Automobile part feeding control method, product, equipment and medium

Abstract

The invention relates to the technical field of feeding control, in particular to an automobile part feeding control method, a product, equipment and a medium. The method comprises the following steps: determining a processing completion moment of a material in each sub-region in a first processing region; obtaining a processing demand of the target sub-region, and determining a feeding instruction of the target sub-region according to the processing completion moment and the processing demand corresponding to the target sub-region; generating a feeding instruction list according to the feeding instruction corresponding to each sub-region; a feeding device arranged at the first end of the feeding area is controlled to stack materials on the conveying trolley according to the feeding instruction list; and the conveying trolley executing the feeding instruction of the target sub-area is determined as a target conveying trolley, the position of the target conveying trolley is monitored, and when the position of the target conveying trolley is moved to the second end of the feeding area, the mechanical gripper is controlled to grab materials from the target conveying trolley and discharge the materials to the target sub-area. The feeding efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of material feeding control, and in particular to a material feeding control method, product, equipment and medium for automobile parts. Background Art

[0002] In the production process of automotive parts, material feeding control is a crucial link, but the existing technology has many shortcomings in this field. Traditional feeding methods often rely on manual operation. Workers need to manually move materials to designated processing areas based on experience and production plans. This method is not only inefficient and labor-intensive, but also prone to errors and delays due to human factors, increasing production costs and quality risks. In related technologies, production lines use simple automated equipment, such as conveyor belts or vibrating plates for feeding, which lacks real-time scheduling and optimization capabilities. When a sub-area on the production line has a shortage or surplus of materials, the feeding plan cannot be adjusted in time, resulting in a decrease in the overall efficiency of the production line and low resource utilization. Summary of the invention

[0003] In order to solve the problem of low feeding efficiency in the prior art, the present application provides a method, product, equipment and medium for controlling feeding of automotive parts.

[0004] In the first aspect, the present application provides a method for controlling the feeding of automobile parts, which adopts the following technical solution: A method for controlling feeding of automobile parts, comprising: Determine the processing completion time of the material in each sub-area of ​​the first processing area; Obtaining a processing requirement of a target sub-region, and determining a loading instruction for the target sub-region according to a processing completion time corresponding to the target sub-region and the processing requirement, wherein the target sub-region is any sub-region in the first processing region; Generate a loading instruction list according to the loading instructions corresponding to each sub-area; Controlling a loading device disposed at the first end of the loading area to stack materials onto a transport trolley according to the loading instruction list, wherein the loading area is provided with a sliding track of a transport trolley, and the transport trolley is loaded with materials and moves from the first end of the loading area to the second end; The transport cart after executing the loading instruction of the target sub-area is determined as the target transport cart, and the position of the target transport cart is monitored. When the position of the target transport cart moves to the second end of the loading area, the mechanical gripper is controlled to grab the material from the target transport cart and unload it to the target sub-area.

[0005] By adopting the above technical solution and accurately recording the processing completion time of each sub-area, the time arrangement of the entire production process can be optimized, waiting time can be reduced, and production efficiency can be improved. According to the real-time processing needs and processing completion time, the loading instructions are dynamically generated to ensure that the materials can reach the target sub-area accurately when needed, avoiding material accumulation or production interruption caused by premature or late loading, reducing the waste of materials and time, integrating the loading instructions of all sub-areas into a list, facilitating unified management and execution, improving the integrity and coordination of the system, controlling the loading device arranged at the first end of the loading area to stack materials on the transport trolley according to the loading instruction list, realizing the automatic stacking of materials, performing real-time position monitoring of the target transport trolley, ensuring the accurate control of the material movement process, and executing the unloading operation immediately after the transport trolley arrives at the designated position, ensuring that the materials can reach the target sub-area accurately, and the various links such as loading, transportation, and unloading are closely connected, realizing efficient collaborative operation, and improving the overall efficiency of the production line.

