such as autonomous mobile robots, etc.) have developed rapidly in technology and market. A robot is a machine device that automatically performs work, and is a machine that realizes various functions by relying on its own power and control ability. The robot can accept human command, can run a pre-programmed program, and can also act according to a strategy formulated by artificial intelligence. For example, a user uses a manual remote controller to control the robot to perform related operations, such as the manual remote controller issuing an operation command to the robot in a wireless manner, and the robot executing the operation specified by the operation command to complete the related function after receiving the operation command.

[0003] In the field of factory production, the form of the production line is a roller line, a plate chain line, a sliding plate line, a conveyor belt, etc. Taking the conveyor belt as an example, the product to be assembled can be placed on the conveyor belt, and the product to be assembled is transported to each station by the conveyor belt, and the workers at the station install the material to the product to be assembled and place it on the conveyor belt again, and the product to be assembled is transported to the next station by the conveyor belt, and so on.

[0004] In the above manner, the installation cycle of the production line is relatively long (such as ground pit processing and air structure processing, etc.), and the modification is difficult. When the production line is modified, the installed equipment needs to be removed, the ground needs to be damaged, new equipment needs to be customized and processed, and the original production line needs to be spliced and installed. SUMMARY

[0005] The present application provides an island assembly method based on robot control. A pre-planned assembly route passes through an assembly island. The assembly route is a ring-shaped route. The assembly island is deployed with an installation robot. The assembly route is deployed with a plurality of production line robots. Each production line robot carries a product to be assembled. The method comprises: for each production line robot, scheduling the production line robot to run according to the assembly route; when the production line robot reaches the assembly island along the assembly route, controlling the installation robot to assemble the material matched with the assembly island to the product to be assembled carried by the production line robot; if the product to be assembled carried by the production line robot has been completed, when the production line robot reaches the target position configured along the assembly route, scheduling the production line robot to leave the assembly route from the target position.

[0006] The application provides an island assembly device based on robot control, a pre-planned assembly route passes through an assembly island, the assembly route is a ring-shaped route, the assembly island is deployed with a mounting robot, and the assembly route is deployed with a plurality of production line robots, each of which carries a product to be assembled, the device comprising: a scheduling module configured to schedule each production line robot to run along the assembly route; a control module configured to control the mounting robot to assemble materials matched with the assembly island to the product to be assembled carried by the production line robot when the production line robot reaches the assembly island along the assembly route; and the scheduling module is further configured to schedule the production line robot to leave the assembly route from a configured target position when the product to be assembled carried by the production line robot has completed installation.

[0007] The application provides an electronic device, comprising a processor and a machine readable storage medium, the machine readable storage medium stores machine executable instructions capable of being executed by the processor; the processor is configured to execute the machine executable instructions to implement the island assembly method based on robot control of the above examples.

[0008] The application provides a computer program product, the computer program product comprises a computer program, the computer program is executed by the processor to realize the island assembly method based on robot control of the above examples.

[0009] The application provides a machine readable storage medium, the machine readable storage medium stores machine executable instructions capable of being executed by the processor; wherein the processor is configured to execute the machine executable instructions to implement the island assembly method based on robot control of the above examples of the application.

[0010] From the above technical solutions, in the embodiments of the present application, the assembly route can be planned in advance, the assembly route is deployed with a plurality of production line robots, each production line robot carries a product to be assembled, and the product to be assembled is transported to each station (located at the edge of the assembly route) by scheduling the production line robot to run according to the assembly route, so that the worker or installation robot of the station installs the material to the product to be assembled. Obviously, the production line robot can leave the assembly route at any time, the assembly route can be set arbitrarily, and there is no need for ground pit treatment and air structure treatment, etc., and the installation period is short. When the assembly route is modified, only the assembly route needs to be changed, and there is no need for processes such as removal of installed equipment, ground damage treatment, new equipment customization processing, and splicing and installation with the original production line, and the modification difficulty is small. The assembly route can pass through the assembly island, and the installation robot is deployed at the assembly island, when the production line robot reaches the assembly island along the assembly route, the installation robot can assemble the material matched with the assembly island to the product to be assembled carried by the production line robot, so that the installation robot based on the assembly island realizes automatic installation of the material, and improves the material installation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 is a flowchart of the island assembly method based on robot control in the present application;

[0012] Figure 2A is a schematic diagram of a production line in an embodiment of the present application;

[0013] Figure 2B is a schematic diagram of a production line in an embodiment of the present application;

[0014] Figure 3 is a schematic diagram of an assembly route of a ring route in an embodiment of the present application;

[0015] Figure 4 is a schematic diagram of a material position placing a plurality of materials in an embodiment of the present application;

[0016] Figure 5 is a schematic diagram of offline processing of a production line robot in an embodiment of the present application;

[0017] Figure 6 is a schematic diagram of expansion of an assembly route in an embodiment of the present application;

[0018] Figure 7A is a schematic diagram of edge deceleration movement at a material position in an embodiment of the present application;

[0019] Figure 7B is a schematic diagram of stopping at a material position in an embodiment of the present application;

[0020] Figure 8 is a schematic diagram of multiple installation positions in an embodiment of the present application;

[0021] Figure 9A is a structural schematic diagram of an island assembly device based on robot control in the present application;

[0022] Figure 9B is a hardware structure diagram of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0023] An island assembly method based on robot control is proposed in the embodiments of the present application, which can be applied to robots (such as mobile robots), such as AMR (Autonomous Mobile Robot), and can also be applied to a scheduling device of the robot, i.e., various operations of the robot are scheduled by the scheduling device.

[0024] For example, an assembly route can be planned in advance, and the pre-planned assembly route can pass through an assembly island. The assembly route can be a loop route (there can be branch routes in the loop route, or there can be no branch routes in the loop route). The assembly island can be deployed with an installation robot, and the assembly route can be deployed with multiple production line robots, and each production line robot carries a product to be assembled.

[0025] Referring to Figure 1 , a flowchart of the method is shown, which can include:

[0026] Step 101, for each production line robot, scheduling the production line robot to run according to the assembly route.

[0027] Step 102, when the production line robot reaches the assembly island along the assembly route, controlling the installation robot to assemble the material matched by the assembly island to the product to be assembled carried by the production line robot.

[0028] Step 103, if the product to be assembled carried by the production line robot has completed installation, when the production line robot reaches the configured target position along the assembly route, scheduling the production line robot to leave the assembly route from the target position.

[0029] For example, the control of the mounting robot to mount the material matched by the assembly island to the product to be assembled carried by the production line robot can include but is not limited to: if the assembly island includes multiple mounting positions and the multiple mounting positions are all within the mounting coverage of the mounting robot, a target mounting position corresponding to the component type of the product to be assembled is selected from the multiple mounting positions based on the configured mapping relationship between the component type and the mounting position (i.e., the target mounting position is queried from the mapping relationship); the production line robot is scheduled to stop at the target mounting position, or the production line robot is scheduled to move at a slow speed at the target mounting position, and the mounting robot is controlled to mount the material matched by the assembly island to the product to be assembled carried by the production line robot.

[0030] For example, the shortest distance between the assembly route and the pre-planned material storage area is less than a first distance threshold, the material storage area is used to place the material, and the material storage area is deployed with a delivery robot. Based on this, if it is detected that the material position satisfies the material updating condition, the delivery robot is scheduled to carry the material of the material storage area to the material position located at the edge of the assembly route; wherein if the remaining number of materials of the material position is not greater than a first number threshold, or the number of material usage of the material position reaches a second number threshold, the material position satisfies the material updating condition. In the process of scheduling the production line robot to run along the assembly route, the production line robot is scheduled to stop at the edge position of the material position or to move at a slow speed at the edge position of the material position, and the edge position of the material position is located on the assembly route to mount the material of the material position to the product to be assembled carried by the production line robot.

[0031] For example, the shortest distance between the assembly route and the pre-planned sub-assembly line route is less than a second distance threshold, the sub-assembly line route is deployed with a sub-assembly robot, and the sub-assembly robot carries a semi-finished product. Based on this, the sub-assembly robot is scheduled to run along the sub-assembly line route; in the process of scheduling the sub-assembly robot to run along the sub-assembly line route, the sub-assembly robot is scheduled to stop at the edge position of the first material position or to move at a slow speed at the edge position of the first material position to mount the material of the first material position to the semi-finished product carried by the sub-assembly robot. If the semi-finished product carried by the sub-assembly robot has completed the mounting, the sub-assembly robot is scheduled to carry the semi-finished product to the second material position at the edge of the assembly route. In the process of scheduling the production line robot to run along the assembly route, the production line robot is scheduled to stop at the edge position of the second material position or to move at a slow speed at the edge position of the second material position to mount the semi-finished product of the second material position to the product to be assembled carried by the production line robot.

