Cabin assembly hoisting and transfer system and hoisting positioning and transfer method

Abstract

The present invention provides a cabin assembly hoisting and transporting system and a hoisting positioning and transporting method, wherein the method comprises: attempting to obtain a hoist trigger signal sent by a worker pressing a hoist trigger button; if the attempt to obtain is successful, automatically positioning the target position of the hoist; controlling the descent of the hoist based on the target position, and obtaining a panel sensing signal in real time, if the panel sensing signal is successfully obtained, controlling the hoist to grab the component; after the grabbing is completed, transporting the cabin assembly sheet metal to the next workstation. The cabin assembly hoisting and transporting system and the hoisting positioning and transporting method of the present invention, when using a hoist to transport the cabin assembly sheet metal parts that have been welded, after the worker triggers the hoist to hoist, the system automatically locates the target position of the hoist, controls the descent of the hoist and grabs the component based on the target position, and does not require manual transport and placement, which is more intelligent and has higher efficiency in panel transport.

Description

Technical Field

[0001] The invention relates to the technical field of automobile assembly, and in particular to a cabin assembly hoisting and transporting system and a hoisting, positioning and transporting method. Background Art

[0002] The cabin assembly is the entire structural assembly of the front part of the car including the engine compartment, which is usually made up of multiple sheet metal parts connected by welding and other processes. After the welding of the sheet metal parts of the cabin assembly is completed, the sheet metal parts need to be moved to the next sequence station. On the welding line, the accuracy of the sheet metal parts placed on the fixture or workbench of the next process greatly affects the subsequent processing accuracy. Manual positioning and transfer operations are difficult and inefficient.

[0003] In view of this, there is an urgent need for a cabin assembly hoisting and transporting system and a hoisting positioning and transporting method to at least solve the above-mentioned deficiencies. Summary of the invention

[0004] One of the purposes of the present invention is to provide a cabin assembly lifting and transfer system and a lifting positioning and transfer method. When a hoist is used to transfer the cabin assembly sheet metal parts that have been welded, after the staff initially triggers the hoisting, the system automatically locates the target position of the hoist, and controls the descent of the hoist based on the target position and grabs the parts. There is no need for manual transfer and placement, which is more intelligent and has higher efficiency in panel transfer.

[0005] The method for hoisting, positioning and transporting a cabin assembly provided by an embodiment of the present invention includes:

[0006] Try to obtain the spreader trigger signal sent by the worker pressing the spreader trigger button;

[0007] If the acquisition attempt is successful, the target position of the spreader is automatically located;

[0008] The spreader is controlled to descend based on the target position, and the plate sensing signal is obtained in real time. If the plate sensing signal is successfully obtained, the spreader is controlled to grab the plate;

[0009] After the parts are grabbed, the cabin assembly sheet metal parts are transferred to the next workstation.

[0010] Preferably, automatically positioning the target position of the spreader includes:

[0011] If the attempt to obtain the spreader trigger signal is successful, the state information of the corresponding spreader is determined according to the spreader working state identification signal, and the state information includes: waiting state and working state;

[0012] If the state information of the spreader is the working state, the track information sensing signal of the spreader is obtained, and the sensing signal point is determined according to the track information sensing signal, and the sensing signal point includes: waiting, in-place and overtravel;

[0013] Automatically locate the target position of the spreader according to the sensing signal point.

[0014] Preferably, the spreader is controlled to descend based on the target position, and the plate sensing signal is acquired in real time. If the plate sensing signal is acquired successfully, the spreader is controlled to grab the piece, including:

[0015] Based on the target position and the preset deceleration rules, the spreader is decelerated and lowered, and the plate sensing signal during the spreader deceleration and lowering control process is analyzed to obtain the analysis results;

[0016] If the analysis result is that the plate is successfully sensed, it is determined that the plate sensing signal is successfully acquired, and the hoist is controlled to grab the piece.

[0017] Preferably, the target position of the automatic positioning spreader further includes:

[0018] Locate the target position of the spreader through the spreader guide column;

[0019] Wherein, positioning the target position of the spreader by the spreader guide column comprises:

[0020] When the hoist approaches the cabin assembly sheet metal part, the three-dimensional data of the cabin assembly sheet metal part is obtained through the visual camera;

[0021] Determine the first three-dimensional coordinates of the guide hole based on the three-dimensional data and the preset guide hole distribution setting;

[0022] The guide column is aligned according to the first three-dimensional coordinates, and the position of the spreader after the alignment is completed is used as the target position.

