Vehicle body positioning method, device and equipment, storage medium, transfer equipment and control system

Abstract

The invention discloses a vehicle body positioning method, device and equipment, a storage medium, transfer equipment and a control system.The method comprises the following steps that when the transfer equipment is separated from a current vehicle body, the actual distance between the current vehicle body and the preset position of the transfer equipment in the vertical direction is obtained; the difference value between the actual distance and a preset distance is calculated, and the preset distance is determined according to the distance between the vehicle body and the preset position of the transfer equipment in the vertical direction when a plurality of positioning pins on the skid are arranged in corresponding positioning holes in the vehicle body in a penetrating mode; comparing the difference value with a preset error; and when the difference value is larger than the preset error, a signal indicating that the positioning pin on the skid does not penetrate through the corresponding positioning hole in the vehicle body exists is sent. Whether the positioning pins on the skid are arranged in the corresponding positioning holes in the vehicle body in a penetrating mode or not is detected in a non-contact mode, the accuracy of the positioning result can be improved, and therefore the possibility of risks in the vehicle body production process is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile production, and in particular to a vehicle body positioning method, device, equipment, storage medium, transfer equipment and control system. Background Art

[0002] In the vehicle painting workshop, the car body needs to undergo different production processes in sequence. In different processes, the types of skids used to carry the car body are different, so it is necessary to switch between different types of skids. For example: at the entrance of the painting workshop, the car body after the welding process is completed is placed from the welding skid to the electrophoresis skid; after the electrophoresis is completed, the car body is placed from the electrophoresis skid to the topcoat skid; at the exit of the painting workshop, the car body is placed from the topcoat skid to the final assembly skid. The conversion between different types of skids requires the use of transfer equipment such as transfer hooks and slings to automatically grab the car body from one skid and place it on another skid. Since the car body needs to be flipped, tilted, and moved horizontally during the production process, the body and the skid need to be limited. The commonly used limiting method between the vehicle body and the slide is to respectively set positioning holes at the front, rear, left and right of the vehicle body, and respectively set positioning pins at the front, rear, left and right of the slide. When the vehicle body is placed on the slide using a transfer device, the four positioning pins on the slide are respectively inserted into the four positioning holes on the vehicle body to achieve limiting between the vehicle body and the slide.

[0003] In the actual production process, due to mechanical, electrical and other factors, the locating pins on the slide may not be inserted into the corresponding locating holes on the body, causing the position of the body to change, which is very likely to cause risks such as rollover and damage to equipment, resulting in malfunctions or quality accidents during production, affecting the automated operation of subsequent production processes.

[0004] In the prior art, a method of installing a travel switch on a sled is used to detect whether the position of the vehicle body is correct, that is, when the vehicle body presses the travel switch, the normally open-normally closed contact inside the travel switch is closed or opened, indicating that the position of the vehicle body is correct. However, this method has the following problems: first, due to the heavy weight of the vehicle body, the travel switch is very easy to be damaged, and the travel switch needs to be replaced in time; second, the travel switch is pressed for a long time, which will cause the elastic force of its internal spring to be lost, resulting in insensitive contact induction and inaccurate positioning, and the travel switch needs to be replaced regularly; third, the travel switch detection can only unilaterally reflect the switch is pressed, and cannot reflect that the sled locating pin is correctly inserted in the vehicle body locating hole, specifically, when the locating pin at the front of the sled is inserted in the locating hole at the front of the vehicle body, but the locating pin at the rear of the sled is not inserted in the locating hole at the rear of the vehicle body, or when the locating pin at the rear of the sled is inserted in the locating hole at the rear of the vehicle body, but the locating pin at the front of the sled is not inserted in the locating hole at the front of the vehicle body, the travel switch will be pressed but the vehicle body position is incorrect, resulting in a detection error. Summary of the invention

[0005] To solve at least one aspect of the above problems, the present invention provides a vehicle body positioning method, comprising the following steps: when the transfer equipment is separated from the current vehicle body, obtaining the actual distance in the vertical direction between the current vehicle body and the preset position of the transfer equipment; calculating the difference between the actual distance and the preset distance, wherein the preset distance is determined according to the distance in the vertical direction between the vehicle body and the preset position of the transfer equipment when a number of positioning pins on the sled are respectively penetrated into the corresponding positioning holes on the vehicle body; comparing the difference with the preset error; when the difference is greater than the preset error, sending a signal that the positioning pins on the sled are not penetrated into the corresponding positioning holes on the vehicle body.