[0032] Exemplarily, during the process of scheduling the line robot to run along the assembly line, if the line robot or the product carried by the line robot has an abnormality, the line robot is scheduled to leave the assembly line to repair the line robot or the product carried by the line robot in an area outside the assembly line. After the repair of the line robot or the product carried by the line robot is completed, the line robot re-enters the assembly line according to the queue order before leaving; wherein, if the line robot is between the first line robot and the second line robot before leaving, the line robot re-enters the assembly line between the first line robot and the second line robot.

[0033] Exemplarily, during the process of scheduling the line robot to run along the assembly line, the line robot is scheduled to stop at the edge position of the material position, or the line robot is scheduled to move at a slow speed at the edge position of the material position, and a plurality of materials corresponding to the material position are prompted by the display screen or the indicator light for the first time, which indicates that the plurality of materials corresponding to the material position need to be assembled on the product carried by the line robot. After each material is assembled on the product carried by the line robot, the material is prompted by the display screen or the indicator light for the second time, which indicates that the material has completed the installation. It is determined whether there is a material that has not completed the installation in the material position; if yes, the line robot is prohibited to leave the edge position of the material position; if no, the line robot is scheduled to continue to run along the assembly line.

[0034] Exemplarily, during the process of scheduling the line robot to run along the assembly line, a first material type of the material that needs to be assembled on the product can also be determined; the line robot is scheduled to stop at the edge position of the material position, or the line robot is scheduled to move at a slow speed at the edge position of the material position, and a second material type of the material of the material position is determined. Then, it is determined whether the first material type matches the second material type; if yes, it is prompted that the material of the material position can be assembled on the product carried by the line robot; if no, it is prompted that the material types do not match.

[0035] From the above technical solutions, it can be seen that the assembly route can be planned in advance, the assembly route is deployed with multiple production line robots, each production line robot carries a product to be assembled, and the product to be assembled is transported to each station (located at the edge of the assembly route) by scheduling the production line robot to run according to the assembly route, so that the material is installed on the product to be assembled by the worker or installation robot of the station. Obviously, the production line robot can leave the assembly route at any time, the assembly route is arbitrarily set, and ground pit processing and air structure processing are not required, and the installation period is short. When the assembly route is modified, only the assembly route needs to be changed, and the processes such as removal of installed equipment, ground damage processing, new equipment customization processing, and splicing and installation with the original production line do not need to be performed, and the modification difficulty is small. The assembly route can pass through the assembly island, and the installation robot is deployed on the assembly island. When the production line robot reaches the assembly island along the assembly route, the installation robot can assemble the material matched with the assembly island to the product to be assembled carried by the production line robot, so that the installation of the material is realized based on the installation robot of the assembly island, and the material installation efficiency is improved.

[0036] The technical solutions of the embodiments of the present application will be described below in combination with specific application scenarios.

[0037] In the field of factory production, the form of production line is roller line, plate chain line, sliding plate line, and conveyor belt, etc. Taking the conveyor belt as an example, the product to be assembled can be placed on the conveyor belt, and the product to be assembled is transported to each station by the conveyor belt, and the worker or installation robot (in the subsequent process, the machine of the station for realizing the assembly function is referred to as an installation robot) of the station installs the material on the product to be assembled and places it on the conveyor belt again, and the product to be assembled is transported to the next station by the conveyor belt, and so on.

[0038] In the above manner, the installation period of the production line is relatively long, for example, ground pit processing and air structure processing are required. The modification of the production line is difficult, for example, the processes such as removal of installed equipment, ground damage processing, new equipment customization processing, and splicing and installation with the original production line need to be performed.

[0039] If the station of the production line changes, for example, multiple stations need to be added to the production line, the production line needs to be stopped for a long time, and during the stopping time, layout adjustment, equipment removal and reinstallation need to be performed, and even a separate production line needs to be planned.

[0040] With the increase of product models and iterations of the production line, the types of materials placed on the edge of the production line increase, and misloading and missing loading are prone to occur during the assembly process, especially the misloading and missing loading of key components, which can cause abnormalities of the products to be assembled, and the need to stop the entire production line for reprocessing, affecting the open rate of the production line. In addition, if unqualified products to be assembled occur during the production and assembly process, the entire production line also needs to be stopped for reprocessing, affecting the open rate of the production line.

[0041] Referring to Figure 2A As shown in FIG. 1, it is a schematic diagram of a production line (main line), the production line is far away from the material storage area 2, and a long time is needed to move the materials in the material storage area 2 to the production line. The workers at the workstations or the installation robots need to wait for the materials in the material storage area 2, the assembly efficiency is low, and the cost is high. At the same time, in order to ensure that the materials on the production line can be supplied in time, more buffers need to be placed on the edge of the production line. The production line is far away from the sub-assembly line, and a long time is needed to move the materials on the sub-assembly line to the production line. The cost and efficiency of material distribution of the sub-assembly line are high, and more buffers need to be added to the materials on the edge of the production line in order to ensure that the materials on the production line can be supplied in time.

[0042] Referring to Figure 2B As shown in FIG. 2, it is a schematic diagram of a production line (main line), multiple production lines (main line 1 and main line 2) are arranged in the same area. In order to consider the material distribution route, the materials in the material storage area 2 can be moved to the production line, and the materials on the sub-assembly line can be moved to the production line, the multiple production lines need to transmit the products to be assembled in the air, and the design of the air structure processing can cause a long installation cycle and high cost of the production line. At the same time, when technical transformation is needed, the production line is difficult to transform.

[0043] In view of the above finding, an island assembly method based on robot control is proposed in the embodiments of the present application. The assembly route can be planned in advance, and multiple production line robots are arranged on the assembly route. Each production line robot carries a product to be assembled. By scheduling the production line robots to run according to the assembly route, the product to be assembled can be scheduled to run on the assembly route, so as to transport the product to be assembled to each work station (located on the edge of the assembly route), and the workers or installation robots can install the materials to the product to be assembled. No ground pit processing and air structure processing are needed, the installation cycle is short. When the assembly route is transformed, only the assembly route needs to be changed, and no processes such as removal of installed equipment, ground damage processing, new equipment customization and processing, and splicing and installation with the original production line are needed, so the transformation difficulty is small. For example, the embodiments of the present application can include the following contents:

[0044] First, a loop-shaped assembly route (i.e., a production line) is designed, and the assembly route can be deployed with multiple production line robots, and each production line robot carries a product to be assembled.

[0045] For example, the production line in the embodiment is not a roller line, a plate chain line, a sliding plate line, a conveyor belt, etc., but a pre-planned assembly route. The assembly route is used as the production line, that is, the assembly route can be used as a mobile robot assembly line. It should be noted that the assembly route only represents the running track of the production line robot, that is, the production line robot can run along the assembly route, and is not a device with automatic conveying function, that is, the assembly route does not need ground pit processing and air structure processing, etc., but only needs to plan the assembly route.

[0046] For example, when planning the assembly route, the assembly route can be a loop-shaped route, that is, any one position point of the assembly route is taken as a starting point, and the position point can be returned through the assembly route.

[0047] For example, when planning the assembly route, the assembly route can also have a branch route (i.e., there is a branch route based on the loop-shaped route), and the assembly route can also not have a branch route. For example, if the assembly route has a branch route, that is, the assembly route is a loop-shaped route and a branch route, there can be a position point A and a position point B on the loop-shaped route, the position point A leaves the loop-shaped route, and the position point B returns to the loop-shaped route, and the route between the position point A and the position point B is the branch route.

[0048] For example, when planning the assembly route, the assembly route can be designed to pass through the required area. For example, the area of the assembly island is known, and the assembly route can pass through the assembly island when planning the assembly route. For example, the area of the material storage area is known, and the closest distance between the assembly route and the material storage area can be less than a first distance threshold when planning the assembly route, so that the distance between the assembly route and the material storage area is close. For example, the area of the sub-assembly line route is known, and the closest distance between the assembly route and the sub-assembly line route can be less than a second distance threshold when planning the assembly route, so that the distance between the assembly route and the sub-assembly line route is close. Of course, the above is only an example of planning the assembly route, which is not limited.

[0049] For example, based on the planned assembly route, the assembly route can be deployed with multiple production line robots (for the sake of distinction, the robot deployed on the assembly route is called a production line robot, and the production line robot can be a mobile robot such as AMR), and each production line robot carries a product to be assembled.

[0050] For each production line robot, the production line robot can be dispatched to run along the assembly route. For example, there is a device for dispatching all production line robots, which is referred to as a dispatch device (also referred to as a control device or a management device, etc.). The dispatch device can send a dispatch instruction to the production line robot, which is used to dispatch the production line robot to run along the assembly route. For example, after receiving the dispatch instruction, the production line robot can run along the assembly route without any restrictions on the dispatch process.

