Unmanned transport device control method and device for tire mold clamp and vehicle door processing system

Abstract

The application discloses a control method and device of an unmanned transport device of a tire mold clamp and a vehicle door machining system, and the control method comprises the following steps: acquiring identification information of a target tire mold clamp matched with a vehicle door to be machined according to model information of the vehicle door to be machined; grabbing the target tire mold clamp in a three-dimensional tire mold clamp warehouse according to the identification information; acquiring the remaining machining time lengths of a plurality of vehicle doors currently machined by a vehicle door edge rolling island; selecting a target machining station with the shortest remaining machining time length in the vehicle door edge rolling island according to the plurality of remaining machining time lengths; performing path planning according to the current position of the target tire mold clamp, the target machining station and the remaining machining time length, and obtaining a path planning result; and transporting the target tire mold clamp to the target machining station according to the path planning result, so that the vehicle door edge rolling island performs edge rolling machining on the vehicle door to be machined by using the target tire mold clamp. The device moving path and time are planned according to the remaining machining time length, the waiting time of the machining station in the process of two working tasks is shortened, and the overall machining efficiency is improved.

Description

[Technical Field]

[0001] This invention relates to the field of unmanned transportation device technology, and in particular to a control method, device and door processing system for an unmanned transportation device with a tire mold clamp. [Background Technology]

[0002] Car door edging is usually done by robotic hemming. Robotic hemming generally adopts an island production layout. The robotic hemming island is usually composed of hemming robots, hemming devices and corresponding control systems. Different sized mold fixtures are transported to the hemming robot by a transport trolley, and then the car door is placed in the mold fixture, where the hemming robot performs the hemming work.

[0003] Therefore, how to reduce the time it takes for the transport trolley to transport the mold fixture to the rolling robot and the time interval between the rolling robot completing the previous rolling operation has become a problem to be solved. [Summary of the Invention]

[0004] This invention provides a control method, device, and door processing system for an unmanned transport device for a tire mold clamp, in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] In a first aspect, a control method for an unmanned transport device for a mold clamp is provided, the method comprising:

[0007] Based on the model information of the door to be processed, obtain the identification information of the target mold fixture that matches the door to be processed;

[0008] The target tire mold fixture is retrieved from the three-dimensional tire mold fixture library based on the identification information.

[0009] Obtain the remaining processing time of multiple doors currently being processed on the door hemming island, and select the target processing station with the shortest remaining processing time from the door hemming island based on the multiple remaining processing times;

[0010] Path planning is performed based on the current position of the target mold fixture, the target machining station, and the remaining machining time to obtain the path planning result;

[0011] According to the path planning results, the target mold fixture is transported to the target processing station, so that the door hemming island can use the target mold fixture to perform hemming processing on the door to be processed.

[0012] In one possible design, obtaining the identification information of the target mold fixture matching the door to be processed, based on the model information of the door to be processed, includes:

[0013] Obtain the model information of the door to be processed;

[0014] The identification information that matches the model information is filtered from the database.

[0015] In one possible design, the step of retrieving the target mold fixture from the three-dimensional mold fixture library based on the identification information includes:

[0016] Obtain the identification information;

[0017] Based on the identification information, the corresponding target tire mold fixture is matched in the 3D tire mold fixture library using a visual recognition algorithm;

[0018] Grasp the target tire mold fixture.

[0019] In one possible design, obtaining the remaining processing time of multiple doors currently being processed on the door hemming island, and selecting the target processing station with the shortest remaining processing time from the door hemming island based on the multiple remaining processing times, includes:

[0020] Obtain data on the remaining processing time of multiple processing stations;

[0021] By comparing the remaining processing time data of each of the processing stations, the target processing station with the shortest remaining processing time is determined from the plurality of processing stations.

[0022] In one possible design, the path planning based on the current position of the target mold fixture, the target machining station, and the remaining machining time, to obtain the path planning result, includes:

[0023] Based on the remaining processing time of the target processing station, a time window from the current position to the target processing station is determined;

[0024] Within the time window, path planning is performed based on the current position and the target processing station to obtain the path from the current position to the target processing station;

[0025] The remaining processing time and the time window are compared to determine the motion time;

[0026] Get the shipping speed.

