Assembly sequence abnormity alarm method and device, equipment, storage medium and program product

Abstract

The invention relates to an assembly sequence abnormity alarm method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the steps that first positioning information and second positioning information of the hand of an assembly operation object are obtained, the first positioning information is obtained through detection of a wireless distance measuring sensor, and the second positioning information is obtained through detection of an inertial sensor; according to the first positioning information, the second positioning information and multiple pieces of preset accessory area position information, first accessory information is detected, and the first accessory information is accessory information corresponding to an accessory area where the hand of the assembly operation object is currently located; and when it is detected that the first accessory information is not matched with the second accessory information corresponding to the preset assembly sequence, carrying out assembly sequence abnormity warning. By adopting the method, the assembly accuracy can be improved.

Description

Technical Field

[0001] The present application relates to the field of assembly technology, and in particular to an assembly sequence abnormality alarm method, device, computer equipment, computer-readable storage medium and computer program product. Background Art

[0002] Assembly is a key activity in the manufacturing process that involves bringing together individual components as per predetermined design and specifications to form a final product or component parts of a product.

[0003] Despite the continuous advancement of automation and robotics, manual assembly is still irreplaceable in assembly scenarios that require delicate operations, flexibility, and high judgment. During the assembly process, the assembly accuracy of workers is an important factor in ensuring product quality and process stability.

[0004] However, in the traditional manual assembly process, it is easy to make mistakes due to fatigue, which may lead to errors in the assembly sequence, thus affecting the assembly accuracy of the product. Summary of the invention

[0005] Based on this, it is necessary to provide an assembly sequence abnormality alarm method, device, computer equipment, computer readable storage medium and computer program product that can improve assembly accuracy in response to the above technical problems.

[0006] In a first aspect, the present application provides an assembly sequence abnormality alarm method, comprising:

[0007] Acquire first positioning information and second positioning information of a hand of an assembly operation object, wherein the first positioning information is obtained by detecting a wireless ranging sensor, and the second positioning information is obtained by detecting an inertial sensor;

[0008] Detecting first accessory information according to the first positioning information, the second positioning information and a plurality of preset accessory area position information, where the first accessory information is accessory information corresponding to the accessory area where the hand of the assembly operation object is currently located;

[0009] When it is detected that the first accessory information does not match the second accessory information corresponding to the preset assembly sequence, an assembly sequence abnormality alarm is issued.

[0010] In one embodiment, the wireless ranging sensor includes an ultra-wideband system, the ultra-wideband system includes an ultra-wideband tag and a plurality of ultra-wideband base stations, and the ultra-wideband tag is disposed on a wearable device worn on the hand of an assembly operation subject;

[0011] Obtaining the first positioning information of the hand of the assembly operation object includes:

[0012] Collecting a plurality of ultra-wideband distance data through an ultra-wideband system, wherein the ultra-wideband distance data is used to characterize the distance between the ultra-wideband tag and each ultra-wideband base station;

[0013] Detecting initial ultra-wideband positioning information of the hand of the assembly operation object according to the ultra-wideband distance data and the preset ultra-wideband base station position information;

[0014] The initial ultra-wideband positioning information is integrated to obtain the first positioning information.

[0015] In one embodiment, a plurality of ultra-wideband distance data are collected by an ultra-wideband system, including:

[0016] Sending a first pulse signal to an ultra-wideband tag through multiple ultra-wideband base stations, where the ultra-wideband tag is set on a wearable device worn on the hand of an assembly operation object;

[0017] Receiving, by each ultra-wideband base station, a second pulse signal returned by the ultra-wideband tag after receiving the first pulse signal;

[0018] Detecting a signal round trip time between a transmission time of a first pulse signal and a reception time of a second pulse signal;

[0019] Based on the signal round-trip time, the ultra-wideband distance data between the hand of the assembly operation object and each ultra-wideband base station is detected.

[0020] In one embodiment, obtaining second positioning information of a hand of an assembly operation object includes:

[0021] The inertial sensor is used to collect inertial data of the hand of the assembly operation object in the current detection round, and the initial inertial positioning information of the hand of the assembly operation object in the previous detection round is obtained. The inertial sensor is set on a wearable device worn by the hand of the assembly operation object;

[0022] The hand of the assembly operation object is positioned according to the inertial data and the initial inertial positioning information to obtain second positioning information of the hand of the assembly operation object in the current detection round.