[0051] For example, the product to be assembled a1 is deployed on the production line robot b1, and the production line robot b1 is dispatched to run along the assembly route. The product to be assembled a2 is deployed on the production line robot b2, and the production line robot b2 is dispatched to run along the assembly route, and so on, and multiple production line robots can run along the assembly route.

[0052] Since the dispatch process of each production line robot is the same, for the convenience of description, the dispatch process of one production line robot is taken as an example, such as dispatching the production line robot b1 to run along the assembly route.

[0053] For example, the edge of the assembly route can deploy multiple material positions, which are located at the edge of the assembly route, and these material positions are stations of the edge of the assembly route, and the materials at these material positions can be assembled to the product to be assembled a1 carried by the production line robot b1. For example, the production line robot b1 can be dispatched to stop at the material position c1, so that the material at the material position c1 is assembled to the product to be assembled a1 carried by the production line robot b1 (for example, a worker at the station assembles the material at the material position c1 to the product to be assembled a1, or a mounting robot at the station assembles the material at the material position c1 to the product to be assembled a1, without any restrictions). Alternatively, the production line robot b1 can be dispatched to move at a slow speed at the material position c1, so that the material at the material position c1 is assembled to the product to be assembled a1 carried by the production line robot b1, that is, the material assembly is completed synchronously during the slow movement of the production line robot b1.

[0054] After the material at the material position c1 is assembled to the product to be assembled a1 carried by the production line robot b1, the production line robot b1 is continued to be dispatched to run along the assembly route, and the production line robot b1 is dispatched to stop at the material position c2, or the production line robot b1 is dispatched to move at a slow speed at the material position c2, so that the material at the material position c2 is assembled to the product to be assembled a1 carried by the production line robot b1, and so on, until the product to be assembled a1 carried by the production line robot b1 has completed the installation and can leave the assembly route.

[0055] For example, if the product a1 carried by the production line robot b1 has completed installation, the production line robot b1 can be dispatched to leave the assembly route. For example, after learning that the product a1 to be assembled has completed installation, the production line robot b1 can be immediately dispatched to leave the assembly route.

[0056] For example, a target position (such as one or more target positions) can be pre-configured on the assembly route, which can be a position allowed to leave on the assembly route, and the target position is not limited and can be arbitrarily configured. Based on this, if the product a1 carried by the production line robot b1 has completed installation, the production line robot b1 is dispatched to leave the assembly route from the target position when the production line robot b1 reaches the target position along the assembly route, that is, only the production line robot b1 is allowed to leave the assembly route from the target position, and the production line robot b1 is not allowed to leave the assembly route from other positions outside the target position.

[0057] As can be seen from the above technical solutions, in the embodiments of the present application, when planning the assembly route, the assembly island area, the material storage area, the sub-assembly line area, etc. can be arranged in a nearby assembly "island type" dispersed layout, an "island type assembly" method based on robots is proposed, the layout flexibility of the production line is improved through the assembly route, the assembly route is not limited to a certain area, and can be closer to the materials and supporting equipment and facilities required for assembly, the installation and debugging period of the assembly route is shortened, and when technical transformation of the assembly route is needed, the main content of the assembly route change is less, the period is short, and the cost is low. By running the production line robot on the assembly route, instead of the roller line, plate chain line, drum line, slide plate line, and conveyor belt, etc., the assembly route does not need ground pit treatment and air structure treatment, etc., and the robot and supporting equipment are deployed and installed at the corresponding station according to the process planning, so that the verification and debugging are quickly performed, and the installation and debugging period is greatly shortened.

[0058] Referring to Figure 3 , a schematic diagram of the assembly route of the ring line is shown, Figure 3 , the main line in the figure is the assembly route of the ring line, that is, the main line of the production line. Figure 3 , the material storage area 1, the material storage area 2, and the sub-assembly line are shown, when planning the assembly route, the material storage area 1 area, the material storage area 2 area, the sub-assembly line area, etc. can be arranged in a nearby assembly "island type" dispersed layout, therefore, the assembly route is close to the material storage area 1, thereby facilitating the rapid distribution of the materials in the material storage area 1 to the assembly route, facilitating the rapid distribution of the materials in the material storage area 2 to the assembly route, and facilitating the rapid distribution of the materials in the sub-assembly line to the assembly route, the distribution distance is short, and the need for intermediate material buffering and the investment in air conveying equipment can be greatly reduced.

[0059] Second, a material updating trigger mechanism is designed, that is, when the materials in the material storage area are transported to the material positions at the edge of the assembly line, so as to facilitate the assembly of the materials in the material positions to the products to be assembled.

[0060] For example, the edge of the assembly line can deploy multiple material positions, which are located at the edge of the assembly line, that is, the material positions are close to the assembly line, and the material positions are stations at the edge of the assembly line, and the materials can be assembled to the products to be assembled carried by the production line robot at the material positions, such as manually assembling the materials to the products to be assembled carried by the production line robot, or assembling the materials to the products to be assembled carried by the production line robot through the installation robot. For example, the edge of the assembly line can deploy material position c1, material position c2, material position c3, and the like. Taking the material position c1 as an example for description.

[0061] For example, the material storage area is used to place materials, and the materials need to be assembled to the products to be assembled carried by the production line robot. When designing the assembly line of the ring line, the shortest distance between the assembly line and the material storage area is less than the first distance threshold, that is, the shortest distance between the assembly line and the material storage area is small, so that the materials in the material storage area can be quickly transported to the material position c1 at the edge of the assembly line.

[0062] For example, the material storage area can deploy a delivery robot (in order to distinguish, the robot deployed by the material storage area is called a delivery robot, and the delivery robot can be a mobile robot such as AMR), and the delivery robot is used to transport the materials in the material storage area to the material position c1 at the edge of the assembly line.

[0063] For example, in the production assembly process, the delivery robot can deliver the materials in the material storage area (that is, the materials required for assembly) to the material position c1 at the edge of the assembly line, and the material position c1 can also be called a line edge storage position, that is, the materials to be assembled can be stored through the material position c1. Based on this, the warehouse management system can statistically know the inventory information of the material position c1 in real time, and the warehouse management system sends the inventory information of the material position c1 to the scheduling device, so that the scheduling device knows the inventory information of the material position c1.

[0064] In a possible implementation, the inventory information of the material location c1 can be a remaining material quantity of the material location c1, which indicates how many materials are left in the material location c1. Based on this, if the remaining material quantity of the material location c1 is not greater than a first quantity threshold (which can be configured according to experience, such as 1, 2, 3, etc.), it is detected that the material location c1 satisfies the material updating condition, and the dispatching robot is scheduled to carry the material (or materials) in the material storage area to the material location c1. Alternatively, if the remaining material quantity of the material location c1 is greater than the first quantity threshold, it is detected that the material location c1 does not satisfy the material updating condition, and the dispatching robot is not scheduled to carry the material in the material storage area to the material location c1. For example, the scheduling device can send a scheduling instruction to the dispatching robot, where the scheduling instruction is used to schedule the dispatching robot to carry the material in the material storage area to the material location c1. Based on this, the dispatching robot can carry the material in the material storage area to the material location c1 after receiving the scheduling instruction, and the scheduling process is not limited in this regard.

[0065] After the one or more materials are carried to the material location c1, the remaining material quantity of the material location c1 is increased, and the inventory information of the material location c1 (i.e., the remaining material quantity of the material location c1) can be counted in real time by the warehouse management system, and the warehouse management system sends the inventory information of the material location c1 to the scheduling device, so that the scheduling device learns the inventory information of the material location c1, and then repeats the above process.

[0066] In a possible implementation, the inventory information of the material location c1 can be a material use quantity of the material location c1, which indicates how many materials have been used in the material location c1. Based on this, if the material use quantity of the material location c1 reaches a second quantity threshold (which is configured according to experience, such as M), it is detected that the material location c1 satisfies the material updating condition, and the dispatching robot is scheduled to carry M materials in the material storage area to the material location c1, i.e., M materials can be replenished in the material location c1. Alternatively, if the material use quantity of the material location c1 does not reach the second quantity threshold, it is detected that the material location c1 does not satisfy the material updating condition, and the dispatching robot is not scheduled to carry the material in the material storage area to the material location c1.

[0067] For example, the initial number of materials in the material location c1 is N (such as 1, 2, etc.), after M materials are replenished in the material location c1, the warehouse management system real-time counts the number of materials used in the material location c1, and the warehouse management system sends the number of materials used in the material location c1 to the scheduling device, until the scheduling device knows that the number of materials used in the material location c1 reaches M, and the scheduling and distribution robot carries M materials in the material storage area to the material location c1. After M materials are replenished in the material location c1, the warehouse management system starts from 0 to re-count the number of materials used in the material location c1, and then repeats the above process.