[0023] Preferably, aligning the guide post according to the first three-dimensional coordinate includes:

[0024] Constructing a first circumscribed polygon in the target three-dimensional space according to the first three-dimensional coordinates;

[0025] Obtain a first perpendicular line passing through the centroid of the first circumscribed polygon and perpendicular to the first circumscribed polygon;

[0026] Obtain the second three-dimensional coordinates of the light guide column;

[0027] constructing a second circumscribed polygon in the target three-dimensional space according to the second three-dimensional coordinates;

[0028] Obtain a second perpendicular line passing through the centroid of the second circumscribed polygon and perpendicular to the second circumscribed polygon;

[0029] Acquire a target line segment that intersects the first perpendicular line and the second perpendicular line at the same time and is parallel to the first circumscribed polygon or the second circumscribed polygon, and construct an alignment direction vector based on the target line segment;

[0030] Based on the alignment direction vector and the plane where the second circumscribed polygon is located, controlling the second circumscribed polygon to translate in the horizontal direction;

[0031] After alignment in the horizontal direction, obtain the spreader rotation data;

[0032] Guide column alignment is performed based on the alignment direction vector and spreader rotation data.

[0033] Preferably, obtaining the spreader rotation data includes:

[0034] Obtaining corner point specificity between corner points of the first circumscribed polygon, and taking the corner point with the greatest corner point specificity as the first target corner point;

[0035] Extracting a first corner point feature of a first target corner point based on a corner point feature extraction template;

[0036] Extracting a second corner point feature set of each corner point of the second circumscribed polygon based on the corner point feature extraction template;

[0037] Determine a second corner point feature in the second corner point feature set that matches the first corner point feature and use it as the third corner point feature;

[0038] The corner point of the second circumscribed polygon corresponding to the triangulated point feature is used as the second target corner point;

[0039] Obtaining a first connecting line between a first target corner point and a centroid of a first circumscribed polygon;

[0040] Obtain a second connecting line between the second target corner point and the centroid of the second circumscribed polygon;

[0041] Calculate two intersection angles of the first connecting line and the second connecting line, and use the smaller intersection angle of the two intersection angles as the target intersection angle;

[0042] Determine the relative position of the first connecting line with respect to the second connecting line and the angle of the target intersection angle when calculating the target intersection angle;

[0043] The spreader rotation data is determined according to the relative position, angle size and the preset spreader rotation control data reference library.

[0044] The method for hoisting, positioning and transporting a cabin assembly provided by an embodiment of the present invention further includes:

[0045] During the transfer of the cabin assembly sheet metal parts to the next-order workstation, transfer conflict determination is performed.

[0046] Preferably, during the process of transferring the cabin assembly sheet metal parts to the next-order workstation, a transfer conflict determination is performed, including:

[0047] Determine the passage space for the spreader;

[0048] Get historical passage information through the space;

[0049] According to the historical passing information, determine the target passing device that passes through the passing space adjacent to the spreader in time;

[0050] Obtain the historical working status information of the target through the device;

[0051] Extract the device clock interference feature set based on historical working status information;

[0052] Get the working status information of the target through the device;

[0053] Determine the temporal proximity of targets as they pass through the equipment and spreader through the space;

[0054] Determine the target device clock interference feature based on the neighbor relationship, working status information and device clock interference feature set;

[0055] Obtain the wake-up result of the countermeasures for the clock interference characteristics of the target device;

[0056] If the wake-up result is a wake-up failure, there is a transfer conflict, otherwise there is no transfer conflict.

[0057] The method for hoisting, positioning and transporting a cabin assembly provided by an embodiment of the present invention further includes:

[0058] During the process of transferring the cabin assembly sheet metal parts to the next workstation, an early warning of the cabin assembly sheet metal parts falling off is issued.

[0059] The cabin assembly hoisting and transporting system provided by the embodiment of the present invention includes:

[0060] The spreader trigger signal acquisition subsystem is used to try to obtain the spreader trigger signal sent by the staff pressing the spreader trigger button;

[0061] A target position positioning subsystem for automatically positioning the target position of the spreader if the acquisition attempt is successful;

[0062] The grabbing subsystem is used to control the descent of the spreader based on the target position and obtain the plate sensing signal in real time. If the plate sensing signal is successfully obtained, the spreader is controlled to grab the piece;

[0063] The transfer subsystem is used to transfer the cabin assembly sheet metal parts to the next workstation after the parts are grabbed.

[0064] The beneficial effects of the present invention are:

[0065] When the present invention uses a hoist to transfer the cabin assembly sheet metal parts that have been welded, after the staff initially triggers the hoist to lift, the system automatically locates the target position of the hoist, controls the descent of the hoist based on the target position and grabs the parts, without the need for manual transfer and placement, which is more intelligent and has higher efficiency in panel transfer.

[0066] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures specifically pointed out in the present application documents.