[0006] Preferably, the following steps are also included: when the transfer equipment includes several supporting arms, when the several supporting arms are separated from the current vehicle body, the actual distance in the vertical direction between the preset position of each supporting arm and the corresponding position of the current vehicle body is obtained respectively; the difference between the actual distance in the vertical direction between the preset position of each supporting arm and the corresponding position of the current vehicle body and the corresponding preset distance is calculated respectively, wherein the corresponding preset distance is determined according to the distance in the vertical direction between the preset position of each supporting arm and the corresponding position of the vehicle body when several positioning pins on the sled are respectively penetrated into the corresponding positioning holes on the vehicle body; the difference between the actual distance in the vertical direction between the preset position of each supporting arm and the corresponding position of the current vehicle body and the corresponding preset distance is compared with the size of the preset error; when the difference between the actual distance in the vertical direction between the preset position of the supporting arm and the corresponding position of the current vehicle body and the corresponding preset distance is greater than the preset error, a signal is sent that the positioning pin on the sled is not penetrated into the corresponding positioning hole on the vehicle body.

[0007] Preferably, the preset error ranges from 5 to 15 mm.

[0008] The present application also provides a vehicle body positioning device, the device comprising: a receiving module, configured to obtain the actual distance in the vertical direction between the current vehicle body and the preset position of the transfer equipment when the transfer equipment is separated from the current vehicle body; a calculating module, configured to calculate the difference between the actual distance and the preset distance, wherein the preset distance is determined according to the distance in the vertical direction between the vehicle body and the preset position of the transfer equipment when a number of positioning pins on the sled are respectively penetrated into corresponding positioning holes on the vehicle body; a comparing module, configured to compare the difference with a preset error; and a sending module, configured to send a signal indicating that the positioning pins on the sled are not penetrated into the corresponding positioning holes on the vehicle body when the difference is greater than the preset error.

[0009] Preferably, there are multiple receiving modules, and the multiple receiving modules are configured to obtain the actual distance in the vertical direction between each preset position of each support arm and the corresponding position of the current vehicle body; there are multiple calculation modules, and the multiple calculation modules are configured to calculate the difference between the actual distance in the vertical direction between each preset position of the support arm and the corresponding position of the current vehicle body and the corresponding preset distance, wherein the corresponding preset distance is determined according to the distance in the vertical direction between each preset position of the support arm and the corresponding position of the vehicle body when a number of positioning pins on the slide are respectively inserted into the corresponding positioning holes on the vehicle body.

[0010] The present application also provides a vehicle body positioning device, the device comprising a memory and a processor, the memory storing a computer program, and implementing any one of the above vehicle body positioning methods when the computer program is executed by the processor.

[0011] The present application also provides a control system for a transfer equipment, including a proximity switch, a distance measuring sensor, an alarm device, a control device and a vehicle body positioning device as described above; the proximity switch is used to detect whether the vehicle body is on the transfer equipment; the distance measuring sensor is installed at a preset position of the transfer equipment, and is used to measure the distance in the vertical direction between the preset position of the transfer equipment and the vehicle body; the distance measuring sensor is communicatively connected to the positioning device; the alarm device is used to alarm when an alarm signal is received; the proximity switch, the distance measuring sensor, the alarm device and the positioning device are all communicatively connected to the control device, and are used to receive a detection signal from the proximity switch indicating whether the vehicle body is on the transfer equipment, and control the distance measuring sensor to measure the distance when receiving a detection signal from the proximity switch indicating that the vehicle body is detached from the transfer equipment, and receive a signal from the positioning device indicating that the positioning pin on the sled does not pass through the corresponding positioning hole on the vehicle body, and send an alarm signal to the alarm device when receiving a signal from the positioning device indicating that the positioning pin on the sled does not pass through the corresponding positioning hole on the vehicle body.