[0068] For example, by replenishing the materials in the material location c1, the material location c1 always has materials, so each time the production line robot arrives at the material location c1, the materials in the material location c1 can be assembled to the product to be assembled carried by the production line robot. For example, during the process of scheduling the production line robot to run along the assembly route, the scheduling production line robot stops at the edge position of the material location c1, or the scheduling production line robot moves at a slow speed at the edge position of the material location c1, so as to assemble the materials in the material location c1 to the product to be assembled carried by the production line robot. Wherein, the edge position of the material location c1 is located on the assembly route (i.e. the production line robot passes through the edge position), and the edge position of the material location c1 is close to the material location c1, which can assemble the materials in the material location c1 to the product to be assembled carried by the production line robot.

[0069] For example, the scheduling production line robot can stop at the material location c1, and the workers at the station can assemble the materials in the material location c1 to the product to be assembled, or the installation robot at the station can assemble the materials in the material location c1 to the product to be assembled. Or, the scheduling production line robot moves at a slow speed at the material location c1, that is, during the process of the production line robot moving at a slow speed, the workers at the station can assemble the materials in the material location c1 to the product to be assembled, or the installation robot at the station can assemble the materials in the material location c1 to the product to be assembled.

[0070] In summary, for each material location at the edge of the assembly route, the production line robot can interact with the warehouse management system when it arrives at or leaves the material location, so that the warehouse management system real-time counts the inventory information of the material location (such as the remaining number of materials in the material location or the number of materials used in the material location). That is, each time the production line robot arrives at or leaves the material location, it triggers the warehouse management system to count the inventory information of the material location. The warehouse management system can send the inventory information of the material location to the scheduling device, and when the scheduling device determines that the material location meets the material updating condition based on the inventory information, the scheduling and distribution robot carries the materials in the material storage area to the material location.

[0071] Referring toFigure 4 As shown, the schematic diagram shows that the material position places multiple materials. Assuming that the material position places S materials (material P), when S production line robots pass through the material position (the products carried by these production line robots all need to install material P, and the products carried by each production line robot only need to install one material P), the material P in the material storage area is automatically triggered to be replenished to the material position, so as to realize the automatic triggering of the preparation and distribution of the material, and the material demand of the material position is not deviated from the actual distribution.

[0072] Thirdly, an abnormality processing mechanism is designed, that is, when the production line robot is abnormal or the product carried by the production line robot is abnormal, the production line robot or the product carried by the production line robot is repaired.

[0073] For example, during the process of scheduling the production line robot to run along the assembly route, if the production line robot is abnormal, the production line robot is scheduled to leave the assembly route to repair the production line robot in the area outside the assembly route, and the repair process of the production line robot is not limited. For example, when the scheduling device learns that the production line robot is abnormal, it can send a scheduling instruction to the production line robot, which is used to schedule the production line robot to leave the assembly route. Based on this, after the production line robot receives the scheduling instruction, it can leave the assembly route, and the scheduling process is not limited. After the production line robot leaves the assembly route, the production line robot can be repaired in the area outside the assembly route.

[0074] During the process of scheduling the production line robot to run along the assembly route, if the product carried by the production line robot is abnormal, the production line robot is scheduled to leave the assembly route to repair the product carried by the production line robot in the area outside the assembly route, and the repair process of the product is not limited. For example, when the scheduling device learns that the product carried by the production line robot is abnormal, it can send a scheduling instruction to the production line robot, and the production line robot leaves the assembly route after receiving the scheduling instruction, so as to repair the product carried by the production line robot in the area outside the assembly route.

[0075] For example, after the production line robot or the product carried by the production line robot is repaired, the production line robot can also be scheduled to re-enter the assembly route according to the queue order before leaving. Wherein, scheduling the production line robot to re-enter the assembly route according to the queue order before leaving means that if the production line robot is between the first production line robot and the second production line robot before leaving, the production line robot is still between the first production line robot and the second production line robot when the production line robot re-enters the assembly route.

[0076] For example, in the production assembly process, if the product to be assembled carried by the production robot is abnormal (such as unqualified product to be assembled, which can also be referred to as assembly component), and the online repair of the product to be assembled causes the assembly line to stop running (that is, the production robots behind the production robot also need to be paused synchronously), the current unqualified product to be assembled can be processed offline.

[0077] In order to process the unqualified product to be assembled offline, only the production robot carrying the product to be assembled needs to be removed offline. After the production robot leaves the assembly line (moves offline), the remaining production robots can continue to run on the assembly line, so that the assembly line continues to operate.

[0078] For the production robot that leaves the assembly line, the product to be assembled carried by the production robot can be repaired in the area outside the assembly line, that is, repaired and assembled offline on the assembly line.

[0079] After the repair of the product to be assembled carried by the production robot is completed, the production robot can be scheduled to be online again at a certain station (that is, a material position) of the assembly line, or can be scheduled to be online again at a non-station of the assembly line, that is, can be scheduled to be online again at any position of the assembly line. When scheduling the production robot to be online again, the production robot needs to be scheduled to re-enter the assembly line in the order before leaving, that is, the order of the production robot is kept unchanged.

[0080] Referring to Figure 5 Fig. 1 shows a schematic diagram of offline processing of a production robot. At a certain time, during the assembly process at station A, it is found that the product to be assembled carried by production robot N is abnormal, and online repair will cause a long assembly line stop, therefore, production robot N needs to be removed offline, that is, production robot N is removed from the assembly line, without affecting the normal operation of the assembly line.

[0081] While repairing the product to be assembled carried by production robot N offline, some materials are also assembled offline, that is, all materials involved between station A and station B are assembled offline.

[0082] Before the repair of the product to be assembled carried by production robot N is completed, if the materials are assembled to station B in the order of the assembly process, production robot N is moved to the vicinity of station B, re-enters the assembly line in the vicinity of station B, and after entering the assembly line, the assembly of materials at the subsequent stations of station B is completed.

[0083] When the production robot N re-enters the assembly line near the B station, it needs to re-enter the assembly line according to the queue order before leaving. For example, before the production robot N leaves the assembly line, the production robot N is between the production robot M and the production robot O, and when the production robot N re-enters the assembly line, the production robot N is between the production robot X and the production robot Y. Based on this, the production robot M is the production robot X, and the production robot O is the production robot Y.

[0084] Fourthly, an expansion mechanism of the assembly line is designed.

[0085] For example, when the current assembly line cannot meet the assembly requirements of the factory production, the assembly line can be modified to increase the station (assembly station). To this end, only the walking route of the production robot needs to be changed, that is, the assembly line is re-planned, and the production robot is scheduled to run on the re-planned assembly line, so that the re-planning of the assembly line can be quickly completed, thereby being able to increase the station based on the assembly line. Of course, after the assembly line is re-planned, related supporting equipment and facilities can also be installed, which is not limited.

[0086] Referring to Figure 6 , a schematic diagram for expanding the assembly line is shown. A certain section I of the assembly line can be expanded to J, so that the assembly operation station can be added on the assembly line. For this assembly line expansion process, only the newly added production robot needs to be added online, and the corresponding route (physical route and system function) needs to be adjusted, so that the modification cycle and cost of the assembly line are greatly reduced.

[0087] Fifthly, a prompt function of the material installation process is designed.

[0088] For example, the edge of the assembly line can be deployed with multiple material positions, and the materials are assembled on the products to be assembled carried by the production robot at these material positions. Based on this, during the scheduling of the production robot running along the assembly line, the production robot is scheduled to stop at the edge position of the material position, or the production robot is scheduled to move at a slow speed at the edge position of the material position, so as to assemble the materials on the products to be assembled carried by the production robot (the materials are assembled on the products to be assembled by manual or robotic means).

[0089] For example, since the types of parts of the products to be assembled are relatively many (such as the types of parts of the products to be assembled carried by different production robots may be the same or different, such as the type of part is used to represent the type of product to be assembled), and the types of materials placed at the material positions are also relatively many (such as the type of material is used to represent the type of material), therefore, it is necessary to select part of the materials placed at the material positions which match the products to be assembled, and assemble the selected materials on the products to be assembled carried by the production robot.

[0090] In order to select accurate materials to be assembled on the product to be assembled, it is necessary to determine at least one material (for example, multiple materials) to be assembled on the product to be assembled, that is, to assemble the materials on the product to be assembled. Based on this, the materials can be first prompted through the display screen or the indicator light, and the first prompt indicates that the multiple materials corresponding to the material positions need to be assembled on the product to be assembled carried by the production line robot.