[0067] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0069] Figure 1 A schematic diagram of a method for hoisting, positioning and transporting a cabin assembly according to an embodiment of the present invention;

[0070] Figure 2 It is a schematic diagram of a cabin assembly hoisting and transporting system in an embodiment of the present invention. DETAILED DESCRIPTION

[0071] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0072] The embodiment of the present invention provides a method for hoisting, positioning and transporting a cabin assembly, such as Figure 1 As shown, including:

[0073] Step 1: Try to obtain a spreader trigger signal sent by a worker pressing a spreader trigger button; wherein the spreader trigger button is: a start button for a spreader. After completing the welding of the cabin assembly sheet metal parts, the worker presses the button to trigger the spreader operation. The spreader trigger signal is: an electrical signal sent by a worker pressing the spreader trigger button;

[0074] Step 2: If the acquisition attempt is successful, automatically locate the target position of the spreader; wherein the target position is: the position where the spreader can successfully grab the panel;

[0075] Step 3: Control the descent of the spreader based on the target position, and obtain the panel sensing signal in real time. If the panel sensing signal is successfully obtained, control the spreader to grab the component; the panel sensing signal is: the sensing signal of the preset sensor on the cabin assembly sheet metal, such as: the electrical signal sent by the system when the guide column on the cabin assembly sheet metal is inserted into the guide hole and successfully locked;

[0076] Step 4: After the parts are grabbed, the cabin assembly sheet metal parts are transferred to the next process station. The next process station is the next process position after the cabin assembly sheet metal parts are welded, such as the painting production line position.

[0077] The working principle and beneficial effects of the above technical solution are:

[0078] When the present invention uses a hoist to transfer the cabin assembly sheet metal parts that have been welded, after the staff initially triggers the hoist to lift, the system automatically locates the target position of the hoist, controls the descent of the hoist based on the target position and grabs the parts, without the need for manual transfer and placement, which is more intelligent and has higher efficiency in panel transfer.

[0079] In one embodiment, automatically locating a target position of a spreader includes:

[0080] If the attempt to obtain the spreader trigger signal is successful, the state information of the corresponding spreader is determined according to the spreader working state identification signal, and the state information includes: waiting state and working state;

[0081] If the state information of the spreader is the working state, the track information sensing signal of the spreader is obtained, and the sensing signal point is determined according to the track information sensing signal, and the sensing signal point includes: waiting, arriving and overtravel; wherein the waiting point, arriving point and overtravel point on the track are preset manually;

[0082] Automatically locate the target position of the spreader according to the sensing signal point. When the sensing signal point is in place, the current spreader position is used as the positioning target position;

[0083] Automatically locate the target position of the spreader according to the sensing signal point.

[0084] The working principle and beneficial effects of the above technical solution are:

[0085] After the spreader is triggered, the present invention identifies the spreader's working status identification signal in real time. When it is identified that the spreader is in the working state, the track information sensing signal of the spreader is analyzed to determine the sensing signal point is the track position when it is in place, and the spreader position corresponding to the track position when it is in place is used as the target position.

[0086] In one embodiment, the spreader is controlled to descend based on the target position, and the plate sensing signal is acquired in real time. If the plate sensing signal is acquired successfully, the spreader is controlled to grab the piece, including:

[0087] Based on the target position and the preset deceleration rules, the spreader is decelerated and lowered, and the plate sensing signal during the spreader deceleration and lowering control process is analyzed to obtain the analysis result; wherein, the preset deceleration rules are manually preset, such as: how much the speed is reduced per second. Generally, an initial speed is set when the spreader is lowered, and the deceleration is based on the reduction of the initial speed;

[0088] If the analysis result is that the plate is successfully sensed, it is determined that the plate sensing signal is successfully acquired, and the hoist is controlled to grab the piece.

[0089] The working principle and beneficial effects of the above technical solution are:

[0090] The present application introduces a deceleration rule to slow down the descent of the hoist, thereby improving the safety of the operation process. In addition, the preset sensors on the cabin assembly sheet metal can be sensed by the system, and after sensing, the hoist is controlled to grab the part. After successful clamping, the hoist is used for subsequent transportation, thereby improving the accuracy of grabbing.

[0091] In one embodiment, automatically positioning the target position of the spreader further includes:

[0092] Locate the target position of the spreader through the spreader guide column;

[0093] Wherein, positioning the target position of the spreader by the spreader guide column comprises:

[0094] When the hoist approaches the cabin assembly sheet metal part, the three-dimensional data of the cabin assembly sheet metal part is obtained through the visual camera; wherein the three-dimensional data is: the three-dimensional scanning data of the cabin assembly sheet metal part;

[0095] Based on the three-dimensional data and the preset guide hole distribution setting, the first three-dimensional coordinate of the guide hole is determined; wherein the preset guide hole distribution setting is: the position and distribution information of the guide hole pre-set on the cabin assembly sheet metal relative to the cabin assembly sheet metal; when determining the first three-dimensional coordinate, the cabin assembly sheet metal contour is identified based on the three-dimensional data, and according to the preset distribution of the guide hole relative to the cabin assembly sheet metal, the theoretical three-dimensional point cloud of the guide hole is determined, a three-dimensional rectangular coordinate system is constructed, and the coordinates of the theoretical three-dimensional point cloud of the guide hole are determined as the first three-dimensional coordinates, and the construction rules of the three-dimensional rectangular coordinate system are manually preset;

[0096] The guide column is aligned according to the first three-dimensional coordinates, and the position of the sling after the alignment is completed is used as the target position. When the guide column is aligned according to the first three-dimensional coordinates, the three-dimensional coordinates of the top of the guide column are determined, and the alignment is completed when there are corresponding three-dimensional coordinates of the top of the guide column directly above each first three-dimensional coordinate.