[0027] Secondly, an unmanned transport device for a tire mold clamp is provided, the device comprising:

[0028] The acquisition module is used to acquire the identification information of the target mold fixture that matches the door to be processed, based on the model information of the door to be processed.

[0029] The grasping module is used to grasp the target tire mold fixture from the three-dimensional tire mold fixture library according to the identification information;

[0030] The matching module is used to obtain the remaining processing time of multiple doors currently being processed on the door hemming island, and select the target processing station with the shortest remaining processing time from the door hemming island based on the multiple remaining processing times;

[0031] The planning module is used to perform path planning based on the current position of the target mold fixture, the target processing station, and the remaining processing time, and obtain the path planning result.

[0032] The transportation module is used to transport the target mold fixture to the target processing station according to the path planning result, so that the door hemming island can use the target mold fixture to perform hemming processing on the door to be processed.

[0033] In one possible design, the grasping module includes a drive mechanism and a grasping mechanism, wherein the drive mechanism is tractively connected to the grasping mechanism; the acquisition module is electrically connected to both the drive mechanism and the grasping mechanism.

[0034] The driving mechanism is used to drive the gripping mechanism to move in a first direction and a second direction, and the gripping mechanism is used to grip the target tire mold fixture.

[0035] In one possible design, the transport module includes a base plate and casters, with the drive mechanism and the gripping mechanism both located on the base plate, and the casters located at the bottom of the base plate.

[0036] The base plate is used to support the target tire mold fixture, and the casters are used to transport the target tire mold fixture to the door edge island.

[0037] In one possible design, the three-dimensional membrane clamp library has multiple accommodating spaces, each of which is used to accommodate membrane clamps with different identification information.

[0038] Thirdly, a door processing system is provided. The electronic device includes a memory and a processor. The memory is connected to the processor, and the processor is used to execute one or more computer programs stored in the memory. When the processor executes one or more computer programs, it enables the door processing system to implement a control method for an unmanned transport device of a tire mold fixture, or to control an unmanned transport device of a tire mold fixture.

[0039] This invention discloses a control method for an unmanned transport device for a mold clamp. The method includes: obtaining the identification information of a target mold clamp matching the model information of the door to be processed; grabbing the target mold clamp from a three-dimensional mold clamp library based on the identification information; obtaining the remaining processing time of multiple doors currently being processed on the door edge-rolling island; selecting the target processing station with the shortest remaining processing time from the door edge-rolling island based on the multiple remaining processing times; performing path planning based on the current position of the target mold clamp, the target processing station, and the remaining processing time; and transporting the target mold clamp to the target processing station based on the path planning result, so that the edge-rolling island can use the target mold clamp to perform edge-rolling processing on the door to be processed. By planning the movement path and time of the device based on the remaining processing time, the waiting time of the processing station during the two work tasks is shortened, thereby improving the overall processing efficiency. [Attached Image Description]

[0040] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A schematic flowchart of a first exemplary embodiment of a control method for an unmanned transport device of a tire mold clamp provided in this application;

[0042] Figure 2 A schematic flowchart of a second exemplary embodiment of a control method for an unmanned transport device of a tire mold clamp provided in this application;

[0043] Figure 3 A schematic flowchart of a third exemplary embodiment of a control method for an unmanned transport device of a tire mold clamp provided in this application;

[0044] Figure 4 A schematic flowchart of a fourth exemplary embodiment of a control method for an unmanned transport device of a tire mold clamp provided in this application;

[0045] Figure 5 A schematic flowchart of a fifth exemplary embodiment of a control method for an unmanned transport device of a tire mold clamp provided in this application;

[0046] Figure 6 A structural diagram of an unmanned transport device for a tire mold clamp provided in an embodiment of this application;

[0047] Figure 7 An overall structural diagram of an unmanned transport device for a tire mold clamp provided in an embodiment of this application;

[0048] Figure 8 This is a schematic diagram of a door processing system provided in an embodiment of this application.

[0049] Explanation of icon numbers:

[0050]

Detailed Implementation Methods

[0051] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0052] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0053] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0054] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0055] Combination Figures 1 to 5 This application provides a detailed description of the control method for the unmanned transport device of the tire mold clamp provided in the embodiments.