[0091] For example, assuming that materials d1, d2 and d3 need to be assembled on the product to be assembled, the display screen can display the identification of material d1, the identification of material d2 and the identification of material d3, indicating that materials d1, d2 and d3 need to be assembled on the product to be assembled carried by the production line robot. In this way, by checking the display screen, it is known that materials d1, d2 and d3 need to be assembled on the product to be assembled.

[0092] For example, for each material placed at the material position, the material can correspond to an indicator light, the indicator light corresponding to material d1 is on, the indicator light corresponding to material d2 is on and the indicator light corresponding to material d3 is on, and the indicator lights corresponding to the remaining materials are off, indicating that materials d1, d2 and d3 need to be assembled on the product to be assembled carried by the production line robot. In this way, by checking the indicator light corresponding to each material, it is known that materials d1, d2 and d3 need to be assembled on the product to be assembled.

[0093] For example, in order to determine the materials to be assembled on the product to be assembled, when the production line robot is scheduled to stop at the edge position of the material position or to move at a slow speed at the edge position of the material position, the materials to be assembled on the product to be assembled at the material position (station) can be determined based on the component type of the product to be assembled and the material position, that is, the materials to be assembled at the material position are matched.

[0094] For example, after assembling one material on the product to be assembled carried by the production line robot, the material can also be second prompted through the display screen or the indicator light, and the second prompt indicates that the material has completed installation. For example, after assembling material d1 on the product to be assembled carried by the production line robot, the identification of material d1 can be removed from the display screen, indicating that material d1 has completed installation. At this time, the display screen displays the identification of material d2 and the identification of material d3, indicating that materials d2 and d3 still need to be assembled on the product to be assembled carried by the production line robot. For example, the indicator light corresponding to material d1 can be turned off, indicating that material d1 has completed installation. At this time, the indicator light corresponding to material d2 is on and the indicator light corresponding to material d3 is on, indicating that materials d2 and d3 still need to be assembled on the product to be assembled carried by the production line robot.

[0095] For example, before the production line robot moves away from the edge of a material location, it can be determined whether there are any uninstalled materials at that location. For instance, if the display still shows the material's identifier, it indicates that there are uninstalled materials; if the display does not show the identifier, it indicates that there are no uninstalled materials. Alternatively, if all indicator lights corresponding to materials are off, it indicates that there are no uninstalled materials; if an indicator light corresponding to a material is still on, it indicates that there are uninstalled materials.

[0096] If there are materials that have not been installed, the production line robot is prohibited from leaving the edge of that material location. It must continue assembling the materials at that location onto the product to be assembled on the production line robot. If there are no materials that have not been installed, the production line robot is allowed to leave the edge of that material location and is scheduled to continue running along the assembly route until it reaches the next material location, repeating the above process.

[0097] For example, during the material assembly process, after each material is picked and assembled, a confirmation for that material can be triggered. This confirmation will be displayed on the screen or indicator light, indicating that the material has been installed. After the last material is picked and assembled, a confirmation for that material can be triggered, and a completion signal for the current workstation can be activated, indicating that all materials at the current workstation have been installed.

[0098] If the production line robot is at the current workstation and is moving from the entry point to the exit point (or stopping at the assembly point of the current workstation), if it receives a completion signal for the current workstation, the production line robot will not stop again at the exit point of the current workstation, but will be directly dispatched to the next workstation and repeat the above operation.

[0099] If the production line robot is at the current workstation and is moving from the entry point to the exit point (or stopping at the current workstation assembly point), if it does not receive the current workstation completion signal, the production line robot will stop again at the current workstation exit point (or workstation assembly point) until it receives the current workstation completion signal, and then the production line robot will be scheduled to move to the next workstation and repeat the above operation.

[0100] In summary, when a production line robot enters the assembly station, it can use a display screen or indicator light to prompt assembly workers to pick and assemble materials, thereby reducing the proportion of mis-assembly and omission of materials and improving the compatibility of automated equipment with different models of components.

[0101] See Figure 7A The diagram shows a production line robot slowly moving at the edge of a material location. (See attached image.) Figure 7BAs shown, it is a schematic diagram for scheduling the production line robot to stop at the material position. When the scheduling production line robot (i.e. intelligent AMR) enters the A station, based on the component type of the product to be assembled, the material required to be assembled by the product to be assembled at the A station is determined, and the assembly worker is reminded to pick and assemble by lighting.

[0102] The entering point of the A station is m, and the leaving point of the A station is n. In the process of moving from the entering point m to the leaving point n (or stopping at the current station assembly point k), if the current station completion signal has not been received, the production line robot stops again at the leaving point n until the current station completion signal is received.

[0103] Sixth, the material verification function is designed, such as verifying part of the material or all the material.

[0104] For example, multiple material positions can be deployed on the edge of the assembly route, and the materials are assembled on the product to be assembled carried by the production line robot at these material positions. Based on this, in the process of scheduling the production line robot to run along the assembly route, the scheduling production line robot stops at the edge position of the material position, or the scheduling production line robot moves at a slow speed at the edge position of the material position, so as to assemble the material on the product to be assembled carried by the production line robot (the material is assembled on the product to be assembled by manual or robot, etc.).

[0105] For example, in the process of scheduling the production line robot to run along the assembly route, the first material type (used to represent the type of the material) of the material required to be assembled on the product to be assembled can be determined, that is, the material of the first material type is assembled on the product to be assembled. For example, the component type (used to represent the type of the product to be assembled) of the product to be assembled can be determined, and the first material type of the material required to be assembled at the material position for the product to be assembled of this component type is determined, and the determination method is not limited.

[0106] For example, the second material type of the material at the material position can be determined. For example, the two-dimensional code can be included on the material, and when the assembly personnel pick the material, the two-dimensional code of the material can be scanned by the handheld device to obtain the second material type of the material, and the device can send the second material type of the material to the scheduling device to obtain the second material type of the material by the scheduling device. For example, the assembly personnel can scan the two-dimensional code of the key material (the assembly personnel can decide which material as the key material) by the handheld device to obtain the second material type of the key material, or the assembly personnel can also scan the two-dimensional code of all the materials to be assembled by the handheld device to obtain the second material type of all the materials to be assembled.

[0107] For example, it is possible to search whether a first material type matches a second material type. For instance, if the first and second material types are the same, then the first and second material types match; if they are different, then they do not match. For example, if the product to be assembled corresponds to multiple materials, then a set of first material types is obtained, which includes the first material types of all materials. If only the second material types of key materials are obtained, and the second material types of key materials are located in the set of first material types, then the second material type matches the first material type; if the second material types of key materials are not located in the set of first material types, then the second material type does not match the first material type. If the second material types of all materials to be assembled are obtained, for each material to be assembled, if the second material type of that material is located in the set of first material types, then the second material type matches the first material type; if the second material type of that material is not located in the set of first material types, then the second material type does not match the first material type.

[0108] For example, if the first material type matches the second material type, a prompt is made allowing the material at the material location to be assembled onto the product to be assembled carried by the production line robot. Thus, the production line robot is scheduled to stop at the edge of the material location, or to move slowly at the edge of the material location, assembling the material at that location (i.e., the picked material) onto the product to be assembled carried by the production line robot.

[0109] If the first material type and the second material type do not match, an error message indicating a material type mismatch will be displayed. This means that the material at that location (i.e., the picked material) is not allowed to be assembled onto the product to be assembled carried by the production line robot. This indicates that the picked material is incorrect, and the assembly personnel need to pick the material again and scan the QR code of the re-picked material to obtain the second material type of the material, and repeat the above steps.

[0110] In summary, materials can be verified (verifying whether the material type required for the product to be assembled matches the material type of the picked material). If the verification passes, the picked material is allowed to be assembled onto the product to be assembled. If the verification fails, the picked material is prohibited from being assembled onto the product to be assembled, thereby avoiding the assembly of incorrect materials onto the product to be assembled. Error messages are displayed to prompt assembly personnel to handle the issue.

[0111] Seventh, design a combination scheme for the assembly route and the sub-assembly route.

[0112] Exemplarily, in some application scenarios, the subassembly line route can also be pre-planned, based on which, the area where the subassembly line route is located is known, and when planning the assembly route, the shortest distance between the assembly route and the subassembly line route can also be made less than the second distance threshold, so that the assembly route is close to the subassembly line route. See Figure 3 As shown in the figure, a schematic diagram of the assembly route and the subassembly line route is shown.

[0113] Exemplarily, the subassembly line route is deployed with a subassembly robot (such as one or more subassembly robots, in order to distinguish, the robot deployed on the subassembly line route is called a subassembly robot, and the subassembly robot can be a mobile robot such as an AMR, etc.), and the subassembly robot carries a semi-finished product, which also needs to be assembled to the to-be-assembled product carried by the production line robot. For example, the semi-finished product is first assembled on the subassembly line route, and then the assembled semi-finished product is assembled to the to-be-assembled product.