[0023] In one embodiment, the inertial data includes angular velocity and acceleration; based on the inertial data and the initial inertial positioning information, the hand of the assembly operation object is positioned to obtain the second positioning information of the hand of the assembly operation object in the current detection round, including:

[0024] Obtain the initial moving direction and initial moving speed of the hand of the assembly operation object, as well as the detection interval time between the previous detection round and the current detection round;

[0025] Detecting a target moving direction of the hand of the assembly operation object based on the initial moving direction, the detection interval time, and the angular velocity, and detecting a target moving distance of the hand of the assembly operation object based on the acceleration, the detection interval time, and the initial moving velocity;

[0026] Based on the target moving direction, the target moving distance and the initial inertial positioning information, the hand of the assembly operation object is positioned to obtain second positioning information of the hand of the assembly operation object in the current detection round.

[0027] In one embodiment, obtaining first positioning information and second positioning information of a hand of an assembly operation object includes:

[0028] Obtaining first current positioning information, first historical positioning information, first future positioning information, second current positioning information, second historical positioning information, and second future positioning information;

[0029] If it is determined based on the first current positioning information, the first historical positioning information and the first future positioning information that a data error of the first current positioning information is less than a preset first error threshold, the first current positioning information is determined as the first positioning information;

[0030] When it is determined based on the second current positioning information, the second historical positioning information and the second future positioning information that the data error of the second current positioning information is less than a preset second error threshold, the second current positioning information is determined as the second positioning information.

[0031] In a second aspect, the present application also provides an assembly sequence abnormality alarm device, comprising:

[0032] An acquisition module, used to acquire first positioning information and second positioning information of a hand of an assembly operation object, wherein the first positioning information is obtained by detecting a wireless ranging sensor, and the second positioning information is obtained by detecting an inertial sensor;

[0033] A detection module, configured to detect first accessory information according to the first positioning information, the second positioning information and a plurality of preset accessory area position information, wherein the first accessory information is accessory information corresponding to the accessory area where the hand of the assembly operation object is currently located;

[0034] The alarm module is used to issue an assembly sequence abnormality alarm when it is detected that the first accessory information does not match the second accessory information corresponding to the preset assembly sequence.

[0035] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0036] Acquire first positioning information and second positioning information of a hand of an assembly operation object, wherein the first positioning information is obtained by detecting a wireless ranging sensor, and the second positioning information is obtained by detecting an inertial sensor;

[0037] Detecting first accessory information according to the first positioning information, the second positioning information and a plurality of preset accessory area position information, where the first accessory information is accessory information corresponding to the accessory area where the hand of the assembly operation object is currently located;

[0038] When it is detected that the first accessory information does not match the second accessory information corresponding to the preset assembly sequence, an assembly sequence abnormality alarm is issued.

[0039] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the following steps are implemented:

[0040] Acquire first positioning information and second positioning information of a hand of an assembly operation object, wherein the first positioning information is obtained by detecting a wireless ranging sensor, and the second positioning information is obtained by detecting an inertial sensor;

[0041] Detecting first accessory information according to the first positioning information, the second positioning information and a plurality of preset accessory area position information, where the first accessory information is accessory information corresponding to the accessory area where the hand of the assembly operation object is currently located;

[0042] When it is detected that the first accessory information does not match the second accessory information corresponding to the preset assembly sequence, an assembly sequence abnormality alarm is issued.

[0043] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0044] Acquire first positioning information and second positioning information of a hand of an assembly operation object, wherein the first positioning information is obtained by detecting a wireless ranging sensor, and the second positioning information is obtained by detecting an inertial sensor;

[0045] Detecting first accessory information according to the first positioning information, the second positioning information and a plurality of preset accessory area position information, where the first accessory information is accessory information corresponding to the accessory area where the hand of the assembly operation object is currently located;

[0046] When it is detected that the first accessory information does not match the second accessory information corresponding to the preset assembly sequence, an assembly sequence abnormality alarm is issued.