[0097] The working principle and beneficial effects of the above technical solution are:

[0098] The present invention obtains the three-dimensional data of the cabin assembly sheet metal through a visual camera, introduces a preset guide hole distribution setting to determine the setting position of the guide hole relative to the cabin assembly sheet metal, determines the three-dimensional point cloud corresponding to the guide hole in the three-dimensional data, and constructs a three-dimensional rectangular coordinate system in the three-dimensional space where the three-dimensional data is located. The coordinates of the three-dimensional point cloud of the guide hole in the three-dimensional rectangular coordinate system are read and used as the first three-dimensional coordinate. The guide hole and the guide column corresponding to the first three-dimensional coordinate are one-to-one corresponding, so the three-dimensional coordinates of the top of the guide column and the first three-dimensional coordinates are matched one-to-one according to the first three-dimensional coordinates to achieve alignment. After the alignment is completed, the position of the sling is obtained as the target position, which further improves the accuracy of the sling positioning.

[0099] In one embodiment, aligning the guide post according to the first three-dimensional coordinate includes:

[0100] According to the first three-dimensional coordinates, a first circumscribed polygon is constructed in the target three-dimensional space; wherein the target three-dimensional space is: the three-dimensional space where the three-dimensional data is located; and the first circumscribed polygon is: the minimum polygon containing the first three-dimensional coordinates;

[0101] Obtain a first perpendicular line passing through the centroid of the first circumscribed polygon and perpendicular to the first circumscribed polygon;

[0102] Acquire the second three-dimensional coordinates of the light guide column; wherein the second three-dimensional coordinates are: the coordinates of the three-dimensional point position of the top of the light guide column in the target three-dimensional space in the same three-dimensional coordinate system as the first three-dimensional coordinates;

[0103] According to the second three-dimensional coordinates, a second circumscribed polygon is constructed in the target three-dimensional space; wherein the construction principle of the second circumscribed polygon is the same as that of the first circumscribed polygon;

[0104] Obtain a second perpendicular line passing through the centroid of the second circumscribed polygon and perpendicular to the second circumscribed polygon;

[0105] Obtain a target line segment that intersects the first perpendicular line and the second perpendicular line at the same time and is parallel to the first circumscribed polygon or the second circumscribed polygon, and construct an alignment direction vector based on the target line segment; wherein the vector direction of the alignment direction vector is: the intersection point of the target line segment and the second perpendicular line points to the direction of the intersection point of the target line segment and the first perpendicular line, and the vector modulus is the length of the target line segment;

[0106] Based on the alignment direction vector and the plane where the second circumscribed polygon is located, the second circumscribed polygon is controlled to translate in the horizontal direction; wherein, when the second circumscribed polygon is controlled to translate in the horizontal direction based on the alignment direction vector and the plane where the second circumscribed polygon is located, the vector starting point of the alignment direction vector is aligned with the centroid of the second circumscribed polygon, and after alignment, the second circumscribed polygon is moved along the direction of the alignment direction vector by the length of the modulus value of the alignment direction vector;

[0107] After alignment in the horizontal direction, the spreader rotation data is obtained; the spreader rotation data is: in which direction (clockwise or counterclockwise) and how many degrees the spreader needs to rotate;

[0108] The guide column is aligned according to the alignment direction vector and the spreader rotation data. When the guide column is aligned according to the alignment direction vector and the spreader rotation data, the horizontal direction control parameters of the spreader are determined according to the alignment direction vector and the preset horizontal direction control library. The horizontal direction control library includes multiple one-to-one corresponding pre-selected alignment direction vectors and horizontal direction control instructions. The construction rules of the pre-selected alignment direction vector are the same as the alignment direction vector, and are extracted from the historical horizontal control records.