[0012] Preferably, there are multiple proximity switches, which are respectively installed on several supporting arms of the transfer equipment, and the multiple proximity switches are all communicatively connected to the control device, so as to control the ranging sensor to perform ranging when the detection signals of the vehicle body detaching from the transfer equipment are received from all the proximity switches at the same time; there are multiple ranging sensors, which are respectively installed at preset positions of several supporting arms, and the multiple ranging sensors are all communicatively connected to the control device and the positioning device.

[0013] The present application also provides a transfer device, comprising a control system of any of the transfer devices described above.

[0014] The present application also provides a storage medium storing computer-readable instructions, and when the instructions are executed by a processor, the method according to any one of the above items is executed.

[0015] A vehicle body positioning method, device, equipment, storage medium, transfer equipment and control system of the present invention have the following beneficial effects:

[0016] (1) When the locating pins on the sled are not inserted into the corresponding locating holes on the vehicle body, the locating pins on the sled will lift up the vehicle body, causing the overall height of the vehicle body to become higher. The present application utilizes the fact that the distance between the vehicle body and the preset position of the transfer equipment after the locating pins on the sled are inserted into the corresponding locating holes on the vehicle body is different from the distance between the vehicle body and the preset position of the transfer equipment after the locating pins on the sled are not inserted into the corresponding locating holes on the vehicle body. A non-contact method is used to detect whether the locating pins on the sled are inserted into the corresponding locating holes on the vehicle body, which helps to extend the service life of the equipment and control system of the present application and improve the accuracy of the detection results, thereby reducing the possibility of risks in the vehicle body production process.

[0017] (2) A method of obtaining the vertical distances between the preset positions of multiple transfer equipment and the corresponding positions of the current vehicle body and performing calculation, comparison and judgment is adopted to realize detection at the front, rear, left and right of the vehicle body. This helps to avoid the situation where the locating pin at the front of the sled is inserted into the locating hole at the front of the vehicle body, but the locating pin at the rear of the sled is not inserted into the locating hole at the rear of the vehicle body, and the locating pin at the rear of the sled is inserted into the locating hole at the rear of the vehicle body, but the locating pin at the front of the sled is not inserted into the locating hole at the front of the vehicle body, thereby further improving the accuracy of the detection results.

[0018] (3) The control system of the present application can adopt the proximity switch, distance measuring sensor and control device of the transfer equipment itself. It only needs to add an alarm device and the body positioning device of the present application or integrate the body positioning device of the present application into the control device of the transfer equipment itself. Therefore, the improvement is simple and the improvement cost is low, and it helps to reduce the cost of body positioning detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to better understand the above and other purposes, features, advantages and functions of the present invention, reference may be made to the embodiments shown in the accompanying drawings. The same reference numerals in the accompanying drawings refer to the same components. It should be understood by those skilled in the art that the accompanying drawings are intended to schematically illustrate the preferred embodiments of the present invention and have no limiting effect on the scope of the present invention, and the components in the drawings are not drawn to scale.

[0020] Figure 1 A flow chart of a vehicle body positioning method according to an embodiment of the present invention is shown;

[0021] FIG2 shows a structural block diagram of a vehicle body positioning device according to an embodiment of the present invention;

[0022] Figure 3 It shows a structural block diagram of a control system of a transfer device according to an embodiment of the present invention;

[0023] Figure 4 A flow chart showing the operation of a control system of a transfer device according to an embodiment of the present invention is shown.