[0047] The above-mentioned assembly sequence abnormality alarm method, device, computer equipment, computer-readable storage medium and computer program product, by acquiring the first positioning information and the second positioning information of the hand of the assembly operation object, wherein the first positioning information is obtained by detecting the wireless ranging sensor and the second positioning information is obtained by detecting the inertial sensor, realizes the dual positioning of the hand of the assembly operation object, thereby improving the accuracy of the positioning of the hand of the assembly operation object, and then by detecting the first accessory information according to the first positioning information, the second positioning information and a plurality of preset accessory area position information, the first accessory information is the accessory information corresponding to the accessory area where the hand of the assembly operation object is currently located, and the first accessory information of the accessory currently taken by the assembly operation object can be determined; and then by performing an assembly sequence abnormality alarm when it is detected that the first accessory information does not match the second accessory information corresponding to the preset assembly sequence, the monitoring of the assembly sequence is realized, and an abnormality alarm is performed when it is detected that the assembly sequence does not match the expected one, so as to remind the assembly operation object to check and correct the error in time, thereby improving the assembly accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 A schematic diagram of a flow chart of an assembly sequence abnormality alarm method in one embodiment;

[0050] Figure 2 It is a schematic flow chart of a step of obtaining first positioning information of a hand of an assembly operation object in one embodiment;

[0051] Figure 3 A schematic diagram of a scene of a desktop positioning system in an embodiment;

[0052] Figure 4 A schematic diagram of a scenario in which positioning is performed using an ultra-wideband system in an embodiment;

[0053] Figure 5 It is a schematic flow chart of a step of obtaining second positioning information of a hand of an assembly operation object in one embodiment;

[0054] Figure 6 A schematic diagram of a flow chart of an assembly sequence abnormality alarm method in another embodiment;

[0055] Figure 7 It is a structural block diagram of an abnormal assembly sequence alarm device in one embodiment;

[0056] Figure 8 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0058] Assembly is a key activity in the manufacturing process, which involves combining individual components according to predetermined designs and specifications to form a final product or component of a product. Despite the continuous advancement of automation and robotics technology, manual assembly is still irreplaceable in assembly scenarios that require delicate operations and high flexibility and judgment. In the assembly process, the assembly accuracy of workers is an important factor in ensuring product quality and process stability. However, in the traditional manual assembly process, it is easy to cause errors due to fatigue, resulting in errors in the assembly sequence, which affects the assembly accuracy of the product.

[0059] The use of image acquisition and image recognition technology can monitor the assembly sequence more accurately. However, for some confidential units, visual equipment is not allowed to be set up in their workshops, so image acquisition and image recognition technology cannot be used for assembly sequence monitoring. Other sensors usually have certain limitations when monitoring the assembly sequence.

[0060] In an exemplary embodiment, Figure 1 As shown, an assembly sequence abnormality alarm method is provided. This embodiment uses the method applied to a terminal as an example for illustration, wherein the terminal may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, Internet of Things devices and portable wearable devices, and the Internet of Things devices may be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, projection devices, etc. Portable wearable devices may be smart watches, smart bracelets, head-mounted devices, etc. The head-mounted devices may be virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc. It can be understood that the method may also be applied to a server, and may also be applied to a system including a terminal and a server, and may be implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps S10-S30. Among them:

[0061] Step S10, obtaining first positioning information and second positioning information of the hand of the assembly operation object, wherein the first positioning information is obtained by detecting a wireless ranging sensor, and the second positioning information is obtained by detecting an inertial sensor.

[0062] Among them, the method for abnormal assembly sequence alarm applies a desktop positioning system, which is used to locate and track the process of the assembly operation object's hand performing the assembly operation in the assembly area within the desktop range, so as to monitor whether the order of the assembly operation object performing the assembly operation is correct based on the positioning information. The desktop positioning system includes a wearable device, a wireless ranging sensor, and an inertial sensor. As an example, the wireless ranging sensor includes an ultra-wideband (UWB, Ultra WideBand) system, and the ultra-wideband system includes an ultra-wideband tag and a plurality of ultra-wideband base stations. The ultra-wideband tag and the inertial sensor are set on the wearable device worn by the assembly operation object's hand, and the ultra-wideband base stations are distributed in different directions of the assembly area. Setting the ultra-wideband tag and the inertial sensor on the wearable device worn by the assembly operation object's hand will not affect the operation of the assembly operation object on the one hand, and the assembly operation object does not need to adjust the original operation process in order to cooperate with the positioning, so the flexibility and convenience of the assembly operation can be fully guaranteed; on the other hand, the relative position relationship between the wearable device worn by the assembly operation object's hand and the assembly operation object's hand is not easy to change, so the accuracy of positioning the assembly operation object's hand can be guaranteed.