[0006] In a preferred example, the present application may be further configured as follows: determining the loading instruction of the target sub-area according to the processing completion time corresponding to the target sub-area and the processing requirement, including: Obtaining a single movement distance and grasping performance of the mechanical gripper to the target sub-area; determining the quantity of materials in the target sub-area from the processing requirements; According to the single moving distance, the grasping performance and the material quantity, estimating the unloading time of the mechanical gripper from the target transport trolley to the target sub-area; Obtaining the transport distance from the first end to the second end of the loading area, the loading performance of the loading device, and the transport speed of the target transport vehicle; According to the transport distance, the loading performance and the transport speed, estimating the loading time from when the loading device starts to stack materials on the target transport trolley to when the target transport trolley moves to the second end of the loading area; Calculate the sum of the unloading time and the loading time as the total loading time, and determine the loading start time of the target sub-area based on the total loading time; A feeding instruction for the target sub-area is generated according to the feeding start time, feeding duration and the processing requirements.

[0007] By adopting the above technical solution, the unloading time of the mechanical gripper and the loading time of the loading device can be accurately calculated, and the optimal loading start time can be determined, thereby reducing the waiting time of the material on the transport cart and the idle time that may be generated in the target sub-area due to waiting for the material. The unloading time can be estimated according to the single moving distance and grasping performance, and the moving path and number of grasping times of the mechanical gripper can be reasonably arranged to avoid unnecessary movement and waiting, thereby improving the utilization rate of the mechanical gripper. Considering the transportation distance, loading performance and transportation speed, the system can ensure that the transport cart can move to the unloading position in time after the loading device completes the loading, thereby realizing the coordinated work of the transport cart and the loading device, and reducing the possibility of human intervention and errors through automatic calculation and generation of loading instructions, thereby improving the stability and reliability of the production line.

[0008] In a preferred example, the present application may be further configured as follows: generating a feeding instruction list according to the feeding instructions corresponding to each sub-area includes: The time period corresponding to the loading duration after the loading start time in the loading instruction of the target sub-area is used as the loading time period; Arrange the loading time periods of each sub-area from early to late according to the corresponding loading start time to obtain a loading time period list; Check whether there is any overlap in the time period list for loading materials; If there is overlap of time periods in the feeding time period list, the feeding start time in the feeding instruction corresponding to the overlap of time periods is adjusted to obtain an adjusted feeding instruction; Arrange each loading instruction from early to late according to the loading start time to obtain a loading instruction list.

[0009] By adopting the above technical solution, the loading time period of each sub-area is accurately planned, and the overlap of time periods is handled intelligently, which effectively avoids conflicts between loading operations and ensures the orderly execution of loading instructions. By adjusting the starting time of loading, an efficient and conflict-free loading instruction list can be generated, thereby improving the overall operating efficiency and stability of the production line.

[0010] In a preferred example, the present application can be further configured as follows: the controlling mechanical gripper to grab materials from the target transport trolley and unload the materials to the target sub-area includes: Obtain the material type and material quantity corresponding to the target sub-area; Determine the mechanical gripper corresponding to the material type; Controlling the mechanical gripper to repeat the grabbing operation of the number of materials, wherein one grabbing operation is used to grab a piece of material from the target transport trolley and unload the material to the target sub-area; Among them, the grabbing operation includes: obtaining the current material image of the target transport trolley, and determining the current grabbing height according to the current material image; controlling the mechanical gripper to move to the current grabbing height above the target transport trolley and then moving downward to grab the material.

[0011] By adopting the above technical solution, the material type and quantity corresponding to the target sub-area can be obtained, and the corresponding mechanical gripper can be accurately matched to ensure that each material can be processed with the most suitable gripping tool. By controlling the mechanical gripper to repeatedly perform gripping operations that match the material quantity, batch unloading of materials is achieved, reducing the time and cost of manual operation, and constantly adjusting the unloading height, reducing the invalid movement path of the mechanical gripper, so that the production line can complete production tasks faster.

[0012] In a preferred example, the present application may be further configured as follows: determining the current grasping height according to the current material image includes: Determine the top position of the material according to the current material image; A preset safety distance above the top position of the material is used as the current grabbing height.

[0013] By adopting the above technical solution, the top position of the material is identified, and a preset safety distance is set above this position as the grasping height, which can effectively avoid direct collision between the mechanical gripper and the top of the material during the grasping process. The material image is used to determine the top position of the material, providing a reliable basis for the precise positioning of the mechanical gripper.

[0014] In a preferred example, the present application may be further configured as follows: determining the processing completion time of the material in each sub-area in the first processing area includes: Obtain the type of material processed in the target sub-area in the first processing area and the closest material unloading completion time before the current time; Determine the processing time corresponding to the material type processed in the target sub-area; The processing completion time of the material in the target sub-area is determined according to the processing time and the material unloading completion time.