[0024] Description of reference numerals:

[0025] 1. Positioning device; 2. Control device; 3. Proximity switch; 4. Laser rangefinder; 5. Alarm device; 11. Receiving module; 12. Calculation module; 13. Comparison module; 14. Sending module. DETAILED DESCRIPTION

[0026] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0027] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0028] In order to at least partially solve the above problems and one or more of other potential problems, the embodiments of the present disclosure provide a vehicle body positioning method, such as Figure 1 As shown, the following steps are included: when the transfer equipment is separated from the current vehicle body, the actual distance in the vertical direction between the current vehicle body and the preset position of the transfer equipment is obtained, wherein the preset position of the transfer equipment can be selected as the installation position of the distance measuring sensor or the artificial marking position; the difference between the actual distance and the preset distance is calculated, wherein the preset distance is determined according to the distance between the vehicle body and the preset position of the transfer equipment in the vertical direction when a number of positioning pins on the sled are respectively penetrated into the corresponding positioning holes on the vehicle body; the difference is compared with the size of the preset error, preferably, the range of the preset error is 5 to 15 mm, for example, the preset error is 5 mm or 10 mm or 15 mm; when the difference is greater than the preset error, a signal is sent that the positioning pin on the sled is not penetrated into the corresponding positioning hole on the vehicle body.

[0029] In a preferred embodiment, the transfer device is a transfer device with multiple supporting arms, such as a transfer hanger. During the transfer process, the multiple supporting arms will act on different parts of the vehicle body respectively. The vehicle body positioning method of the present application also includes the following steps: when the transfer equipment includes several supporting arms, when the several supporting arms are separated from the current vehicle body, respectively obtain the actual distance in the vertical direction between the preset position of each supporting arm and the corresponding position of the current vehicle body, wherein the corresponding position of the current vehicle body is the position of the corresponding supporting arm acting on the current vehicle body during the transfer process; respectively calculate the difference between the actual distance in the vertical direction between the preset position of each supporting arm and the corresponding position of the current vehicle body and the corresponding preset distance, wherein the corresponding preset distance is determined according to the distance in the vertical direction between the preset position of each supporting arm and the corresponding position of the vehicle body when several positioning pins on the sled are respectively penetrated into the corresponding positioning holes on the vehicle body; respectively compare the difference between the actual distance in the vertical direction between the preset position of each supporting arm and the corresponding position of the current vehicle body and the corresponding preset distance with the size of the preset error; when there is a difference between the actual distance in the vertical direction between the preset position of the supporting arm and the corresponding position of the current vehicle body and the corresponding preset distance that is greater than the preset error, send a signal that the positioning pin on the sled is not penetrated into the corresponding positioning hole on the vehicle body.

[0030] The present application also provides a vehicle body positioning device, as shown in FIG2 , the device includes: a receiving module 11, a calculating module 12, a comparing module 13 and a sending module 14. The receiving module 11 is configured to obtain the actual distance between the current vehicle body and the preset position of the transfer device in the vertical direction when the transfer device is separated from the current vehicle body; the calculating module 12 is configured to calculate the difference between the actual distance and the preset distance, wherein the preset distance is determined according to the distance between the vehicle body and the preset position of the transfer device in the vertical direction when a number of positioning pins on the sled are respectively inserted into the corresponding positioning holes on the vehicle body; the comparing module 13 is configured to compare the difference with the size of the preset error; the sending module 14 is configured to send a signal that the positioning pins on the sled are not inserted into the corresponding positioning holes on the vehicle body when the difference is greater than the preset error.

[0031] In a preferred embodiment, the transfer equipment has multiple supporting arms, and the device of the present application is provided with multiple receiving modules 11, and the multiple receiving modules 11 are configured to obtain the actual distance in the vertical direction between the preset position of each supporting arm and the corresponding position of the current vehicle body; multiple calculating modules 12 are provided, and the multiple calculating modules 12 are configured to calculate the difference between the actual distance in the vertical direction between the preset position of each supporting arm and the corresponding position of the current vehicle body and the corresponding preset distance, wherein the corresponding preset distance is determined according to the distance in the vertical direction between the preset position of each supporting arm and the corresponding position of the vehicle body when a number of positioning pins on the sled are respectively penetrated into the corresponding positioning holes on the vehicle body; the comparing module 13 is used to compare the difference between the actual distance in the vertical direction between each preset position of the supporting arm and the corresponding position of the current vehicle body and the corresponding preset distance and the size of the preset error respectively; the sending module 14 is used to send a signal that the positioning pin on the sled is not penetrated into the corresponding positioning hole on the vehicle body when the difference between the actual distance in the vertical direction between the preset position of the supporting arm and the corresponding position of the current vehicle body and the corresponding preset distance is greater than the preset error.