[0063] The first positioning information is the position information of the hand of the assembly operation object detected by the wireless ranging sensor. As an example, the wireless ranging sensor includes a UWB system, and the ranging method using the UWB system includes at least one of one-way time-of-flight ranging, two-way time-of-flight ranging, and time-difference-of-arrival ranging. The UWB system has attracted much attention in the field of positioning due to its high bandwidth, low power consumption, and high-precision indoor and outdoor positioning. However, the positioning accuracy of the UWB system is easily affected by factors such as multipath propagation and obstacles, resulting in large positioning errors.

[0064] The second positioning information is the position information of the hand of the assembly operation object detected by the inertial sensor. The inertial sensor (IMU, Inertial Measurement Unit) integrates at least one sensor such as an accelerometer, a gyroscope and a magnetometer, and can measure at least one of the acceleration, angular velocity and direction change of the object equipped with the inertial sensor. IMU can provide high-frequency, real-time posture change information, but long-term use may lead to error accumulation, especially in high-dynamic or multi-motion axis environments, which is prone to large positioning errors.

[0065] Combining wireless ranging sensors and inertial sensors to perform dual positioning of the hands of assembly objects can make up for the limitations of each sensor and improve the accuracy and stability of hand positioning of assembly objects.

[0066] The assembly operation object refers to the object that performs the assembly operation, including one of a person, a manipulator, a robot, etc.

[0067] Exemplarily, the first positioning information and the second positioning information collected in real time or collected and stored in advance may be acquired.

[0068] It is understandable that when the hand of the assembly operation object enters the preset assembly area and performs the assembly operation, the hand of the assembly operation object can be continuously or regularly positioned. Each time the hand of the assembly operation object is positioned, the hand of the assembly operation object can be positioned by the wireless ranging sensor and the inertial sensor respectively to obtain the first positioning information and the second positioning information. The first positioning information and the second positioning information obtained by the detection can be used immediately for assembly sequence anomaly detection, or can be stored first, and then data processing and assembly sequence anomaly detection and other operations can be performed after a period of time or after the assembly is completed.

[0069] Step S20: detecting first accessory information according to the first positioning information, the second positioning information and a plurality of preset accessory area position information, wherein the first accessory information is accessory information corresponding to the accessory area where the hand of the assembly operation object is currently located.

[0070] The accessory area refers to the area in the assembly area for placing accessories. The assembly area may be provided with one or more accessory areas, each of which may be used to place different accessories. Therefore, by locating the accessory area where the hand of the assembly operation object is located, the accessory taken by the assembly operation object can be determined. The first accessory information is the relevant information of the accessory picked up by the assembly operation object detected in the current detection round, including at least one of the accessory name, accessory number, and accessory model.

[0071] Exemplarily, after obtaining the first positioning information and the second positioning information, the first positioning information and the second positioning information can be first fused to determine the current positioning information of the hand of the assembly operation object; the current positioning information of the hand of the assembly operation object is matched with multiple preset accessory area position information; if accessory area position information matching the current positioning information is detected, then based on the accessory area position information matching the current positioning information, the target accessory area where the hand of the assembly operation object is currently located is determined, and the first accessory information corresponding to the target accessory area is obtained; if the accessory area position information matching the current positioning information is not detected, it means that the hand of the assembly operation object is not currently in any accessory area, and may be in the process of moving to the accessory area, or may be performing an assembly operation. In this case, this round of detection is completed, and the steps of obtaining the first positioning information and the second positioning information of the hand of the assembly operation object can be returned immediately, or the steps of obtaining the first positioning information and the second positioning information of the hand of the assembly operation object can be executed until the next round of detection time.

[0072] As an example, a method of fusing the first positioning information and the second positioning information includes adopting a sensor fusion algorithm, and the sensor fusion algorithm includes an extended Kalman filter or a particle filter, etc. By detecting separately and then fusing them, the multipath effect of UWB and the drift error of IMU can be effectively reduced, and the stability and accuracy of hand positioning of the assembly operation object can be improved, thereby improving the stability and accuracy of the abnormal assembly sequence alarm.