[0015] By adopting the above technical solution, the processing completion time of each material in a specific sub-area can be accurately calculated, so that production plans can be formulated more accurately, subsequent production processes can be arranged reasonably, and production delays caused by waiting for material processing to be completed can be reduced.

[0016] In a preferred example, the present application can be further configured as follows: the method further includes: When receiving a signal that material processing of the target sub-area is completed, determining a secondary processing sub-area corresponding to the target sub-area in the second processing area; The mechanical gripper of the processing area is controlled to move the material in the target sub-area to the secondary processing sub-area.

[0017] By adopting the above technical solutions, based on the automated material transfer process, manual intervention and waiting time are reduced, so that materials can be quickly transferred from one processing area to the next, thereby improving overall production efficiency.

[0018] In a second aspect, the present application provides a computer program product, which adopts the following technical solution: A computer program product comprises a computer program. When the computer program is executed by a processor, the method for controlling the feeding of automobile parts as described in any one of the first aspects is implemented.

[0019] In a third aspect, the present application provides an electronic device, which adopts the following technical solution: one or more processors; Memory; At least one application, wherein the at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute the automobile parts feeding control method as described in any one of the first aspects.

[0020] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution: A computer-readable storage medium stores a computer program, which, when executed in a computer, causes the computer to execute the automobile parts feeding control method as described in any one of the first aspects.

[0021] In summary, this application includes the following beneficial technical effects: By accurately recording the processing completion time of each sub-area, the present application can optimize the time arrangement of the entire production process, reduce waiting time, and improve production efficiency. According to the real-time processing needs and processing completion time, the application can dynamically generate loading instructions to ensure that the materials can accurately reach the target sub-area when needed, avoid material accumulation or production interruption caused by premature or late loading, reduce the waste of materials and time, integrate the loading instructions of all sub-areas into a list, facilitate unified management and execution, improve the integrity and coordination of the system, control the loading device set at the first end of the loading area to stack materials on the transport cart according to the loading instruction list, realize the automatic stacking of materials, perform real-time position monitoring of the target transport cart, ensure the precise control of the material movement process, and immediately perform the unloading operation after the transport cart arrives at the designated position, ensuring that the materials can accurately reach the target sub-area. The various links such as loading, transportation, and unloading are closely connected to achieve efficient collaborative operation and improve the overall efficiency of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a flow chart of a method for controlling the feeding of automobile parts provided in an embodiment of the present application; Figure 2 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following is combined with Figure 1 -Attached Figure 2 This application is described in further detail.

[0024] This specific embodiment is merely an explanation of the present application and is not a limitation of the present application. After reading this specification, those skilled in the art may make modifications to the present embodiment without any creative contribution as needed, but such modifications are protected by the patent law as long as they are within the scope of the claims of the present application.

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally means that the associated objects before and after are in an "or" relationship.

[0027] It should be noted that in the optional embodiments of the present application, the object information and other related data involved, when the embodiments in the present application are applied to specific products or technologies, need to obtain the permission or consent of the object, and the collection, use and processing of the relevant data need to comply with the relevant laws, regulations and standards of the relevant countries and regions. In other words, if the embodiments of the present application involve data related to the object, it needs to be obtained with the authorization and consent of the object, the authorization and consent of the relevant departments, and in compliance with the relevant laws, regulations and standards of the country and region. If personal information is involved in the embodiments, the acquisition of all personal information needs to obtain the consent of the individual. If sensitive information is involved, the separate consent of the information subject needs to be obtained. The embodiments also need to be implemented with the authorization and consent of the object.