[0056] Please see Figure 1 , Figure 1 This is a flowchart illustrating a control method for an unmanned transport device for a tire mold clamp, provided in an embodiment of this application. Figure 1 As shown, the method in this application embodiment may include the following steps S1-S5.

[0057] S1. Based on the model information of the door to be processed, obtain the identification information of the target mold fixture that matches the door to be processed.

[0058] Specifically, the first step is to obtain the model information of the door to be processed from a specified data source. This model information can also be obtained through industrial cameras or other means. After successful acquisition, the information is transmitted to the control system of the unmanned transport device via the MES or ERP system. The control system can use the built-in database or external data services to parse the received model information and identify the corresponding door type and size characteristics. The control system can also use the built-in database or external data services to search and select the identification information of the matching mold fixture based on the parsed model information.

[0059] In some possible embodiments, the model information of the door to be processed can be obtained through manual input, automatic acquisition, or pre-setting. Specifically, manual input can be achieved by the operator inputting the actual model and size of the door through the touchscreen system on the unmanned transport device. Automatic acquisition can be achieved by automatically reading the model information on the door using technologies such as barcode scanning and RFID identification. All doors to be processed must have a barcode containing the model information affixed to them in advance or an RFID unit installed. Pre-setting can involve pre-setting the door model information in the production plan or on the host computer. When the door enters the production line, the host computer automatically matches and acquires the model information and then transmits it to the control system. This setup can improve the matching speed between the door and its target mold fixture, thereby increasing processing efficiency.

[0060] In some possible embodiments, the identification information of the target mold fixture can be obtained through database query, barcode or RFID tag scanning, real-time communication, or manual selection. Specifically, the database query can be a database built into the control system or an externally connected database that stores the mapping relationship between different door models and corresponding mold fixtures. By querying the database, the identification information of the required fixture can be quickly obtained. Barcode or RFID tag scanning can be done by attaching or embedding barcodes or RFID tags on the mold fixture, which store the fixture's identification information. By scanning these tags, the identification information can be obtained. Real-time communication can be done by the control system obtaining the fixture identification information specified in the current production plan through real-time communication with other systems. Manual selection can be done when the unmanned transport device cannot automatically match the fixture, allowing the operator to select a matching fixture based on experience and input the identification information. This setup can improve the matching speed between the door and its matching target mold fixture, thereby improving processing efficiency.

[0061] It should be further explained that the model information of the car door to be processed can be the type, size, structure, or other information that can reflect the different characteristics between the car doors, and the identification information of the mold fixture can be a barcode, QR code, RFID tag ID, or database record ID.

[0062] S2, grab the target mold fixture from the three-dimensional mold fixture library according to the identification information.

[0063] Specifically, the control system transmits the retrieved identification information to the management system of the unmanned transport device, which then locates the target tire mold fixture in the fixture library. After locating the fixture, the unmanned transport device's grasping module grasps the target tire mold fixture.

[0064] In some possible embodiments, the three-dimensional mold fixture library has multiple accommodating spaces, each for accommodating mold fixtures with different identification information. This identification information is stored within the management system. In addition to the above, the identification information may also include the shelf number, shelf layer number, column number, or specific compartment number of the fixture in the library. The management system parses the received identification information and extracts key fields used for positioning (such as the shelf number, layer number, or column number mentioned above). It can query the storage location information of the corresponding fixture through a pre-set database or mapping table in the management system and calculate the specific physical location of the target fixture in the fixture library based on the storage location information, such as its coordinates in three-dimensional space. This setup improves the efficiency of finding matching target mold fixtures, thereby increasing production efficiency.

[0065] In some possible embodiments, a robotic arm, a vacuum suction cup gripping mechanism, or other gripping modules can be used to grip the target mold fixture. Taking a robotic arm as an example, the control system is electrically connected to the robotic arm. When the management system determines the position of the target mold fixture, it transmits the position information to the control system. The control system receives the position information and issues working commands and working positions to the robotic arm to complete the action of gripping the target fixture. By using gripping modules, the gripping effect and efficiency of the unmanned transport device can be improved.

[0066] S3: Obtain the remaining processing time of multiple doors currently being processed on the door hemming island, and select the target processing station with the shortest remaining processing time from the door hemming island based on the multiple remaining processing times.