[0073] Step S30: When it is detected that the first accessory information does not match the second accessory information corresponding to the preset assembly sequence, an assembly sequence abnormality alarm is issued.

[0074] The assembly sequence refers to the assembly sequence of each component in the product, which can be designed and determined in advance according to the actual needs of the product, and this embodiment does not limit this. The second component information refers to the relevant information of the component that should be currently assembled according to the preset assembly sequence.

[0075] The method of abnormal assembly sequence alarm includes at least one of sound alarm, light signal alarm or interface pop-up window alarm, so as to remind the assembly operation object to replace the accessories in time and return to the normal assembly sequence.

[0076] Exemplarily, after detecting that the hand of the assembly operation object is in the accessory area and determining the first accessory information, the second accessory information corresponding to the preset assembly sequence can be obtained first, and the first accessory information can be compared with the second accessory information. If the two match, it means that the currently picked up accessory meets the preset assembly sequence and the current round of detection ends; if the two do not match, it means that the currently picked up accessory does not meet the preset assembly sequence, and an assembly sequence abnormality alarm can be issued.

[0077] As an example, when it is detected that the first accessory information does not match the second accessory information corresponding to the preset assembly order, detailed information of the abnormal event can also be recorded, including at least one of the time information of the abnormality occurrence, relevant information of taking the accessory, and identity information of the assembly operation object.

[0078] In the above-mentioned assembly sequence abnormality alarm method, by obtaining the first positioning information and the second positioning information of the hand of the assembly operation object, wherein the first positioning information is obtained by detecting the wireless ranging sensor, and the second positioning information is obtained by detecting the inertial sensor, dual positioning of the hand of the assembly operation object is achieved, thereby improving the accuracy of the positioning of the hand of the assembly operation object, and then by detecting the first accessory information according to the first positioning information, the second positioning information and a plurality of preset accessory area position information, the first accessory information is detected, and the first accessory information is the accessory information corresponding to the accessory area where the hand of the assembly operation object is currently located, so that the first accessory information of the accessory currently taken by the assembly operation object can be determined; and then by performing an assembly sequence abnormality alarm when it is detected that the first accessory information does not match the second accessory information corresponding to the preset assembly sequence, the monitoring of the assembly sequence is achieved, and an abnormal alarm is performed when it is detected that the assembly sequence does not match the expected sequence, so as to remind the assembly operation object to check and correct the error in time, thereby improving the assembly accuracy.

[0079] In an exemplary embodiment, Figure 2 As shown, obtaining the first positioning information of the hand of the assembly operation object includes steps S111 to S113. Among them:

[0080] Step S111 : collecting a plurality of ultra-wideband distance data through an ultra-wideband system, wherein the ultra-wideband distance data is used to represent the distance between the ultra-wideband tag and each ultra-wideband base station.

[0081] The UWB distance data refers to the distance between the UWB tag and the UWB base station measured using UWB technology. The UWB system includes UWB tags and multiple UWB base stations.

[0082] The ultra-wideband tag can be set on a wearable device worn on the hand of the assembly operation object, and the wearable device includes at least one of a bracelet, a watch, a finger ring, a glove, a finger sleeve, etc. The number of ultra-wideband tags can be one or more. In the case of multiple ultra-wideband tags, the ultra-wideband tags can be respectively set at different positions of the wearable device, or respectively set on different wearable devices worn on the hand of the assembly operation object. Then, the ultra-wideband distance data corresponding to each ultra-wideband tag can be detected respectively, and then fused to obtain the ultra-wideband distance data corresponding to the hand of the assembly operation object, thereby avoiding the situation where some ultra-wideband tags have large positioning errors due to interference in signal transmission, and improving the accuracy of the ultra-wideband distance data corresponding to the hand of the assembly operation object.

[0083] The ultra-wideband base station can be set in the assembly area, at a position where it is not easy to be blocked by the ultra-wideband tag. For example, if the ultra-wideband tag is set on the side of the bracelet close to the back of the hand, the ultra-wideband base station can be set in the top area of ​​the assembly area. The number of ultra-wideband base stations can be one or more. Multiple ultra-wideband base stations can avoid the situation where some ultra-wideband base stations have large positioning errors due to interference in signal transmission, and can improve the positioning accuracy of the hand of the assembly operation object. Generally speaking, when the scope of the assembly area is determined, two ultra-wideband base stations can be set to locate the ultra-wideband tag, but in order to avoid interference in signal transmission between the ultra-wideband base station and the ultra-wideband tag, more ultra-wideband base stations can be set to improve the positioning accuracy.