[0109] The working principle and beneficial effects of the above technical solution are:

[0110] The present invention determines the first three-dimensional coordinates of the guide hole in the target three-dimensional space, draws the first circumscribed polygon, and obtains the first perpendicular line passing through the centroid of the first circumscribed polygon and perpendicular to the first circumscribed polygon in the target three-dimensional space. Based on the same construction rule, the second circumscribed polygon and the second perpendicular line are constructed, and the target line segment that intersects with the first perpendicular line and the second perpendicular line at the same time and is parallel to the first circumscribed polygon or the second circumscribed polygon is obtained. The direction from the intersection of the target line segment and the second perpendicular line to the intersection of the target line segment and the first perpendicular line is used as the vector direction, and the length of the target line segment is used as the vector modulus value to construct the alignment direction vector; based on the alignment direction vector and the plane where the second circumscribed polygon is located, the second circumscribed polygon is controlled to translate in the horizontal direction; after the centroid is aligned in the horizontal direction, the first three-dimensional coordinate and the second three-dimensional coordinate need to correspond one to one, therefore, the sling rotation data is obtained, and the guide column is aligned according to the alignment direction vector and the sling rotation data, thereby improving the alignment accuracy.

[0111] In one embodiment, obtaining spreader rotation data includes:

[0112] Obtaining corner point specificity between corner points of the first circumscribed polygon, and taking the corner point with the greatest corner point specificity as the first target corner point; wherein the corner point specificity is: the cumulative sum of the difference values ​​between the corner point and other corner points;

[0113] Based on the corner point feature extraction template, extract the first corner point feature of the first target corner point; wherein the corner point feature extraction template is: a pre-set template for extracting corner point features against the corner point, and the corner point features are: the angle of the inner angle corresponding to the corner point, the side length of the polygon side connected to the corner point, etc.;

[0114] Extracting a second corner point feature set of each corner point of the second circumscribed polygon based on the corner point feature extraction template;

[0115] Determine a second corner point feature in the second corner point feature set that matches the first corner point feature and use it as the third corner point feature;

[0116] The corner point of the second circumscribed polygon corresponding to the triangulated point feature is used as the second target corner point;

[0117] Obtaining a first connecting line between a first target corner point and a centroid of a first circumscribed polygon;

[0118] Obtain a second connecting line between the second target corner point and the centroid of the second circumscribed polygon;

[0119] Calculate two intersection angles of the first connecting line and the second connecting line, and use the smaller intersection angle of the two intersection angles as the target intersection angle; wherein, since the smaller intersection angle can reduce the rotation drive resources, the smaller intersection angle is selected as the target intersection angle;

[0120] Determine the relative position of the first connecting line relative to the second connecting line and the angle of the target intersection angle when calculating the target intersection angle; wherein the relative position is: a clockwise pointing position and a counterclockwise pointing position;

[0121] The sling rotation data is determined according to the relative position, angle and a preset sling rotation control data comparison library, wherein the preset sling rotation control data comparison library stores a plurality of preset sling rotation control data corresponding to different relative positions and angles.

[0122] The working principle and beneficial effects of the above technical solution are:

[0123] The present invention calculates the corner point specificity between each corner point of the first circumscribed polygon, determines the corner point with the largest corner point specificity as the first target corner point, and the corner point specificity characterizes the degree of difference between the corner point and other corner points. The greater the degree of difference, the more likely the corresponding corner point is to have significant features that are different from other corner points, and the efficiency of subsequent corner point feature matching is also higher. A corner point feature extraction template is introduced to extract the first corner point feature of the first target corner point and the second corner point feature set of each corner point of the second circumscribed polygon, perform corner point feature matching on the first corner point feature and the second corner point feature, determine the second target corner point among the corner points of the second circumscribed polygon corresponding to the first target corner point, introduce the first connecting line and the second connecting line to calculate the two intersection angles of the connecting lines, and determine the relative position and angle size of the connecting line corresponding to the smaller target intersection angle of the two intersection angles; introduce a sling rotation control data comparison library, determine the sling rotation data according to the relative position and angle size, and the sling rotation data has higher accuracy.

[0124] In one embodiment, the spreader is controlled to descend based on the target position, and the plate sensing signal is acquired in real time. If the plate sensing signal is acquired successfully, the spreader is controlled to grab the piece, including:

[0125] Obtaining a locking sensing signal of the guide post and the guide hole; wherein the locking sensing signal is: a sensing signal for detecting whether the guide post is successfully locked into the guide hole;

[0126] Analyze the locking sensing signal to determine whether the guide column and guide hole are locked. If locked, the plate sensing signal is successfully obtained and the hoist is controlled to grab the piece.

[0127] The working principle and beneficial effects of the above technical solution are:

[0128] The present invention obtains locking sensing signals of the guide column and the guide hole, and analyzes the locking sensing signals. When the guide column is inserted into the guide hole and the two are locked in place, the sensor detects this state and sends a signal to trigger the hanger grabbing signal to control the hanger grabbing, thereby improving the reliability of grabbing.

[0129] An embodiment of the present invention provides a method for hoisting, positioning and transporting a cabin assembly, characterized in that it also includes:

[0130] During the transfer of the cabin assembly sheet metal parts to the next-order workstation, transfer conflict determination is performed.