[0067] Specifically, the control system can acquire the remaining processing time of each processing station on the door hemming island through a real-time data acquisition system (PLC or sensor network, etc.). During real-time data acquisition, it can read and analyze information such as the processing status and progress of the door hemming island to obtain information on the remaining processing time of multiple processing stations. After receiving information on multiple remaining processing times, the control system compares and analyzes the information to determine the station with the shortest remaining processing time as the target processing station. In the determination process, sorting algorithms or other optimization algorithms can be used. This setting can reduce the production waiting time of the doors to be processed, thereby improving processing efficiency.

[0068] In some possible embodiments, the MES system collects data on multiple remaining processing times. First, the processing stations for which remaining processing time needs to be collected are determined. The control center of the edge-rolling island is integrated with the MES system, allowing the MES system to directly obtain processing progress. The control center obtains the processing start time, current processing stage, and estimated completion time, and transmits this data to the MES system. The MES system then acquires this data and transmits it to the control system, which calculates the corresponding remaining processing time. Simultaneously, the MES system can also perform real-time data acquisition. In processing the processing time data, the control system needs to clean the collected data, removing duplicates and errors, and calculate multiple remaining processing times based on the cleaned data. The unmanned conveyor can also be equipped with a touchscreen, displaying multiple remaining processing times so that the operator can quickly select the target processing station with the shortest remaining processing time. Alternatively, the control system can internally compare and select, assigning the task of the door to be processed to the target processing station. This setup minimizes the waiting time during the handover process between two doors, thereby improving processing efficiency.

[0069] S4. Based on the current position of the target mold fixture, the target machining station, and the remaining machining time, path planning is performed to obtain the path planning result.

[0070] Specifically, the control system possesses a detailed map of the production environment, including the workshop layout, the location information of each conveyor channel, processing stations, and obstacles. Combining this detailed map with a graph search algorithm, the current location of the target mold fixture, and the target processing station, an environmental map is constructed, and the shortest path from the current location to the target processing station is determined on the map. Of course, the control system also needs to monitor the remaining processing time at the target processing station in real time to determine the activation time of the unmanned transport device. It is known that the planned path can be a path composed of a series of coordinate points or path segments.

[0071] In some possible embodiments, the unmanned transport device is equipped with sensors and a navigation system electrically connected to the control system, such as lidar and cameras. The sensors can perceive the surrounding environment in real time, such as obstacles, and the position and status of other mobile devices. The navigation system can be used to receive the planned path transmitted by the control system. The movement path planned by the control system in the above manner basically avoids the appearance of obstacles and other mobile devices, thereby reducing the transport time of the unmanned transport device and improving the overall processing efficiency.

[0072] S5, based on the path planning results, transport the target mold fixture to the target processing station, so that the door hemming island can use the target mold fixture to perform hemming processing on the door to be processed.

[0073] Specifically, the navigation system and sensors built into the unmanned transport device are used to track the path specified in the path planning results. During the transport process along the planned path, the sensors can detect sudden situations at any time, such as encountering obstacles or other situations, so that the control system can perform new path planning. At the same time, the navigation system is also used to locate the target processing station so that the unmanned transport device can accurately stop at the designated location, such as a specific area in front of the target processing station or a preset designated stopping point. After the unmanned transport device stops, its gripping module moves the target mold fixture to the target processing station so that the hemming island can use the target mold fixture to perform hemming processing on the door to be processed.

[0074] In some possible embodiments, when the target processing station is about to complete the processing of the previous door, it sends a signal or message to the control system to inform it to prepare to start the transportation task. After receiving the signal, the control system determines the start time and speed of the transportation module to ensure that it arrives at the designated location on time before the door processing is completed. During transportation, the path planning structure is dynamically adjusted according to the real-time status of the target processing station obtained by the control system. If the target processing station is found to be idle earlier or later, the unmanned forklift can replan the path or adjust the speed to reduce the time difference with the status of the target processing station. At the same time, a buffer zone can be set in front of each processing station. When the unmanned conveyor passes through the buffer zone, if the target processing station has not completed processing, the unmanned conveyor can temporarily store in the buffer zone to improve the flexibility of the production line.