[0084] Exemplarily, through the UWB system, at least one method selected from one-way time-of-flight ranging, two-way time-of-flight ranging, and arrival time difference ranging can be used to detect the distance between the ultra-wideband tag and each ultra-wideband base station to obtain ultra-wideband distance data.

[0085] Step S112: detecting initial ultra-wideband positioning information of the hand of the assembly operation object according to the ultra-wideband distance data and the preset ultra-wideband base station position information.

[0086] The ultra-wideband base station location information is used to characterize the location of the ultra-wideband base station, and can be determined after the ultra-wideband base station is set.

[0087] Exemplarily, based on the ultra-wideband base station position information of each ultra-wideband base station and the ultra-wideband distance data corresponding to each ultra-wideband base station, the position range of the hand of an assembly operation object can be determined respectively to obtain initial ultra-wideband positioning information, that is, the initial ultra-wideband positioning information is a position range. As an example, the initial ultra-wideband positioning information can represent an arc or a sphere with the base station position of each ultra-wideband base station as the center and the ultra-wideband distance detected by the ultra-wideband base station as the radius. Since the ultra-wideband tag belongs to the position range determined by each ultra-wideband base station, the ultra-wideband tag is at the intersection of all the initial ultra-wideband positioning information.

[0088] Step S113: fusing each initial ultra-wideband positioning information to obtain first positioning information.

[0089] Exemplarily, the initial ultra-wideband positioning information may be integrated to locate the ultra-wideband tag and obtain the first positioning information by solving the intersection of all initial ultra-wideband positioning information, constructing equations, and the like.

[0090] As an example, see Figure 3 , the UWB tag and IMU can be set on the wristband 304, and a UWB base station 306 can be set at each of the four corners of the assembly area 302. Figure 4 , assuming that the coordinates of the UWB tag are O(x,y), the coordinates of the UWB base station are A(x1,y1), B(x2,y2), C(x3,y3) and D(x4,y4), and the positions of the four points A, B, C and D are known, so the AB distance d1, AC distance d2, CD distance d3, AD distance d4, BD distance d5 and BC distance d6 can all be determined, and the AO distance r1, BO distance r2, CO distance r3 and DO distance r4 can be detected by the ultra-wideband system. Therefore, some or all of the following equations can be constructed:

[0091]

[0092]

[0093]

[0094]

[0095]

[0096]

[0097]

[0098]

[0099]

[0100] By solving some or all of the above equations, the coordinates O(x,y) of the UWB tag can be determined.

[0101] In this embodiment, the positioning method using the ultra-wideband system is not affected by the previous detection results, so there will be no error accumulation. At the same time, by setting up multiple ultra-wideband base stations to respectively locate the hands of the assembly operation object and then fusing them, it is possible to avoid the situation where some ultra-wideband tags have large positioning errors due to interference in signal transmission, thereby improving the accuracy of the ultra-wideband distance data corresponding to the hands of the assembly operation object.

[0102] In an exemplary embodiment, collecting a plurality of ultra-wideband distance data by an ultra-wideband system includes steps S1111 to S1114. In which:

[0103] Step S1111: sending a first pulse signal to an ultra-wideband tag through multiple ultra-wideband base stations, where the ultra-wideband tag is set on a wearable device worn on the hand of an assembly operation object.

[0104] Exemplarily, when the hand of the assembly operation object enters a preset assembly area and performs the assembly operation, a first pulse signal with a transmission timestamp can be continuously or periodically sent to an ultra-wideband tag on a wearable device worn on the hand of the assembly operation object through a plurality of pre-set ultra-wideband base stations.

[0105] Step S1112: receiving, through each ultra-wideband base station, a second pulse signal returned by the ultra-wideband tag after receiving the first pulse signal.