[0131] The working principle and beneficial effects of the above technical solution are:

[0132] There are many processes in the design of automobile automatic assembly, which involve a large number of equipment with relatively high degrees of freedom (such as robotic arms, hanging rails, etc.). These equipment operate in strict sequence. When the above equipment fails, there may be a disorder in the sequence. At this time, there will be a conflict in the operation of the equipment. Therefore, in the process of transferring the cabin assembly sheet metal parts to the next sequence workstation, the transfer conflict judgment is carried out, and the process control of the automated assembly process is more reasonable.

[0133] In one embodiment, during the process of transferring the cabin assembly sheet metal parts to the next-order workstation, transfer conflict determination is performed, including:

[0134] Determine the passing space of the lifting device; wherein the passing space is: the area through which the lifting device passes when transferring the cabin assembly sheet metal parts to the next sequence station;

[0135] Acquire historical passing information of the space; wherein the historical passing information includes: each device that has historically passed through the space;

[0136] According to the historical passing information, the target passing equipment that passes through the passing space adjacent to the spreader in time is determined; wherein the target passing equipment that passes through the passing space one after the spreader in time is referred to as: the equipment that passes through the passing space one after the spreader;

[0137] Obtain historical working status information of the target passing through the device; wherein the historical working status information is: the historical working status record of the target passing through the device, including operation mode, efficiency and fault record, etc.;

[0138] Extracting a device clock interference feature set according to historical working status information; wherein, when extracting the device clock interference feature set, judging whether the corresponding historical working status causes a device clock offset or a device clock identification error according to the historical working status information, and if so, characterizing the corresponding historical working status to obtain the device clock interference feature set;

[0139] Obtaining working status information of the target through the device; wherein the working status information is: real-time working status data of the target through the device, including: operation mode, efficiency and fault records;

[0140] Determine the temporal adjacency relationship between the target passing through the device and the spreader passing through the passing space; wherein the adjacency relationship includes: before the spreader passes through the passing space or after the spreader passes through the passing space;

[0141] Determine the target device clock interference feature according to the neighbor relationship, working status information and the device clock interference feature set; wherein, when determining the target device clock interference feature according to the neighbor relationship, working status information and the device clock interference feature set, determine the pre-selected device clock interference feature set of the target device according to the neighbor relationship of the target device and the interference direction of the device clock interference feature in the device clock interference feature set (for example: when the neighbor relationship is before the hoist passes through the passing space, the interference direction of the pre-selected device clock interference feature in the pre-selected device clock interference feature set is: delaying the target device clock, and the pre-selected device clock interference feature set includes all historically acquired working status features that can cause the device clock of the target device with a neighbor relationship before the hoist passes through the passing space to be delayed), determine the target device clock interference feature according to the working status information of the target device and the pre-selected device clock interference feature set (for example: high temperature overload shutdown for 5 seconds);

[0142] Obtaining a wake-up result of a countermeasure for a target device clock interference feature; wherein the countermeasure is: a corresponding solution to the target device clock interference feature, such as: resynchronizing the system clock; the wake-up result is: a result of starting the countermeasure;

[0143] If the wake-up result is a wake-up failure, there is a transfer conflict, otherwise there is no transfer conflict.

[0144] The working principle and beneficial effects of the above technical solution are:

[0145] The present invention obtains the historical passing information of the sling through the space, analyzes the historical passing information, and determines the target passing device that passes through the space adjacent to the sling in time. Analyze the historical working status information of the target passing device and extract the device clock interference feature set; determine the temporal adjacent relationship between the target passing device and the sling when passing through the space, determine the pre-selected device clock interference feature set of the target device according to the adjacent relationship and the interference direction of the device clock interference feature in the device clock interference feature set, and determine the target device clock interference feature according to the working status information of the target device and the pre-selected device clock interference feature set. In addition, obtain the countermeasures for the target device clock interference feature, determine the wake-up result of the countermeasures, and if the wake-up fails, it is determined that there is a transfer conflict, and manually intervene in the transfer process to re-adjust the task timing, which is more reasonable.

[0146] An embodiment of the present invention provides a method for hoisting, positioning and transporting a cabin assembly, characterized in that it also includes:

[0147] During the process of transferring the cabin assembly sheet metal parts to the next workstation, an early warning of the cabin assembly sheet metal parts falling off is issued.

[0148] The working principle and beneficial effects of the above technical solution are:

[0149] The present invention improves the efficiency of detecting the drop of the cabin assembly sheet metal parts during the transportation process and improves the detection efficiency of transportation abnormalities.