[0075] Please see Figure 2 This is a flowchart illustrating a second exemplary embodiment of a control method for an unmanned transport device of a tire mold clamp provided in this application. Figure 2 As shown, the method in this application embodiment may include the following steps S11-S12.

[0076] S11, obtain the model information of the door to be processed;

[0077] S12, filter out the identification information that matches the model information from the database.

[0078] Specifically, the model information of the door to be processed is first obtained from the specified data source and transmitted to the database of the control system through the MES system. The identification information that matches the model information is then filtered out from the database. This setting can improve the accuracy of the selected identification information and thus improve processing efficiency.

[0079] In some possible embodiments, the database can store the identification information of each fixture. This information can be retrieved from the database table using a SELECT statement. For example, the WHERE clause in the SELECT statement can specify filtering conditions: `SELECT "Identification Information" FROM "Table Name" WHERE "Model Information" = "XX Model"`. This retrieves identification information matching the specified model. Alternatively, logical operators such as AND and OR can be used to combine multiple filtering conditions. For example, `SELECT "Identification Information" FROM "Table Name" WHERE "Model Information" = "XX Model" AND "Batch" = "YY Batch"` allows filtering records based on both model and batch. Of course, other retrieval statements or methods can also be used to search the database. These retrieval methods improve the speed and accuracy of selecting identification information from the database, thereby increasing processing efficiency.

[0080] Please see Figure 3 This is a flowchart illustrating a third exemplary embodiment of a control method for an unmanned transport device of a tire mold clamp provided in this application. Figure 3 As shown, the method in this application embodiment may include the following steps S21-S23.

[0081] S21, Obtain identification information;

[0082] S22, Based on the identification information, the corresponding target tire mold fixture is matched in the three-dimensional tire mold fixture library using a visual recognition algorithm;

[0083] S23, grab the target tire mold clamp.

[0084] Specifically, each mold fixture in the 3D mold fixture library has unique identification information, which can clearly distinguish one mold fixture from other mold fixtures. Before this, the management system can collect sample images of all mold fixtures in the 3D mold fixture library to build a model library. The images collected in the model library should include the shape outline, key feature points, and dimensions of the mold fixtures. After the management system receives the identification information from the control system, it determines the target mold fixture by searching in the model library and performs real-time matching of multiple mold fixtures in the fixture library using an industrial camera or other image acquisition equipment. After locating the target mold fixture, it is grasped by the grasping module.

[0085] In some possible embodiments, the visual recognition algorithm includes several steps. First, an industrial camera, webcam, or other image acquisition device is used to acquire real-time images of the fixture library to capture clear images of all the mold fixtures in the library. Second, the image acquisition device preprocesses the acquired images, such as denoising, enhancing contrast, or other methods to improve image quality. Next, the visual recognition algorithm extracts the outline or size information of each fixture from the preprocessed images. This extracted information is compared with the feature information of each mold fixture in the model library to find the target mold fixture that matches the identification information. After matching the target mold fixture, verification is required before the gripping module is activated. Using a visual recognition algorithm can improve matching speed and accuracy, thereby improving overall processing efficiency.

[0086] Of course, in some possible embodiments of this application, RFID tags can be set on the mold clamps and RFID readers can be set in the clamp library, as described above; or QR codes can be set on the mold clamps and the unmanned transport device can determine the location of the target mold clamp by scanning the QR codes.

[0087] In some possible embodiments, the gripping module can be a robotic arm, a gripping suction cup, or a gripping claw, etc.

[0088] Before gripping, the gripping range of the jaws or the suction range of the suction cups need to be adjusted according to the size of the target mold fixture to fit the size of the target mold fixture; during the gripping process, the gripping force and speed need to be adjusted to reduce the possibility of damage to the target mold fixture and fixture library.

[0089] Please see Figure 4 This is a flowchart illustrating a fourth exemplary embodiment of a control method for an unmanned transport device of a tire mold clamp provided in this application. Figure 4 As shown, the method in this application embodiment may include the following steps S31-S32.

[0090] S31, obtain data on the remaining processing time of multiple processing stations;

[0091] S32, compare the remaining processing time data of each processing station, and determine the target processing station with the shortest remaining processing time from multiple processing stations.