[0114] Exemplarily, for each subassembly robot, the subassembly robot can be dispatched to run along the subassembly line route (which can be a loop route or other shape route, which is not limited). For example, the dispatching device can send a dispatching instruction to the subassembly robot, which is used to dispatch the subassembly robot to run along the subassembly line route. After receiving the dispatching instruction, the subassembly robot can run according to the subassembly line route, and the dispatching process is not limited.

[0115] Exemplarily, the edge of the subassembly line route is deployed with one or more material positions (denoted as first material positions), which are located at the edge of the subassembly line route, and the first material positions are stations of the subassembly line route, and the material of the first material position can be assembled to the semi-finished product carried by the subassembly robot.

[0116] During the dispatching of the subassembly robot to run along the subassembly line route, the subassembly robot can be dispatched to stop at the edge position of the first material position (which is at the subassembly line route) to assemble the material of the first material position to the semi-finished product carried by the subassembly robot. For example, the material of the first material position is assembled to the semi-finished product by the worker of the station, or the material of the first material position is assembled to the semi-finished product by the installation robot of the station, which is not limited.

[0117] Alternatively, during the dispatching of the assembly robot along the assembly line route, the assembly robot can be dispatched to move at a slow speed at an edge position of the second material location to assemble the semi-finished product at the second material location to the product to be assembled carried by the assembly robot. For example, the semi-finished product at the second material location is assembled to the product to be assembled carried by the assembly robot by a worker at the work station, or by an assembly robot at the work station.

[0118] For example, after the assembly robot is dispatched to move at a slow speed at an edge position of the second material location to assemble the semi-finished product at the second material location to the product to be assembled carried by the assembly robot, the assembly robot is further dispatched to move along the assembly line route until the semi-finished product carried by the assembly robot is assembled to the product to be assembled, and the assembly robot can leave the assembly line route. For example, if the semi-finished product carried by the assembly robot is assembled to the product to be assembled, the assembly robot is dispatched to move the semi-finished product to a third material location at an edge of the assembly line route. The third material location is located at an edge of the assembly line route, and the third material location is a work station of the assembly line route, and a material at the third material location can be assembled to a product to be assembled carried by the assembly robot.

[0119] For example, during the dispatching of the assembly robot along the assembly line route, the assembly robot can be dispatched to stop at an edge position of the third material location, or to move at a slow speed at an edge position of the third material location to assemble the semi-finished product at the third material location to the product to be assembled carried by the assembly robot.

[0120] For example, after the assembly robot is dispatched to move at a slow speed at an edge position of the third material location to assemble the semi-finished product at the third material location to the product to be assembled carried by the assembly robot, the semi-finished product at the third material location is assembled to the product to be assembled carried by the assembly robot by a worker at the work station, or by an assembly robot at the work station.

[0121] For example, after the assembly robot is dispatched to move at a slow speed at an edge position of the third material location to assemble the semi-finished product at the third material location to the product to be assembled carried by the assembly robot, the semi-finished product at the third material location is assembled to the product to be assembled carried by the assembly robot by the assembly robot.

[0122] For example, after the assembly robot is dispatched to move at a slow speed at an edge position of the third material location to assemble the semi-finished product at the third material location to the product to be assembled carried by the assembly robot, the semi-finished product at the third material location is assembled to the product to be assembled carried by the assembly robot by the assembly robot.

[0123] Exemplarily, in some application scenarios, the assembly island can also be pre-planned, based on which, the area where the assembly island is located, when planning the assembly route, the assembly route can also be made to pass through the assembly island, that is, when the production line robot is scheduled to run along the assembly route, the production line robot will reach the assembly island along the assembly route, and the material matched by the assembly island can be assembled to the to-be-assembled product carried by the production line robot.

[0124] Exemplarily, the assembly island is an assembly platform, which is a device with assembly function, used to assemble materials (such as heavy and difficult-to-install materials) to the to-be-assembled product by robots. The assembly island can divide the assembly process of the product into several stations, each station is responsible for completing a part of the assembly work, forming an island-shaped production layout, and the advantages of the assembly island include improving production efficiency, reducing production cost, and improving product quality. Based on this, each station of the assembly island can deploy an installation robot, so as to assemble the material provided by the station to the to-be-assembled product carried by the production line robot by the robot.

[0125] In summary, the assembly island can be deployed with an installation robot (such as one or more installation robots, in order to distinguish, the robot deployed on the assembly island is called installation robot, and the installation robot can be a mobile robot such as AMR, etc.), for example, the assembly island can divide the assembly process of the product into several stations, and each station is deployed with an installation robot to complete the assembly work.

[0126] Exemplarily, during the process of scheduling the production line robot to run along the assembly route, since the assembly route will pass through the assembly island, the production line robot can be scheduled to reach the assembly island along the assembly route.

[0127] When the production line robot reaches the assembly island along the assembly route, the installation robot (such as the installation robot deployed at the station of the assembly island) can be controlled to assemble the material matched by the assembly island to the to-be-assembled product carried by the production line robot. For example, the production line robot can be scheduled to stop at a position near the station, or the production line robot can be scheduled to move at a slow speed near the station, and then the installation robot can be controlled to assemble the material matched by the assembly island to the to-be-assembled product carried by the production line robot.

[0128] For example, when the production line robot stops at a position near the station, or the production line robot moves at a slow speed near the station, the scheduling device of the production line robot can send an instruction to the control device of the installation robot, and the control device of the installation robot can control the installation robot to assemble the material matched by the assembly island to the to-be-assembled product carried by the production line robot after receiving the instruction, and the process is not limited.

[0129] For example, for each station installation robot, the assembly island can include an installation position corresponding to the station, so that the production line robot is scheduled to stop at the installation position, or the production line robot is scheduled to move at a slow speed at the installation position. Based on this installation position, the installation robot can only assemble the material matched by the assembly island to the product to be assembled carried by the production line robot.

[0130] Alternatively, the assembly island can include multiple installation positions corresponding to the station, so that for each installation position, the production line robot can be scheduled to stop at the installation position, or the production line robot can be scheduled to move at a slow speed at the installation position, that is, based on each installation position, the installation robot can only assemble the material matched by the assembly island to the product to be assembled carried by the production line robot.

[0131] In a possible implementation, if the assembly island includes multiple installation positions, and the multiple installation positions are all within the installation coverage of the installation robot, a mapping relationship between the component type and the installation position can be preconfigured. For example, referring to FIG. 6, which is a schematic view of multiple installation positions, the assembly island includes installation position i, installation position j, and installation position k. Referring to Table 1, which is a mapping relationship between the component type and the installation position. Of course, Table 1 is only an example, and the mapping relationship is not limited. Figure 8

[0132] Table 1

[0133] Component Type Mounting Position Component Type A1 Mounting Position i Component Type A2, Component Type A3 Mounting Position j Component Type A4 Mounting Position k

[0134] As can be seen from Table 1, for the product to be assembled of component type A1, when the product to be assembled is located at installation position i, the installation robot can only assemble the material to the product to be assembled, and installation position i is the best installation position for the product to be assembled, that is, although the material assembly can also be completed at installation position j and installation position k, the installation effect of the material assembly is the best at installation position i. Similarly, for the product to be assembled of component type A2 and component type A3, installation position j is the best installation position for the product to be assembled, and for component type A4, installation position k is the best installation position for the product to be assembled.

[0135] For example, the mapping relationship between the component type and the installation position can be configured according to experience, or can be configured according to actual measurement. For example, the product to be assembled of component type A1 can be placed in installation position i, installation position j, and installation position k in turn, to obtain the installation effect corresponding to each installation position, and the installation position with the best installation effect can correspond to component type A1, and so on.

[0136] ​For example, when the production line robot is scheduled to reach the assembly island along the assembly route, the mapping relationship can be queried based on the component type of the product to be assembled carried by the production line robot, and then the target installation position corresponding to the component type is selected from the plurality of installation positions. On this basis, the production line robot is scheduled to stop at the target installation position, or the production line robot is scheduled to move at a slow speed at the target installation position, and the installation robot is controlled to assemble the material matched by the assembly island to the product to be assembled carried by the production line robot.

[0137] For example, at the automatic assembly station, in order to improve the compatibility of different component models, a plurality of installation positions can be arranged as the component model of the product to be assembled increases. Figure 8 As shown in FIG. 1, the installation position can be installation position i (i.e., the production line robot can stop at installation position i, Figure 8 The intelligent AMR in FIG. 1 represents the production line robot), or installation position j (i.e., the production line robot can stop at installation position j), or installation position k (i.e., the production line robot can stop at installation position k). Based on this, the installation position matched with the component type of the product to be assembled carried by the production line robot can be selected as the stop point of the production line robot.