[0032] The present application also provides a vehicle body positioning device, the device comprising a memory and a processor, the memory storing a computer program, and implementing any one of the above vehicle body positioning methods when the computer program is executed by the processor.

[0033] The present application also provides a control system for a transfer device, such as Figure 3 and Figure 4As shown, it includes a proximity switch 3, a distance measuring sensor, an alarm device 5, a control device 2 and a vehicle body positioning device 1 as described above; the proximity switch 3 is used to detect whether the vehicle body is on the transfer device. Preferably, a plurality of proximity switches 3 are provided, and the plurality of proximity switches 3 are respectively installed on a plurality of supporting arms of the transfer device; the distance measuring sensor is preferably a laser rangefinder 4, which is installed at a preset position of the transfer device and is used to measure the distance in the vertical direction between the preset position of the transfer device and the vehicle body. Preferably, a plurality of distance measuring sensors are provided, and the plurality of distance measuring sensors are respectively installed at the preset positions of the plurality of supporting arms; the plurality of distance measuring sensors are communicatively connected to the positioning device 1; the alarm device 2 is used to detect whether the vehicle body is on the transfer device. Preferably, a plurality of distance measuring sensors are provided, and the plurality of distance measuring sensors are respectively installed at the preset positions of the plurality of supporting arms; the plurality of distance measuring sensors are communicatively connected to the positioning device 1; The device 5 is used to give an alarm when receiving an alarm signal; the multiple proximity switches 3, the multiple distance measuring sensors, the alarm device 5 and the positioning device 1 are all connected to the control device 2 for communication, and are used to receive the detection signals of the multiple proximity switches 3 whether the vehicle body is on the transfer device, and control the multiple distance measuring sensors to measure the distance when the detection signals of the vehicle body detached from the transfer device are received from all the proximity switches 3 at the same time, and receive the signal that the positioning pin on the sled of the positioning device 1 does not penetrate the corresponding positioning hole on the vehicle body, and send an alarm signal to the alarm device 5 when receiving the signal that the positioning pin on the sled of the positioning device 1 does not penetrate the corresponding positioning hole on the vehicle body. Preferably, the vehicle body positioning device 1 of the present application is integrated in the control device 2.

[0034] The present application also provides a transfer device, comprising a control system of any of the transfer devices described above.

[0035] The present application also provides a storage medium storing computer-readable instructions, and when the instructions are executed by a processor, the method according to any one of the above items is executed.

[0036] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the present invention.

Claims

1. A vehicle body positioning method, characterized in that: The following steps are involved: When the transfer device is separated from the current vehicle body, the actual distance between the current vehicle body and the preset position of the transfer device in the vertical direction is obtained; Calculating the difference between the actual distance and the preset distance, wherein the preset distance is determined according to the distance in the vertical direction between the vehicle body and the preset position of the transfer device when a plurality of positioning pins on the sled are respectively inserted into corresponding positioning holes on the vehicle body; Compare the difference with the preset error; When the difference is greater than the preset error, a signal is sent indicating that the positioning pin on the sled does not penetrate the corresponding positioning hole on the vehicle body.

2. A vehicle body positioning method according to claim 1, characterized in that: The following steps are also included: When the transfer equipment includes a plurality of supporting arms, when the plurality of supporting arms are separated from the current vehicle body, the actual distance in the vertical direction between the preset position of each supporting arm and the corresponding position of the current vehicle body is respectively obtained; Calculate the difference between the actual distance in the vertical direction between each preset position of each support arm and the corresponding position of the current vehicle body and the corresponding preset distance, wherein the corresponding preset distance is determined according to the distance in the vertical direction between each preset position of the support arm and the corresponding position of the vehicle body when a plurality of positioning pins on the sled are respectively inserted into corresponding positioning holes on the vehicle body; Compare respectively the difference between the actual distance in the vertical direction between the preset position of each support arm and the corresponding position of the current vehicle body and the corresponding preset distance and the size of the preset error; When the difference between the actual distance in the vertical direction between the preset position of the support arm and the corresponding position of the current vehicle body and the corresponding preset distance is greater than the preset error, a signal is sent that the locating pin on the slide does not pass through the corresponding locating hole on the vehicle body.