[0092] Specifically, the MES system monitors in real time the start time, processing progress, estimated completion time, and actual completion status of each processing station at the door hemming island. This information is then transmitted to the control system, where the remaining processing time for each station can be calculated. By comparing multiple remaining processing times, the target processing station can be determined. Before transmitting the data to the control system, preprocessing is required to ensure data integrity and accuracy. Furthermore, the data needs to be converted according to the format the control system can receive, such as converting it into numerical data or performing other conversions based on the specific requirements of the control system.

[0093] It's important to understand that the control system can have multiple databases to store different types of data. In some possible embodiments, the control system also needs to establish a data model or data structure to store and manage the received data on multiple remaining processing times, such as arrays, lists, or database tables. The control system uses sorting algorithms, such as merge sort or quick sort, to sort the stored remaining processing time data to find the target processing station with the shortest remaining processing time. If multiple remaining processing times are the same and all are the shortest, the processing station closest to the target mold fixture can be selected based on its position within the rolling edge island. The control system can also re-execute the sorting process based on the real-time updated remaining processing time data to ensure that the target processing station with the shortest remaining time is always selected. After sorting, the control system selects the processing station with the shortest remaining time as the target for the next task based on the sorting results.

[0094] By implementing the above settings, idle time during processing can be reduced, energy consumption and production costs can be lowered, and overall processing efficiency can be improved.

[0095] Please see Figure 5 This is a flowchart illustrating a fifth exemplary embodiment of a control method for an unmanned transport device of a tire mold clamp provided in this application. Figure 5 As shown, the method in this application embodiment may include the following steps S41-S44.

[0096] S41, Based on the remaining processing time of the target processing station, determine the time window from the current position to the target processing station;

[0097] S42, within the time window, perform path planning based on the current position and the target processing station to obtain the path from the current position to the target processing station;

[0098] S43, compare the remaining processing time with the time window to determine the motion timing;

[0099] S44, obtain transport speed.

[0100] Specifically, the control system can obtain the remaining processing time of the target processing station in real time through the above calculations. At the same time, it needs to consider the task preparation time (i.e., buffer time), such as the time delay required due to tooling changes, parameter adjustments, or processing station failures. The remaining processing time and task preparation time are added together to obtain the time window. Based on the time window, current position, target processing station, and transport speed, path planning is performed to obtain the movement path of the unmanned transport device. Finally, by comparing the remaining processing time and the time window, the movement time is determined.

[0101] In some possible embodiments, the task preparation time can be dynamically adjusted based on the real-time status and task completion of the target processing station at the edge-rolling island. For example, when the target processing station malfunctions or experiences material shortages, the task preparation time can be increased to address uncertainties; when the target processing station is operating stably and the task completion is good, the task preparation time can be appropriately reduced to improve production efficiency. This setup can improve the flexibility of the overall production line, reduce the risk of processing interruptions, shorten the interval between two processing tasks, and improve overall processing efficiency.

[0102] In some possible embodiments, as mentioned above, the control system has a detailed map of the production environment, and path planning is performed using the constructed environment map. During the path planning process, path search algorithms, such as A* algorithm, Dijkstra's algorithm, RRT algorithm, etc., can be used to search for the optimal path from the current position to the target processing station in the environment map.

[0103] In some possible embodiments, as described above, the remaining processing time is less than the time window value. When the difference between the two is within a preset range of the control system, the control system transmits a motion signal to the transportation module; this is the moment the unmanned transportation device begins to move. Its transportation speed can be determined based on the planned path and time window. It is understood that the transportation speed will be adjusted based on the remaining processing time data and processing progress received by the control system in real time.

[0104] By setting it up as described above, the possibility of the target processing station being idle can be reduced, and the waiting time between two tasks at the target processing station can be reduced, thereby improving the overall processing efficiency.