[0138] For different products to be assembled, the production line robot can be flexibly stopped at different assembly points (i.e., different installation positions) according to the automation demand, thereby improving the compatibility of automatic assembly for different component models.

[0139] Based on the same application concept as the above method, an island assembly device based on robot control is provided in the embodiments of the present application. The pre-planned assembly route passes through the assembly island. The assembly route is a ring-shaped route. The assembly island is deployed with an installation robot. The assembly route is deployed with a plurality of production line robots. Each production line robot carries a product to be assembled. As shown in FIG. 1, it is a structural schematic diagram of the device. The device comprises: Figure 9A

[0140] The scheduling module 911 is configured to schedule each production line robot to run along the assembly route. The control module 912 is configured to control the installation robot to assemble the material matched by the assembly island to the product to be assembled carried by the production line robot when the production line robot reaches the assembly island along the assembly route. The scheduling module 911 is further configured to, if the product to be assembled carried by the production line robot has been installed, schedule the production line robot to leave the assembly route from the target position when the production line robot reaches the target position along the assembly route.

[0141] ​Exemplarily, the control module 912 controls the mounting robot to assemble the material matched by the assembly island to a product to be assembled carried by the line robot, and specifically controls the mounting robot to: if the assembly island includes multiple mounting positions and the multiple mounting positions are all within the mounting coverage of the mounting robot, select a target mounting position corresponding to a component type of the product to be assembled from the multiple mounting positions based on a mapping relationship between the configured component type and the mounting position; and dispatch the line robot to stop at the target mounting position or dispatch the line robot to move at a slow speed at the target mounting position, so as to control the mounting robot to assemble the material matched by the assembly island to the product to be assembled carried by the line robot.

[0142] Exemplarily, a shortest distance between the assembly route and a pre-planned material storage area is less than a first distance threshold, the material storage area is used to place materials, the material storage area is deployed with a delivery robot, and the scheduling module 911 is further configured to: if it is detected that a material position meets a material updating condition, dispatch the delivery robot to carry materials in the material storage area to the material position, the material position being located at an edge of the assembly route; and if a remaining number of materials in the material position is not greater than a first number threshold or a number of used materials in the material position reaches a second number threshold, the material position meets the material updating condition; and in a process of scheduling the line robot to run along the assembly route, dispatch the line robot to stop at an edge position of the material position or dispatch the line robot to move at a slow speed at the edge position of the material position, the edge position of the material position being located at the assembly route, so as to assemble the materials in the material position to a product to be assembled carried by the line robot.

[0143] Exemplarily, the closest distance between the assembly route and a pre-planned subassembly route is less than a second distance threshold, the subassembly route is deployed with a subassembly robot, the subassembly robot carries a semi-finished product thereon, and the scheduling module 911 is further configured to schedule the subassembly robot to run along the subassembly route, and schedule the subassembly robot to stop at an edge position of a first material position or schedule the subassembly robot to move at a slow speed at the edge position of the first material position to assemble material at the first material position to the semi-finished product carried by the subassembly robot during the scheduling of the subassembly robot to run along the subassembly route, and schedule the subassembly robot to carry the semi-finished product to a second material position at an edge of the assembly route if the semi-finished product carried by the subassembly robot has completed the assembly, and schedule the line robot to stop at an edge position of the second material position or schedule the line robot to move at a slow speed at the edge position of the second material position to assemble the semi-finished product at the second material position to the to-be-assembled product carried by the line robot during the scheduling of the line robot to run along the assembly route.

[0144] Exemplarily, the scheduling module 911 is further configured to, during the scheduling of the line robot to run along the assembly route, schedule the line robot to leave the assembly route to repair the line robot or the to-be-assembled product carried by the line robot in an area outside the assembly route if the line robot or the to-be-assembled product carried by the line robot has an abnormality, schedule the line robot to re-enter the assembly route according to the queue order before leaving after the repair is completed, and if the line robot is between a first line robot and a second line robot before leaving, the line robot is between the first line robot and the second line robot when the line robot re-enters the assembly route.

[0145] The scheduling module 911 is configured to schedule the line robot to stop at the edge of the material position or to schedule the line robot to move at a low speed at the edge of the material position during the process of scheduling the line robot to run along the assembly route, to perform a first prompt on the materials corresponding to the material position through a display screen or an indicator light, the first prompt indicating that the materials corresponding to the material position need to be assembled on the to-be-assembled product carried by the line robot, to perform a second prompt on the materials through the display screen or the indicator light after each material is assembled on the to-be-assembled product carried by the line robot, the second prompt indicating that the material has been installed, to determine whether there is a material to be installed in the material position, to prohibit the line robot from leaving the edge of the material position if there is a material to be installed in the material position, and to schedule the line robot to continue running along the assembly route if there is no material to be installed in the material position.

[0146] The scheduling module 911 is configured to determine a first material type of the material that needs to be assembled on the to-be-assembled product during the process of scheduling the line robot to run along the assembly route, to schedule the line robot to stop at the edge of the material position or to schedule the line robot to move at a low speed at the edge of the material position, to determine a second material type of the material in the material position, to determine whether the first material type matches the second material type, to prompt to allow the material in the material position to be assembled on the to-be-assembled product carried by the line robot if the first material type matches the second material type, and to prompt error information of a mismatched material type if the first material type does not match the second material type.

[0147] Based on the same application concept as the above method, an electronic device (such as the scheduling device described above) is provided in the embodiments of the present application, as shown in Figure 9B The processor 921 is configured to execute the machine-executable instructions to implement the island assembly method based on robot control disclosed in the above disclosure of the present application.

[0148] Based on the same application concept as the above method, the embodiments of the present application also provide a machine-readable storage medium, the machine-readable storage medium stores a plurality of computer instructions, and the computer instructions can implement the island assembly method based on robot control disclosed in the above examples of the present application when executed by a processor.

[0149] The machine-readable storage medium described above can be any electronic, magnetic, optical, or other physical storage device that contains or stores information such as executable instructions, data, etc. For example, the machine-readable storage medium can be a Random Access Memory (RAM), a volatile memory, a non-volatile memory, a flash memory, a storage drive (e.g., a hard drive), a solid state drive, any type of storage disk (e.g., a floppy disk, a DVD, etc.), or any suitable storage medium, or a combination thereof.

[0150] Based on the same application concept as the method described above, the computer program product provided in the embodiments of the present application includes a computer program, wherein the computer program is executed by a processor to implement the island assembly method based on robot control disclosed in the examples of the present application.

[0151] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0152] The above only describes the embodiments of the present application and is not intended to limit the present application. Those skilled in the art can make various modifications and changes to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of the claims of the present application.

Claims

1. A robotically controlled island assembly method, characterized in that, The pre-planned assembly route passes through an assembly island, the assembly route is a loop route, the assembly island is deployed with an installation robot, the assembly route is deployed with a plurality of production line robots, each production line robot carries a product to be assembled, and the method comprises: For each production line robot, schedule the production line robot to run along the assembly route; When the production line robot reaches the assembly island along the assembly route, control the installation robot to assemble the material matched by the assembly island to the product to be assembled carried by the production line robot; If the product to be assembled carried by the production line robot has completed installation, when the production line robot reaches the configured target position along the assembly route, schedule the production line robot to leave the assembly route from the target position; Wherein, in the process of scheduling the production line robot to run along the assembly route, if the production line robot abnormity or the product to be assembled carried by the production line robot abnormity, schedule the production line robot to leave the assembly route to repair the production line robot or the product to be assembled carried by the production line robot in an area outside the assembly route; After the repair is completed, schedule the production line robot to re-enter the assembly route in the queue order before leaving; if the production line robot is between a first production line robot and a second production line robot before leaving, when the production line robot re-enters the assembly route, the production line robot is between the first production line robot and the second production line robot.

2. The method of claim 1, wherein, The control of the installation robot to assemble the material matched by the assembly island to the product to be assembled carried by the production line robot comprises: If the assembly island includes a plurality of installation positions, and the plurality of installation positions are all within the installation coverage range of the installation robot, based on the configured mapping relationship between the component type and the installation position, select a target installation position corresponding to the component type of the product to be assembled from the plurality of installation positions; Schedule the production line robot to stop at the target installation position, or schedule the production line robot to move at a slow speed at the target installation position, and control the installation robot to assemble the material matched by the assembly island to the product to be assembled carried by the production line robot.