[0106] Exemplarily, after receiving the first pulse signal sent by each ultra-wideband base station, the ultra-wideband tag records the receiving timestamp and immediately reflects the first pulse signal, or regenerates and sends a second pulse signal to the ultra-wideband base station. The regenerated second pulse signal may include time information from the ultra-wideband base station to the ultra-wideband tag and then to the ultra-wideband base station, including at least one of the transmission timestamp corresponding to the ultra-wideband base station, the receiving timestamp corresponding to the ultra-wideband tag, and the transmission timestamp corresponding to the ultra-wideband tag. The regenerated second pulse signal may also include identification information of the ultra-wideband base station, identification information of the ultra-wideband tag, etc.

[0107] Step S1113, detecting the signal round trip time between the transmission time of the first pulse signal and the reception time of the second pulse signal.

[0108] Exemplarily, after receiving the first pulse signal, the ultra-wideband base station records the receiving timestamp and extracts the time information from the ultra-wideband base station to the ultra-wideband tag and then to the ultra-wideband base station from the first pulse signal. Combined with the receiving timestamp corresponding to the ultra-wideband base station, the round-trip time of the signal between each ultra-wideband base station and the ultra-wideband tag can be calculated.

[0109] Step S1114: detecting ultra-wideband distance data between the hand of the assembly operation object and each ultra-wideband base station based on the signal round trip time.

[0110] Exemplarily, by multiplying half of the signal round trip time by the preset signal propagation speed, the distance between the UWB tag and each UWB base station can be calculated, and the UWB distance data between the hand of the assembly operation object and each UWB base station can be obtained.

[0111] In this embodiment, the hand of the assembly operation object can be accurately positioned through signal transmission between the ultra-wideband base station and the ultra-wideband tag.

[0112] In an exemplary embodiment, Figure 5 As shown, obtaining the second positioning information of the hand of the assembly operation object includes steps S121 to S122. Among them:

[0113] Step S121, collecting inertial data of the assembly operation object's hand in the current detection round through an inertial sensor, and obtaining initial inertial positioning information of the assembly operation object's hand in the previous detection round, the inertial sensor is set on a wearable device worn by the assembly operation object's hand.

[0114] Among them, inertial data refers to the motion state data of the object equipped with the inertial sensor measured by the inertial sensor, including at least one of acceleration and angular velocity. The initial inertial positioning information is the position information of the hand of the assembly operation object determined by the inertial sensor detection in the previous detection round. It can be understood that for the first inertial positioning, the initial position of the hand of the assembly operation object can be determined in advance, and the initial position is set as the initial inertial positioning information corresponding to the first inertial positioning. After each determination of the second positioning information of the current detection round, the initial inertial positioning information can also be updated based on the second positioning information of the current detection round for use in the next detection round.

[0115] As an example, the assembly operation object may be required to start from an initial position each time it enters a preset assembly area to perform an assembly operation, or the initial position may be set on a necessary path for the assembly operation, such as a hand entrance of the assembly area or a switch of the assembly area.

[0116] As an example, since the error of inertial sensor positioning is easy to accumulate, resulting in increasing errors, the initial inertial positioning information can be initialized during the assembly operation. For example, the sensor set at the initial position can be a button, and the assembly operation object can press the button during the assembly operation to initialize the initial inertial positioning information.

[0117] Exemplarily, an inertial sensor set on a wearable device worn on the hand of the assembly operation subject can be used to detect the movement state of the hand of the assembly operation subject, determine the inertial data of the hand of the assembly operation subject in the current detection round, and obtain the initial inertial positioning information of the hand of the assembly operation subject determined in the previous detection round.

[0118] Step S122, positioning the hand of the assembly operation object according to the inertial data and the initial inertial positioning information, and obtaining second positioning information of the hand of the assembly operation object in the current detection round.

[0119] Exemplarily, based on the initial inertial positioning information, the starting point of the movement of the assembly operation object during the period from the last detection round to the current detection round can be determined. Based on the inertial data, the motion trajectory of the assembly operation object during the period from the last detection round to the current detection round can be determined. By combining the motion starting point and the motion trajectory, the current position of the assembly operation object after moving along the motion trajectory corresponding to the inertial data from the motion starting point corresponding to the initial inertial positioning information can be determined, thereby obtaining the second positioning information of the hand of the assembly operation object in the current detection round.