[0028] An automobile parts feeding control method provided by an embodiment of the present application is applied to an automated feeding scenario, wherein the scenario includes a feeding area, a mechanical gripper, and a processing area. The feeding area includes a track provided with a transport trolley, and the trolley is fed by a feeding device (which may be a mechanical gripper) provided at the first end of the feeding area, and then the transport trolley loads the material and starts to travel from the first end of the feeding area to the second end of the feeding area. When the transport trolley travels to the second end of the feeding area, a mechanical gripper provided near the second end of the feeding area clamps the material from the transport trolley to the processing area, and after the material is completed in the processing area, it is transported out by a conveyor belt. Generally, the material access door of the factory area is restricted by height, and the materials stacked on the transport trolley in the feeding area are also restricted by the height of the material access door of the factory area. Multiple materials are stacked in the transport trolley. Whenever the mechanical gripper completes the absorption of the first material and transfers it to the conveyor belt, it must return to the preset highest safety position to avoid the gradually lowering top of the material pile below, and then explore downward again and absorb the second material. As the amount of material in the loading area continues to decrease, the robotic gripper has to perform more unnecessary vertical movements, the so-called "invalid paths", in each cycle. These additional movements significantly increase the operation cycle time, thereby greatly reducing the overall processing efficiency and the smoothness of the production line.

[0029] The present application embodiment provides a method for controlling the feeding of automobile parts, such as Figure 1 As shown, the method provided in the embodiment of the present application is performed by an electronic device, which can be a server or a terminal device, wherein the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc., but is not limited thereto. The terminal device and the server can be directly or indirectly connected via wired or wireless communication, which is not limited in the embodiment of the present application. The method includes steps S101 to S105, wherein: S101, determining the processing completion time of the material in each sub-area in the first processing area.

[0030] During the material processing, the first processing area contains multiple sub-areas, each of which is responsible for processing a type of material. For any sub-area, the type of material processed by the sub-area and the number of materials unloaded at one time are fixed, and the type of material and the number of materials unloaded at one time corresponding to the sub-area can be used as the processing demand of the sub-area. For example, assuming that any sub-area is used to process steel plates, the number of materials unloaded at one time is manually set to 10 based on the actual processing demand and the processing conditions of the sub-area, that is, after the mechanical gripper grabs 10 steel plates, the sub-area starts to process these 10 steel plates. The electronic device takes the moment when the mechanical gripper grabs the last material in the processing demand and unloads it to the processing area as the unloading completion moment.

[0031] The database of the electronic device stores the processing requirements (material type, material quantity) and processing time of each sub-area (processing time is the time required to process the material corresponding to the material type and material quantity, which can be manually set based on historical processing data). Any sub-area in the first processing area is taken as the target sub-area, the material unloading completion time of the material currently being processed in the target sub-area is obtained, and the processing time corresponding to the target sub-area is searched from the database, and the time after the unloading completion time and the processing time is taken as the processing completion time.

[0032] S102, obtaining the processing requirements of the target sub-region, and determining the loading instructions of the target sub-region according to the processing completion time and processing requirements corresponding to the target sub-region, where the target sub-region is any sub-region in the first processing region.

[0033] Specifically, the processing requirements of the target sub-area include the quantity of materials, and the mechanical gripper needs to unload materials corresponding to the quantity of materials into the target sub-area at the moment of processing completion. The unloading time taken by the mechanical gripper to transport the quantity of materials to the target sub-area is determined based on the performance of the mechanical gripper. Based on the transportation performance of the transport trolley and the loading performance of the loading device, it is possible to estimate the loading time taken by the loading device to load the quantity of materials onto the transport trolley, and then the transport trolley to transport the materials to the second end. The sum of the loading time and the unloading time is calculated to obtain the total time taken by the loading device to start placing materials onto the transport trolley until the transport trolley is transported to the second end, and then the mechanical gripper grabs the materials to the target sub-area, and the obtained total time is used as the total loading time, and the moment corresponding to the total loading time before the processing is completed is used as the loading start time, that is, the moment when the loading device starts to load the quantity of materials onto the transport trolley.

[0034] Furthermore, the loading start time and material quantity are used as the loading instructions for the target sub-area. The loading instructions are used to instruct the loading device to place materials corresponding to the material quantity and material type on the transport cart at the start time of loading. If the transport cart is limited in height and one cart cannot meet the requirements of the material quantity to be dropped, it can be set to use two or more transport carts for simultaneous transportation.

[0035] S103, generating a feeding instruction list according to the feeding instructions corresponding to each sub-area.

[0036] Specifically, the feeding instructions corresponding to each sub-area may be arranged from earliest to latest according to the feeding start time to obtain a feeding instruction list, so as to guide the feeding device to perform feeding according to the feeding instruction list.

[0037] S104, controlling the loading device disposed at the first end of the loading area to stack materials onto the transport trolley according to the loading instruction list, wherein the loading area is provided with a sliding track of the transport trolley, and the transport trolley loads materials and moves from the first end of the loading area to the second end.