[0105] The following will combine Figure 6 and Figure 7 This application provides a detailed description of the unmanned transport device for the tire mold clamp provided in its embodiments. It should be noted that... Figure 7 An unmanned transport device for the tire mold clamp, used to perform the work described in this application. Figures 1 to 5The methods shown in the embodiments are for illustrative purposes only, illustrating the parts relevant to the embodiments of this application. For specific technical details not disclosed, please refer to this application. Figures 1 to 5 The illustrated embodiment. Specifically, the unmanned transport device 800 of the tire mold clamp may include an acquisition module 801, a gripping module 802, a matching module 803, a planning module 804, and a transport module 805, as detailed below:

[0106] The acquisition module 801 is used to acquire the identification information of the target mold fixture that matches the door to be processed, based on the model information of the door to be processed.

[0107] The grasping module 802 is used to grasp the target model fixture from the three-dimensional model fixture library according to the identification information;

[0108] The matching module 803 is used to obtain the remaining processing time of multiple doors currently being processed on the door hemming island, and select the target processing station with the shortest remaining processing time from the door hemming island based on the multiple remaining processing times.

[0109] The planning module 804 is used to perform path planning based on the current position of the target mold fixture, the target machining station, and the remaining machining time, and obtain the path planning result.

[0110] The transport module 805 is used to transport the target mold fixture to the target processing station according to the path planning results, so that the door rolling island can use the target mold fixture to perform rolling processing on the door to be processed.

[0111] The principle and implementation process of controlling the unmanned transport device for the door to be processed in this embodiment are described in the above embodiments and will not be repeated here.

[0112] Reference Figure 7 In some possible embodiments, the gripping module 802 includes a drive mechanism 802a and a gripping mechanism 802b, with the drive mechanism 802a being drive-connected to the gripping mechanism 802b; the acquisition module is electrically connected to both the drive mechanism 802a and the gripping mechanism 802b; the drive mechanism 802a is used to drive the gripping mechanism 802b to move in a first direction and a second direction, and the gripping mechanism 802b is used to grip the target mold fixture.

[0113] In this embodiment, the driving mechanism 802a can be a motor, cylinder, or other driving mechanism, and the gripping mechanism can be a fork arm, robotic arm, suction cup, or gripper, etc. Taking a motor and a fork arm as an example, there are two motors. The power output end of one motor is connected to the fork arm along a first direction, and the power output end of the other motor is connected to the fork arm along a second direction. The two motors control the movement of the fork arm in the first and second directions, respectively. The first direction can be the height direction of the three-dimensional mold fixture library, and the second direction can be the width direction of the three-dimensional mold fixture library. That is, when the control system selects a target mold fixture, the fork arm can move along the second direction into the three-dimensional mold fixture library and lift the target mold fixture so that the target mold fixture is placed on the fork arm. After gripping is completed, the target mold fixture is removed from the fixture library by the transport module moving along the second direction.

[0114] Reference Figure 7 In some possible embodiments, the transport module 805 includes a base plate 805a and a caster wheel 805b. The drive mechanism 802a and the gripping mechanism 802b are both disposed on the base plate 805a, and the caster wheel 805b is disposed at the bottom of the base plate 805a. The base plate 805a is used to carry the target mold fixture, and the caster wheel 805b is used to transport the target mold fixture to the door edge island.

[0115] In this embodiment, the substrate 805a can provide support for other structures of the unmanned transportation device, and the caster wheel 805b controls the overall movement of the device.

[0116] Reference Figure 8 This application also proposes a door processing system, which includes a memory, a processor, and a control program for an unmanned transport device of a tire mold fixture stored in the memory and executable on the processor. When the control program for the unmanned transport device of the tire mold fixture is executed by the processor, it implements the steps of the control method for the unmanned device of the tire mold fixture as described above.

[0117] Since the control program of the unmanned transport device of this tire mold fixture adopts all the technical solutions of all the aforementioned embodiments when it is executed by the processor, it has at least all the beneficial effects brought about by all the technical solutions of all the aforementioned embodiments, which will not be repeated here.

[0118] The processing module may be a processor or a controller, which can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination of functions that implement computing capabilities, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc., and the storage module may be a memory.

[0119] In addition, the device provided in this application embodiment may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute the control method of the unmanned transportation device for the tire mold clamp provided in the above embodiment.