3. A vehicle body positioning method according to claim 1, characterized in that: The preset error range is 5 to 15 mm.

4. A vehicle body positioning device, characterized in that: The device comprises: A receiving module (11) is configured to obtain the actual distance in the vertical direction between the current vehicle body and a preset position of the transfer device when the transfer device is separated from the current vehicle body; A calculation module (12) is configured to calculate the difference between the actual distance and the preset distance, wherein the preset distance is determined according to the distance in the vertical direction between the vehicle body and the preset position of the transfer device when a plurality of positioning pins on the sled are respectively inserted into corresponding positioning holes on the vehicle body; A comparison module (13), configured to compare the difference with a preset error; The sending module (14) is configured to send a signal indicating that the positioning pin on the sled does not penetrate the corresponding positioning hole on the vehicle body when the difference is greater than a preset error.

5. The vehicle body positioning device according to claim 1, characterized in that: The receiving modules (11) are provided in plurality, and the plurality of receiving modules (11) are configured to obtain the actual distance in the vertical direction between a preset position of each support arm and a corresponding position of the current vehicle body; A plurality of calculation modules (12) are provided, and the plurality of calculation modules (12) are configured to calculate the difference between the actual distance in the vertical direction between each preset position of the support arm and the corresponding position of the current vehicle body and the corresponding preset distance, wherein the corresponding preset distance is determined according to the distance in the vertical direction between each preset position of the support arm and the corresponding position of the vehicle body when a plurality of positioning pins on the sled are respectively inserted into corresponding positioning holes on the vehicle body.

6. A vehicle body positioning device, characterized in that: The device comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, a vehicle body positioning method according to any one of claims 1 to 3 is implemented.

7. A control system for a transfer device, characterized in that: It comprises a proximity switch (3), a distance measuring sensor, an alarm device (5), a control device (2) and a vehicle body positioning device (1) as claimed in claim 6; A proximity switch (3) is used to detect whether the vehicle body is on the transfer device; The distance measuring sensor is installed at a preset position of the transfer equipment and is used to measure the distance between the preset position of the transfer equipment and the vehicle body in the vertical direction; the distance measuring sensor is communicatively connected with the positioning device (1); An alarm device (5) is used to sound an alarm when an alarm signal is received; The proximity switch (3), the distance measuring sensor, the alarm device (5) and the positioning device (1) are all connected to the control device (2) for communication, and are used to receive a detection signal from the proximity switch (3) indicating whether the vehicle body is on the transfer device, and to control the distance measuring sensor to perform distance measurement when receiving a detection signal from the proximity switch (3) indicating that the vehicle body is detached from the transfer device, and to receive a signal from the positioning device (1) indicating that the positioning pin on the sled does not penetrate the corresponding positioning hole on the vehicle body, and to send an alarm signal to the alarm device (5) when receiving a signal from the positioning device (1) indicating that the positioning pin on the sled does not penetrate the corresponding positioning hole on the vehicle body.

8. The control system of a transfer equipment according to claim 7, characterized in that: The proximity switches (3) are provided in plurality, and the plurality of proximity switches (3) are respectively mounted on a plurality of supporting arms of the transfer equipment. The plurality of proximity switches (3) are all in communication connection with the control device (2) and are used to control the distance measuring sensor to measure the distance when the detection signals of the vehicle body leaving the transfer equipment are received from all the proximity switches (3) at the same time; the distance measuring sensors are provided in plurality, and the plurality of distance measuring sensors are respectively mounted at preset positions of the plurality of supporting arms. The plurality of distance measuring sensors are all in communication connection with the control device (2) and the positioning device (1).

9. A transfer device, characterized in that: A control system comprising a transfer equipment as described in claim 7 or 8.

10. A storage medium storing computer-readable instructions, wherein when the instructions are executed by a processor, the method according to any one of claims 1 to 3 is executed.

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