3. The method of claim 1, wherein, The shortest distance between the assembly route and the pre-planned material storage area is less than a first distance threshold, the material storage area is used to place materials, the material storage area is deployed with a delivery robot, and the method further comprises: If it is detected that a material position meets a material updating condition, schedule the delivery robot to carry the material of the material storage area to the material position, the material position is located at the edge of the assembly route; if the remaining number of materials of the material position is not greater than a first number threshold, or the number of material usage of the material position reaches a second number threshold, the material position meets the material updating condition; If the production line robot abnormity or the product to be assembled carried by the production line robot abnormity, schedule the production line robot to leave the assembly route to repair the production line robot or the product to be assembled carried by the production line robot in an area outside the assembly route; In the process of scheduling the production line robot to run along the assembly route, the production line robot is scheduled to stop at an edge position of the material position or to move at a slow speed at the edge position of the material position, the edge position of the material position being located on the assembly route, so as to assemble the material of the material position to the product to be assembled carried by the production line robot.

4. The method of claim 1, wherein, The closest distance between the assembly route and a pre-planned sub-assembly line route is less than a second distance threshold, the sub-assembly line route being deployed with a sub-assembly robot, the sub-assembly robot carrying a semi-finished product, and the method further comprises: Scheduling the sub-assembly robot to run along the sub-assembly line route; in the process of scheduling the sub-assembly robot to run along the sub-assembly line route, the sub-assembly robot is scheduled to stop at an edge position of a first material position or to move at a slow speed at the edge position of the first material position, so as to assemble the material of the first material position to the semi-finished product carried by the sub-assembly robot; If the semi-finished product carried by the sub-assembly robot has completed installation, the sub-assembly robot is scheduled to carry the semi-finished product to a second material position at the edge of the assembly route; In the process of scheduling the production line robot to run along the assembly route, the production line robot is scheduled to stop at an edge position of the second material position or to move at a slow speed at the edge position of the second material position, so as to assemble the semi-finished product of the second material position to the product to be assembled carried by the production line robot.

5. The method of claim 1, wherein, In the process of scheduling the production line robot to run along the assembly route, the method further comprises: Scheduling the production line robot to stop at an edge position of a material position or to move at a slow speed at the edge position of the material position, and performing a first prompt on a plurality of materials corresponding to the material position through a display screen or an indicator light, the first prompt indicating that the plurality of materials corresponding to the material position need to be assembled to the product to be assembled carried by the production line robot; After assembling one material to the product to be assembled carried by the production line robot each time, performing a second prompt on the material through the display screen or the indicator light, the second prompt indicating that the material has completed installation; Determining whether there is a material to be installed in the material position; If yes, prohibiting the production line robot from leaving the edge position of the material position; If no, scheduling the production line robot to continue running along the assembly route.

6. The method of claim 1, wherein, In the process of scheduling the production line robot to run along the assembly route, the method further comprises: Determining a first material type of the material to be assembled to the product to be assembled; scheduling the production line robot to stop at an edge position of a material position or to move at a slow speed at the edge position of the material position, and determining a second material type of the material of the material position; retrieving whether the first material type matches the second material type; if yes, prompting to allow the material at the material location to be assembled on the product to be assembled carried by the line robot; if no, prompting error information of the mismatched material type.

7. A robotically controlled island assembly device, characterized by, The pre-planned assembly route passes through an assembly island, the assembly route is a ring route, the assembly island is deployed with an installation robot, the assembly route is deployed with a plurality of line robots, each line robot carries a product to be assembled, and the device comprises: a scheduling module configured to schedule each line robot to run along the assembly route; a control module configured to control the installation robot to assemble the material matched by the assembly island on the product to be assembled carried by the line robot when the line robot reaches the assembly island along the assembly route; and the scheduling module is further configured to schedule the line robot to leave the assembly route from a target position configured when the product to be assembled carried by the line robot has been completed installation and the line robot reaches the target position along the assembly route. In the process of scheduling the line robot to run along the assembly route, if the line robot or the product to be assembled carried by the line robot abnormally, the scheduling module is further configured to schedule the line robot to leave the assembly route to repair the line robot or the product to be assembled carried by the line robot in an area outside the assembly route, and after the repair is completed, schedule the line robot to re-enter the assembly route in the queue order before leaving; if the line robot is between a first line robot and a second line robot before leaving, the line robot re-enters the assembly route between the first line robot and the second line robot.

8. The apparatus of claim 7, wherein, The control module controls the installation robot to assemble the material matched by the assembly island on the product to be assembled carried by the line robot, and is specifically configured to: if the assembly island includes a plurality of installation positions, and the plurality of installation positions are all within the installation coverage range of the installation robot, select a target installation position corresponding to the component type of the product to be assembled from the plurality of installation positions based on the configured mapping relationship between the component type and the installation position; schedule the line robot to stop at the target installation position, or schedule the line robot to move at a slow speed at the target installation position, and control the installation robot to assemble the material matched by the assembly island on the product to be assembled carried by the line robot. ​ The closest distance between the assembly route and a pre-planned material storage area is less than a first distance threshold, the material storage area is used to place materials, and the material storage area is deployed with a distribution robot. The scheduling module is further configured to schedule the distribution robot to carry the materials of the material storage area to a material position if it is detected that the material position satisfies a material updating condition, and the material position is located at an edge of the assembly route. The material position satisfies the material updating condition if a remaining quantity of materials of the material position is not greater than a first quantity threshold, or a quantity of used materials of the material position reaches a second quantity threshold. During scheduling of the production line robot to run along the assembly route, the production line robot is scheduled to stop at an edge position of the material position, or the production line robot is scheduled to move at a slow speed at the edge position of the material position, and the edge position of the material position is located at the assembly route, so as to assemble the materials of the material position to a product to be assembled carried by the production line robot. The closest distance between the assembly route and a pre-planned material storage area is less than a first distance threshold, the material storage area is used to place materials, and the material storage area is deployed with a distribution robot. The scheduling module is further configured to schedule the distribution robot to carry the materials of the material storage area to a material position if it is detected that the material position satisfies a material updating condition, and the material position is located at an edge of the assembly route. The material position satisfies the material updating condition if a remaining quantity of materials of the material position is not greater than a first quantity threshold, or a quantity of used materials of the material position reaches a second quantity threshold. During scheduling of the production line robot to run along the assembly route, the production line robot is scheduled to stop at an edge position of the material position, or the production line robot is scheduled to move at a slow speed at the edge position of the material position, and the edge position of the material position is located at the assembly route, so as to assemble the materials of the material position to a product to be assembled carried by the production line robot. The closest distance between the assembly route and a pre-planned material storage area is less than a first distance threshold, the material storage area is used to place materials, and the material storage area is deployed with a distribution robot. The scheduling module is further configured to schedule the distribution robot to carry the materials of the material storage area to a material position if it is detected that the material position satisfies a material updating condition, and the material position is located at an edge of the assembly route. The material position satisfies the material updating condition if a remaining quantity of materials of the material position is not greater than a first quantity threshold, or a quantity of used materials of the material position reaches a second quantity threshold. During scheduling of the production line robot to run along the assembly route, the production line robot is scheduled to stop at an edge position of the material position, or the production line robot is scheduled to move at a slow speed at the edge position of the material position, and the edge position of the material position is located at the assembly route, so as to assemble the materials of the material position to a product to be assembled carried by the production line robot. The scheduling module is further configured to, during scheduling the production line robot to run along the assembly route, schedule the production line robot to stop at an edge position of a material position, or schedule the production line robot to move at a slow speed at the edge position of the material position, and perform a first prompt on a plurality of materials corresponding to the material position through a display screen or an indicator light, the first prompt indicating that the plurality of materials corresponding to the material position need to be assembled on a product to be assembled carried by the production line robot; after each material is assembled on the product to be assembled carried by the production line robot, perform a second prompt on the material through the display screen or the indicator light, the second prompt indicating that the material has completed installation; determine whether there is a material to be installed in the material position; if yes, prohibit the production line robot from leaving the edge position of the material position; and if no, schedule the production line robot to continue running along the assembly route. The scheduling module is further configured to, during scheduling the production line robot to run along the assembly route, determine a first material type of a material to be assembled on the product to be assembled; schedule the production line robot to stop at an edge position of a material position, or schedule the production line robot to move at a slow speed at the edge position of the material position, determine a second material type of a material in the material position; retrieve whether the first material type matches the second material type; if yes, prompt to allow the material in the material position to be assembled on the product to be assembled carried by the production line robot; and if no, prompt error information of a mismatched material type.

9. An electronic device, comprising: The method comprises: a processor and a machine readable storage medium, the machine readable storage medium storing machine executable instructions capable of being executed by the processor; the processor is configured to execute the machine executable instructions to implement the method in any one of claims 1-6.

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