[0038] S105. Determine the transport cart after executing the loading instruction of the target sub-area as the target transport cart, monitor the position of the target transport cart, and when the position of the target transport cart moves to the second end of the loading area, control the mechanical gripper to grab the material from the target transport cart and unload it to the target sub-area.

[0039] Specifically, the position of the target transport trolley can be monitored in real time by a sensor or positioning system arranged on the target transport trolley, and when the target transport trolley approaches the second end of the loading area, the receiving position of the mechanical gripper and the target sub-area can be prepared in advance. After unloading is completed, the mechanical gripper sends a completion signal to the electronic device, and the time when the completion signal is sent is used as the unloading completion time.

[0040] The embodiment of the present application can optimize the time arrangement of the entire production process, reduce waiting time, and improve production efficiency by accurately recording the processing completion time of each sub-area. According to the real-time processing needs and processing completion time, the loading instructions are dynamically generated to ensure that the materials can reach the target sub-area accurately when needed, avoid material accumulation or production interruption caused by premature or late loading, reduce the waste of materials and time, integrate the loading instructions of all sub-areas into a list, which is convenient for unified management and execution, and improves the integrity and coordination of the system. The loading device arranged at the first end of the loading area is controlled to stack materials on the transport cart according to the loading instruction list, thereby realizing automatic stacking of materials, and real-time position monitoring of the target transport cart is performed to ensure accurate control of the material movement process. After the transport cart arrives at the designated position, the unloading operation is immediately performed to ensure that the materials can reach the target sub-area accurately. The various links such as loading, transportation, and unloading are closely connected to realize efficient collaborative operation and improve the overall efficiency of the production line.

[0041] A possible implementation of the embodiment of the present application is to determine the loading instruction of the target sub-area according to the processing completion time and processing requirements corresponding to the target sub-area, including: Obtain the single movement distance and grasping performance of the mechanical gripper to the target sub-area; Determine the material quantity of the target sub-area from the processing requirements; Estimate the unloading time of the mechanical gripper from the target transport trolley to the target sub-area based on the single moving distance, grasping performance and material quantity; Obtaining the transport distance from the first end to the second end of the loading area, the loading performance of the loading device, and the transport speed of the target transport vehicle; According to the transport distance, loading performance and transport speed, estimate the loading time from when the loading device starts to stack materials on the target transport trolley to when the target transport trolley moves to the second end of the loading area; The sum of the unloading time and the loading time is calculated as the total loading time, and the loading start time of the target sub-area is determined based on the total loading time; Generate the loading instructions for the target sub-area based on the loading start time, loading duration and processing requirements.

[0042] In this embodiment, the grasping performance indicates the speed of the mechanical gripper movement, the single moving distance is the distance of the mechanical arm from the position of the transport trolley to the target sub-area and then back to the transport trolley, and the ratio of the single moving distance and the mechanical gripper moving speed is used as the single material unloading time. If the mechanical gripper takes a long time to grasp, the single grasping time can also be determined manually, indicating the time it takes for the mechanical gripper to successfully grasp a material above the transport trolley, and the sum of the ratio of the single moving distance and the mechanical gripper moving speed and the single grasping time is used as the single material unloading time. Furthermore, the product of the single material unloading time and the material quantity is used as the unloading time for unloading the target sub-area.

[0043] The loading performance of the loading device can be used to characterize the time it takes for the loading device to grab a material and place it on the transport cart. The product of this time and the number of materials is calculated to get the loading device time. The ratio of the transportation distance from the first end to the second end of the loading area and the transportation speed of the target transport cart is taken as the transportation time. The sum of the loading device time and the transportation time is calculated as the loading time.

[0044] The embodiment of the present application can determine the optimal starting time for loading by accurately calculating the unloading time of the mechanical gripper and the loading time of the loading device, thereby reducing the waiting time of the material on the transport cart and the idle time that may be generated in the target sub-area due to waiting for the material. The unloading time is estimated according to the single moving distance and the grasping performance, and the moving path and the number of grasping times of the mechanical gripper can be reasonably arranged to avoid unnecessary movement and waiting, thereby improving the utilization rate of the mechanical gripper. Considering the transportation distance, loading performance and transportation speed, the system can ensure that the transport cart can move to the unloading position in time after the loading device completes the loading, thereby realizing the coordinated work of the transport cart and the loading device, and reducing the possibility of human intervention and errors through automatic calculation and generation of loading instructions, thereby improving the stability and reliability of the production line.