[0120] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0121] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0122] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A control method for an unmanned transport device for a tire mold clamp, characterized in that, The control method for the unmanned transport device includes: Based on the model information of the door to be processed, obtain the identification information of the target mold fixture that matches the door to be processed; The target tire mold fixture is retrieved from the three-dimensional tire mold fixture library based on the identification information. Obtain the remaining processing time of multiple doors currently being processed on the door hemming island, and select the target processing station with the shortest remaining processing time from the door hemming island based on the multiple remaining processing times; Path planning is performed based on the current position of the target mold fixture, the target machining station, and the remaining machining time to obtain the path planning result; According to the path planning results, the target mold fixture is transported to the target processing station, so that the door hemming island can use the target mold fixture to perform hemming processing on the door to be processed.

2. The control method for the unmanned transport device as described in claim 1, characterized in that, The step of obtaining the identification information of the target mold fixture matching the model information of the door to be processed includes: Obtain the model information of the door to be processed; The identification information that matches the model information is filtered from the database.

3. The control method for the unmanned transport device as described in claim 1, characterized in that, The step of retrieving the target model fixture from the three-dimensional model fixture library based on the identification information includes: Obtain the identification information; Based on the identification information, the corresponding target tire mold fixture is matched in the 3D tire mold fixture library using a visual recognition algorithm; Grasp the target tire mold fixture.

4. The control method for the unmanned transport device as described in claim 1, characterized in that, The step of obtaining the remaining processing time of multiple doors currently being processed on the door hemming island, and selecting the target processing station with the shortest remaining processing time from the door hemming island based on the multiple remaining processing times, includes: Obtain data on the remaining processing time of multiple processing stations; By comparing the remaining processing time data of each of the processing stations, the target processing station with the shortest remaining processing time is determined from the plurality of processing stations.

5. The control method for the unmanned transport device as described in claim 4, characterized in that, The path planning based on the current position of the target mold fixture, the target machining station, and the remaining machining time, to obtain the path planning result, includes: Based on the remaining processing time of the target processing station, a time window from the current position to the target processing station is determined; Within the time window, path planning is performed based on the current position and the target processing station to obtain the path from the current position to the target processing station; The remaining processing time and the time window are compared to determine the motion time; Get the shipping speed.

6. An unmanned transport device for a tire mold clamp, characterized in that, The unmanned transport device includes: The acquisition module is used to acquire the identification information of the target mold fixture that matches the door to be processed, based on the model information of the door to be processed. The grasping module is used to grasp the target tire mold fixture from the three-dimensional tire mold fixture library according to the identification information; The matching module is used to obtain the remaining processing time of multiple doors currently being processed on the door hemming island, and select the target processing station with the shortest remaining processing time from the door hemming island based on the multiple remaining processing times; The planning module is used to perform path planning based on the current position of the target mold fixture, the target processing station, and the remaining processing time, and obtain the path planning result. The transportation module is used to transport the target mold fixture to the target processing station according to the path planning result, so that the door hemming island can use the target mold fixture to perform hemming processing on the door to be processed.

7. The unmanned transport device for the tire mold clamp as described in claim 6, characterized in that, The grasping module includes a driving mechanism and a grasping mechanism, wherein the driving mechanism is tractively connected to the grasping mechanism; the acquisition module is electrically connected to both the driving mechanism and the grasping mechanism. The driving mechanism is used to drive the gripping mechanism to move in a first direction and a second direction, and the gripping mechanism is used to grip the target tire mold fixture.

8. The unmanned transport device for the tire mold clamp as described in claim 7, characterized in that, The transport module includes a base plate and casters. The drive mechanism and the gripping mechanism are both located on the base plate, and the casters are located at the bottom of the base plate. The base plate is used to support the target tire mold fixture, and the casters are used to transport the target tire mold fixture to the door edge island.

9. The unmanned transport device for the tire mold clamp as described in claim 7, characterized in that, The three-dimensional fetal membrane clamp library has multiple accommodating spaces, each of which is used to accommodate a fetal membrane clamp with different identification information.

10. A door processing system, characterized in that, The system includes a memory and a processor, the memory being connected to the processor, the processor being configured to execute one or more computer programs stored in the memory, wherein, when executing the one or more computer programs, the processor causes the door processing system to implement the control method of the unmanned transport device for the tire mold fixture as described in any one of claims 1 to 5, or to control the unmanned transport device for the tire mold fixture as described in any one of claims 6 to 9.

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