[0150] In one embodiment, during the process of transferring the cabin assembly sheet metal parts to the next-order workstation, an early warning of the cabin assembly sheet metal parts falling off is performed, including:

[0151] Obtaining on-site video data during the process of transferring the cabin assembly sheet metal parts to the next-order workstation, and issuing a warning of the cabin assembly sheet metal parts falling off based on the on-site video data; wherein the on-site video data is: the video captured by a camera device preset at the transfer site during the transfer of the cabin assembly sheet metal parts; when issuing a warning of the cabin assembly sheet metal parts falling off based on the on-site video data, image analysis is performed on the video data to determine whether the cabin assembly sheet metal parts are detached from the hoist, and if so, it is determined to have fallen off, and a warning is issued;

[0152] and / or,

[0153] According to the continuously acquired locking induction signal during the transfer of the cabin assembly sheet metal parts to the next workstation, the cabin assembly sheet metal parts falling warning is issued. If the analysis result of the locking induction signal during the transfer of the cabin assembly sheet metal parts to the next workstation shows that they are not locked, a falling warning is issued.

[0154] The working principle and beneficial effects of the above technical solution are:

[0155] The present invention introduces two methods, namely, video monitoring and continuous sensing analysis of locked sensing signals, to provide a more comprehensive warning of the falling of the sheet metal parts of the cabin assembly.

[0156] The embodiment of the present invention provides a cabin assembly hoisting and transporting system, such as Figure 2 As shown, including:

[0157] The spreader trigger signal acquisition subsystem 1 is used to try to acquire the spreader trigger signal sent by the staff pressing the spreader trigger button;

[0158] A target position positioning subsystem 2, for automatically positioning the target position of the spreader if the acquisition attempt is successful;

[0159] The grabbing subsystem 3 is used to control the descent of the spreader based on the target position and obtain the plate sensing signal in real time. If the plate sensing signal is successfully obtained, the spreader is controlled to grab the piece;

[0160] The transfer subsystem 4 is used to transfer the cabin assembly sheet metal parts to the next workstation after the parts are grabbed.

[0161] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for hoisting, positioning and transporting a cabin assembly, characterized in that: include: Try to obtain the spreader trigger signal sent by the worker pressing the spreader trigger button; If the acquisition attempt is successful, when the hoist approaches the cabin assembly sheet metal part, the three-dimensional data of the cabin assembly sheet metal part is acquired through the visual camera; Determine the first three-dimensional coordinates of the guide hole based on the three-dimensional data and the preset guide hole distribution setting; Constructing a first circumscribed polygon in the target three-dimensional space according to the first three-dimensional coordinates; Obtain a first perpendicular line passing through the centroid of the first circumscribed polygon and perpendicular to the first circumscribed polygon; Obtain the second three-dimensional coordinates of the guide column; constructing a second circumscribed polygon in the target three-dimensional space according to the second three-dimensional coordinates; Obtain a second perpendicular line passing through the centroid of the second circumscribed polygon and perpendicular to the second circumscribed polygon; Acquire a target line segment that intersects the first perpendicular line and the second perpendicular line at the same time and is parallel to the first circumscribed polygon or the second circumscribed polygon, and construct an alignment direction vector based on the target line segment; Based on the alignment direction vector and the plane where the second circumscribed polygon is located, controlling the second circumscribed polygon to translate in the horizontal direction; After alignment in the horizontal direction, obtain the corner point specificity between each corner point of the first circumscribed polygon, and take the corner point with the largest corner point specificity as the first target corner point; Extracting a first corner point feature of a first target corner point based on a corner point feature extraction template; Extracting a second corner point feature set of each corner point of the second circumscribed polygon based on the corner point feature extraction template; Determine a second corner point feature in the second corner point feature set that matches the first corner point feature and use it as the third corner point feature; The corner point of the second circumscribed polygon corresponding to the third corner point feature is used as the second target corner point; Obtaining a first connecting line between a first target corner point and a centroid of a first circumscribed polygon; Obtain a second connecting line between the second target corner point and the centroid of the second circumscribed polygon; Calculate two intersection angles of the first connecting line and the second connecting line, and use the smaller intersection angle of the two intersection angles as the target intersection angle; Determine the relative position of the first connecting line with respect to the second connecting line and the angle of the target intersection angle when calculating the target intersection angle; Determine the spreader rotation data according to the relative position, angle size and the preset spreader rotation control data reference library; According to the alignment direction vector and the spreader rotation data, the guide column is aligned, and the spreader position after alignment is taken as the target position; The spreader is controlled to descend based on the target position, and the plate sensing signal is obtained in real time. If the plate sensing signal is successfully obtained, the spreader is controlled to grab the plate; After the parts are grabbed, the cabin assembly sheet metal parts are transferred to the next workstation.

2. The method for hoisting, positioning and transporting the cabin assembly according to claim 1, characterized in that: Automatically locate the target position of the spreader, including: If the attempt to obtain the spreader trigger signal is successful, the state information of the corresponding spreader is determined according to the spreader working state identification signal, and the state information includes: waiting state and working state; If the state information of the spreader is the working state, the track information sensing signal of the spreader is obtained, and the sensing signal point is determined according to the track information sensing signal, and the sensing signal point includes: waiting, in-place and overtravel; Automatically locate the target position of the spreader according to the sensing signal point.