[0045] A possible implementation of the embodiment of the present application generates a feeding instruction list according to the feeding instructions corresponding to each sub-area, including: The time period corresponding to the loading duration after the loading start time in the loading instruction of the target sub-area is used as the loading time period; Arrange the loading time periods of each sub-area from early to late according to the corresponding loading start time to obtain a loading time period list; Check whether there is any overlap in the loading time period list; If there is overlap in the time period list of the loading time, the loading start time in the loading instruction corresponding to the overlapping time period is adjusted to obtain the adjusted loading instruction; Arrange each loading instruction from early to late according to the loading start time to obtain a loading instruction list.

[0046] In this embodiment, if there is no overlap of time periods in the material loading time period list, a corresponding material loading instruction list is generated according to the order of the obtained material loading time period list.

[0047] If there is overlap in the time period list of the feeding time, it means that two or more feeding tasks conflict in the same time period. For two adjacent feeding instructions with overlapping time periods, they are recorded as the first feeding instruction and the second feeding instruction in order, and the next one of the second feeding instruction in the list is recorded as the third feeding instruction. If the time period of the first feeding instruction and the second feeding instruction overlaps, the feeding start time of the second feeding instruction is updated to the last moment of the feeding time period of the first feeding instruction. If the updated second feeding instruction overlaps with the third feeding instruction, the feeding start time of the third feeding instruction is updated to the last moment of the feeding time period of the updated second feeding instruction, and so on, until the feeding time periods corresponding to the feeding instructions do not overlap.

[0048] The embodiment of the present application effectively avoids conflicts between loading operations by accurately planning the loading time period for each sub-area and intelligently handles the overlap of time periods, thereby ensuring the orderly execution of loading instructions. By adjusting the starting time of loading, an efficient and conflict-free loading instruction list can be generated, thereby improving the overall operating efficiency and stability of the production line.

[0049] A possible implementation of the embodiment of the present application is to control a mechanical gripper to grab materials from a target transport vehicle and deliver the materials to a target sub-area, including: Get the material type and material quantity corresponding to the target sub-area; Determine the mechanical gripper corresponding to the material type; Control the mechanical gripper to repeat the grabbing operation of the material quantity times, and one grabbing operation is used to grab a piece of material from the target transport trolley and unload it to the target sub-area; Among them, the grabbing operation includes: obtaining the current material image of the target transport trolley, and determining the current grabbing height according to the current material image; controlling the mechanical gripper to move to the current grabbing height above the target transport trolley and then moving downward to grab the material.

[0050] In this embodiment, a plurality of grippers of different types may be pre-set at the mechanical gripper setting for grabbing different types of materials, and the gripper type corresponds to the material type. During the grabbing operation, a camera device may be provided above the second end of the unloading area to obtain the current material image of the target transport trolley. Through machine vision, the positions of the target transport trolley and the materials loaded thereon in the acquired current material image may be represented in the coordinate system, and the position information of the materials in the camera coordinate system may be obtained. The position information of the materials in the camera coordinate system may be converted to the robot coordinate system through the coordinate transformation matrix by using the internal reference and external calibration, so that the mechanical gripper can accurately grab the materials through the position information in the robot coordinate system.

[0051] The top position of the material can be determined based on the current material image to avoid collision caused by the mechanical gripper moving directly to the top position of the material. A safety distance can be set in advance, and the vertical coordinate of the top position of the material can be increased by the safety distance to obtain the current grasping height (including the position information of the three coordinates x, y, and z). After determining the current grasping height, the mechanical gripper is controlled to move to the current grasping height and then move down a safety distance to grasp the material.

[0052] Because there are multiple materials, each time the mechanical gripper grabs a material, the camera device acquires a current material image and updates the current grab height. It is also possible to acquire the current material image only once before the first grab, determine the current grab height of the first grab, and in subsequent grabs, determine the drop height according to the material type (i.e., the thickness of a material, suitable for materials with regular shapes). After completing a grab, the current grab height is reduced by the drop height compared to the vertical coordinate of the last grab.

[0053] The embodiment of the present application can accurately match the corresponding mechanical gripper by obtaining the material type and quantity corresponding to the target sub-area, ensuring that each material can be processed using the most suitable gripping tool. By controlling the mechanical gripper to repeatedly perform gripping operations that match the material quantity, batch unloading of materials is achieved, reducing the time and cost of manual operations, and continuously adjusting the unloading height, reducing the invalid movement path of the mechanical gripper, allowing the production line to complete production tasks faster.

[0054] A possible implementation of the embodiment of the present application is to determine the current grabbing height according to the current material image, including: Determine the top position of the material based on the current material image; The preset safety distance above the top of the material is used as the current grab height.

[0055] The embodiment of the present application can effectively avoid direct collision between the mechanical gripper and the top of the material during the grasping process by identifying the top position of the material and setting a preset safety distance above this position as the grasping height. The material image is used to determine the top position of the material, providing a reliable basis for the precise positioning of the mechanical gripper.

[0056] A possible implementation of the embodiment of the present application is to determine the processing completion time of the material in each sub-area in the first processing area, including: Obtain the material type processed in the target sub-area in the first processing area and the closest material unloading completion time before the current time; Determine the processing time corresponding to the material type processed in the target sub-area; The processing completion time of the materials in the target sub-area is determined according to the processing time and the material unloading completion time.

[0057] By accurately calculating the time when each material is processed in a specific sub-area, the embodiment of the present application can more accurately formulate a production plan, reasonably arrange subsequent production processes, and reduce production delays caused by waiting for material processing to be completed.

[0058] In a possible implementation manner of the embodiment of the present application, the method further includes: When receiving a signal that material processing of the target sub-area is completed, determining a secondary processing sub-area corresponding to the target sub-area in the second processing area; The mechanical gripper of the processing area is controlled to move the material in the target sub-area to the secondary processing sub-area.

[0059] In this embodiment, the processing area may include a first processing area and a second processing area. The first processing area is used to receive the material from the loading area and start processing, and the second processing area is used to receive the material from the first processing area for secondary processing. In addition, the processing area may also include multiple areas, such as a third processing area, a fourth processing area, etc., for multi-process processing of the material, which is not specifically limited in this embodiment. The mechanical gripper at the second end of the unloading area is used to grab the material in the transport cart to the first processing area, and the mechanical gripper in the processing area is used to grab the material in the first processing area that has been processed to the second processing area for the next process. The position of the target sub-area and the position of the secondary processing sub-area corresponding to the target sub-area for the next processing process can be stored in the database in advance.

[0060] The embodiment of the present application is based on an automated material transfer process, which reduces manual intervention and waiting time, allowing materials to be quickly transferred from one processing area to the next, thereby improving overall production efficiency.

[0061] An embodiment of the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, the contents shown in the above-mentioned automobile parts feeding control method embodiment are implemented.

[0062] An electronic device is provided in an embodiment of the present application, such as Figure 2 As shown, Figure 2 The electronic device 200 shown includes: a processor 201 and a memory 203. The processor 201 and the memory 203 are connected, such as through a bus 202. Optionally, the electronic device 200 may also include a transceiver 204. It should be noted that in actual applications, the transceiver 204 is not limited to one, and the structure of the electronic device 200 does not constitute a limitation on the embodiments of the present application.

[0063] The processor 201 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor 201 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0064] The bus 202 may include a path to transmit information between the above components. The bus 202 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 202 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 2 Only one thick line is used in the diagram, but it does not mean that there is only one bus or only one type of bus.

[0065] The memory 203 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0066] The memory 203 is used to store the application code for executing the solution of the present application, and is controlled to be executed by the processor 201. The processor 201 is used to execute the application code stored in the memory 203 to implement the contents shown in the above-mentioned embodiment of the automobile parts feeding control method.

[0067] Figure 2 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0068] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer-readable storage medium is run on a computer, the computer can execute the contents shown in the aforementioned embodiment of the automobile parts feeding control method.