3. The method for hoisting, positioning and transporting a cabin assembly according to claim 1, characterized in that: The spreader is controlled to descend based on the target position, and the plate sensing signal is obtained in real time. If the plate sensing signal is successfully obtained, the spreader is controlled to grab the plate, including: Based on the target position and the preset deceleration rules, the spreader is decelerated and lowered, and the plate sensing signal during the spreader deceleration and lowering control process is analyzed to obtain the analysis results; If the analysis result is that the plate is successfully sensed, it is determined that the plate sensing signal is successfully acquired, and the hoist is controlled to grab the piece.

4. The method for hoisting, positioning and transporting a cabin assembly according to claim 1, characterized in that: Also includes: During the transfer of the cabin assembly sheet metal parts to the next-order workstation, transfer conflict determination is performed.

5. The method for hoisting, positioning and transporting the cabin assembly according to claim 4, characterized in that: During the transfer of the cabin assembly sheet metal parts to the next-order workstation, transfer conflict determination is performed, including: Determine the passage space for the spreader; Get historical passage information through the space; According to the historical passing information, determine the target passing device that passes through the passing space adjacent to the spreader in time; Obtain the historical working status information of the target through the device; Extract the device clock interference feature set based on historical working status information; Get the working status information of the target through the device; Determine the temporal proximity of targets as they pass through the equipment and spreader through the space; Determine the target device clock interference feature based on the neighbor relationship, working status information and device clock interference feature set; Obtain the wake-up result of the countermeasures for the clock interference characteristics of the target device; If the wake-up result is a wake-up failure, there is a transfer conflict, otherwise there is no transfer conflict.

6. The method for hoisting, positioning and transporting a cabin assembly according to claim 1, characterized in that: Also includes: During the process of transferring the cabin assembly sheet metal parts to the next workstation, an early warning of the cabin assembly sheet metal parts falling off is issued.

7. The cabin assembly lifting and transportation system is characterized by: include: The spreader trigger signal acquisition subsystem is used to try to obtain the spreader trigger signal sent by the staff pressing the spreader trigger button; A target position positioning subsystem is used to obtain three-dimensional data of the cabin assembly sheet metal part through a visual camera when the lifting device approaches the cabin assembly sheet metal part if the acquisition attempt is successful; Determine the first three-dimensional coordinates of the guide hole based on the three-dimensional data and the preset guide hole distribution setting; Constructing a first circumscribed polygon in the target three-dimensional space according to the first three-dimensional coordinates; Obtain a first perpendicular line passing through the centroid of the first circumscribed polygon and perpendicular to the first circumscribed polygon; Obtain the second three-dimensional coordinates of the guide column; constructing a second circumscribed polygon in the target three-dimensional space according to the second three-dimensional coordinates; Obtain a second perpendicular line passing through the centroid of the second circumscribed polygon and perpendicular to the second circumscribed polygon; Acquire a target line segment that intersects the first perpendicular line and the second perpendicular line at the same time and is parallel to the first circumscribed polygon or the second circumscribed polygon, and construct an alignment direction vector based on the target line segment; Based on the alignment direction vector and the plane where the second circumscribed polygon is located, controlling the second circumscribed polygon to translate in the horizontal direction; After alignment in the horizontal direction, obtain the corner point specificity between each corner point of the first circumscribed polygon, and take the corner point with the largest corner point specificity as the first target corner point; Extracting a first corner point feature of a first target corner point based on a corner point feature extraction template; Extracting a second corner point feature set of each corner point of the second circumscribed polygon based on the corner point feature extraction template; Determine a second corner point feature in the second corner point feature set that matches the first corner point feature and use it as the third corner point feature; The corner point of the second circumscribed polygon corresponding to the third corner point feature is used as the second target corner point; Obtaining a first connecting line between a first target corner point and a centroid of a first circumscribed polygon; Obtain a second connecting line between the second target corner point and the centroid of the second circumscribed polygon; Calculate two intersection angles of the first connecting line and the second connecting line, and use the smaller intersection angle of the two intersection angles as the target intersection angle; Determine the relative position of the first connecting line with respect to the second connecting line and the angle of the target intersection angle when calculating the target intersection angle; Determine the spreader rotation data according to the relative position, angle size and the preset spreader rotation control data reference library; According to the alignment direction vector and the spreader rotation data, the guide column is aligned, and the spreader position after alignment is taken as the target position; The grabbing subsystem is used to control the descent of the spreader based on the target position and obtain the plate sensing signal in real time. If the plate sensing signal is successfully obtained, the spreader is controlled to grab the piece; The transfer subsystem is used to transfer the cabin assembly sheet metal parts to the next workstation after the parts are grabbed.

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