[0069] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0070] The above are only some implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for controlling feeding of automobile parts, characterized in that: include: Determine the processing completion time of the material in each sub-area of ​​the first processing area; Obtaining a processing requirement of a target sub-region, and determining a loading instruction for the target sub-region according to a processing completion time corresponding to the target sub-region and the processing requirement, wherein the target sub-region is any sub-region in the first processing region; Generate a loading instruction list according to the loading instructions corresponding to each sub-area; Controlling a loading device disposed at the first end of the loading area to stack materials onto a transport trolley according to the loading instruction list, wherein the loading area is provided with a sliding track of a transport trolley, and the transport trolley is loaded with materials and moves from the first end of the loading area to the second end; The transport cart after executing the loading instruction of the target sub-area is determined as the target transport cart, and the position of the target transport cart is monitored. When the position of the target transport cart moves to the second end of the loading area, the mechanical gripper is controlled to grab the material from the target transport cart and unload it to the target sub-area.

2. The method for controlling the feeding of automobile parts according to claim 1, characterized in that: The step of determining the material loading instruction of the target sub-area according to the processing completion time corresponding to the target sub-area and the processing requirement includes: Obtaining a single movement distance and grasping performance of the mechanical gripper to the target sub-area; determining the quantity of materials in the target sub-area from the processing requirements; According to the single moving distance, the grasping performance and the material quantity, estimating the unloading time of the mechanical gripper from the target transport trolley to the target sub-area; Obtaining the transport distance from the first end to the second end of the loading area, the loading performance of the loading device, and the transport speed of the target transport vehicle; According to the transport distance, the loading performance and the transport speed, estimating the loading time from when the loading device starts to stack materials on the target transport trolley to when the target transport trolley moves to the second end of the loading area; Calculate the sum of the unloading time and the loading time as the total loading time, and determine the loading start time of the target sub-area based on the total loading time; A feeding instruction for the target sub-area is generated according to the feeding start time, feeding duration and the processing requirements.

3. The method for controlling the feeding of automobile parts according to claim 2, characterized in that: The step of generating a feeding instruction list according to the feeding instructions corresponding to each sub-area includes: The time period corresponding to the loading duration after the loading start time in the loading instruction of the target sub-area is used as the loading time period; Arrange the loading time periods of each sub-area from early to late according to the corresponding loading start time to obtain a loading time period list; Check whether there is any overlap in the time period list for loading materials; If there is overlap of time periods in the feeding time period list, the feeding start time in the feeding instruction corresponding to the overlap of time periods is adjusted to obtain an adjusted feeding instruction; Arrange each loading instruction from early to late according to the loading start time to obtain a loading instruction list.

4. The method for controlling the feeding of automobile parts according to claim 1, characterized in that: The controlling mechanical gripper to grab the material from the target transport trolley and unload the material to the target sub-area includes: Obtain the material type and material quantity corresponding to the target sub-area; Determine the mechanical gripper corresponding to the material type; Controlling the mechanical gripper to repeat the grabbing operation of the number of materials, wherein one grabbing operation is used to grab a piece of material from the target transport trolley and unload the material to the target sub-area; Among them, the grabbing operation includes: obtaining the current material image of the target transport trolley, and determining the current grabbing height according to the current material image; controlling the mechanical gripper to move to the current grabbing height above the target transport trolley and then moving downward to grab the material.

5. The method for controlling the feeding of automobile parts according to claim 4, characterized in that: The determining the current grasping height according to the current material image comprises: Determine the top position of the material according to the current material image; A preset safety distance above the top position of the material is used as the current grabbing height.

6. The method for controlling the feeding of automobile parts according to claim 1, characterized in that: Determining the processing completion time of the material in each sub-area in the first processing area includes: Obtain the type of material processed in the target sub-area in the first processing area and the closest material unloading completion time before the current time; Determine the processing time corresponding to the material type processed in the target sub-area; The processing completion time of the material in the target sub-area is determined according to the processing time and the material unloading completion time.

7. The method for controlling the feeding of automobile parts according to claim 1, characterized in that: The method further comprises: When receiving a signal that material processing of the target sub-area is completed, determining a secondary processing sub-area corresponding to the target sub-area in the second processing area; The mechanical gripper of the processing area is controlled to move the material in the target sub-area to the secondary processing sub-area.

8. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the steps of the automobile parts feeding control method according to any one of claims 1 to 7.

9. An electronic device, characterized in that: include: at least one processor; Memory; At least one application, wherein the at least one application is stored in a memory and configured to be executed by at least one processor, and the at least one application is configured to: execute the automobile parts feeding control method according to any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed in a computer, the computer is caused to execute the automobile parts feeding control method according to any one of claims 1 to 7.

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