[0120] In this embodiment, by detecting the inertial data of the hand of the assembly operation object over a period of time through the inertial sensor, the movement trajectory of the hand of the assembly operation object can be simulated more accurately, thereby achieving accurate positioning of the hand of the assembly operation object. The detection process does not rely on any signal transmission and is therefore not easily affected by external environment interference.

[0121] In an exemplary embodiment, the inertial data includes angular velocity and acceleration; based on the inertial data and the initial inertial positioning information, the hand of the assembly operation object is positioned to obtain the second positioning information of the hand of the assembly operation object in the current detection round, including steps S1221 to S1223. Wherein:

[0122] Step S1221, obtaining the initial moving direction and initial moving speed of the hand of the assembly operation object, and the detection interval time between the previous detection round and the current detection round.

[0123] Among them, the initial moving direction is the moving direction of the hand of the assembly operation object in the previous detection round, and the initial moving speed is the moving speed of the hand of the assembly operation object in the previous detection round. It can be understood that the initial moving direction and initial moving speed corresponding to the first inertial positioning can be preset initial values, such as 0. After each determination of the target moving direction and target moving distance of the current detection round, the initial moving direction and initial moving speed can also be updated based on the target moving direction and target moving distance of the current detection round for use in the next detection round.

[0124] The angular velocity is collected by the gyroscope integrated in the inertial sensor. The gyroscope measures the rotation speed of an object around its axis and outputs the angular velocity. As an example, the output angular velocity of a three-axis gyroscope is ω=[ω x ,ω y ,ω z ], which represents the angular velocity of the object around each axis. The acceleration is collected by the accelerometer integrated in the inertial sensor. The accelerometer measures the acceleration of the object, but it is also affected by gravity during free fall. The output acceleration of the three-axis accelerometer is a=[a x ,a y ,a z ], including acceleration component and gravity component.

[0125] Exemplarily, the initial movement direction and initial movement speed of the hand of the assembly operation object determined in the previous detection round and the detection interval time between the previous detection round and the current detection round are obtained. It can be understood that the detection interval time can be the difference between the timestamp of the previous detection round and the timestamp of the current detection round, or a unified detection interval time can be set in advance, for example, the hand of the assembly operation object is positioned once every t1 seconds.

[0126] Step S1222, based on the initial moving direction, detection interval time and angular velocity, the target moving direction of the hand of the assembly operation object is detected, and based on the acceleration, detection interval time and initial moving velocity, the target moving distance of the hand of the assembly operation object is detected.

[0127] Exemplarily, based on the detection interval time and angular velocity, the directional change of the assembly operation object's hand within the detection interval time can be calculated. Combined with the initial movement direction, the current target movement direction of the assembly operation object's hand can be determined. Based on the integration of the acceleration, the movement speed of the assembly operation object's hand within the detection interval time can be calculated. By integrating the movement speed, the target movement distance of the assembly operation object's hand from the previous detection round to the current detection round can be calculated.

[0128] As an example, the relationship between the moving speed v, the acceleration a, and the detection time interval t can be constructed:t =v t-1 +a t *Δt, where t represents the current detection round and t-1 represents the previous detection round; the moving speed can be determined by integrating the acceleration. Construct the relationship between the moving distance p, the moving speed v and the detection time interval t: p t =p t-1 +v t *Δt; Integrate the velocity to determine the distance traveled.

[0129] Step S1223, based on the target moving direction, the target moving distance and the initial inertial positioning information, the hand of the assembly operation object is positioned to obtain second positioning information of the hand of the assembly operation object in the current detection round.

[0130] Exemplarily, based on the initial inertial positioning information, the movement starting point of the assembly operation object during the period from the last detection round to the current detection round can be determined. Based on the target movement direction and the target movement distance, the movement trajectory of the assembly operation object during the period from the last detection round to the current detection round can be determined. By combining the movement starting point and the movement trajectory, the current position of the assembly operation object after moving along the movement trajectory corresponding to the inertial data from the movement starting point corresponding to the initial inertial positioning information can be determined, thereby obtaining the second positioning information of the hand of the assembly operation object in the current detection round.

[0131] In this embodiment, the moving direction of the assembly operation object can be determined by the angular velocity, and the moving speed of the assembly operation object can be determined by the acceleration. By combining the moving direction and the moving speed, the moving trajectory of the assembly operation object can be determined more accurately.

[0132] In an exemplary embodiment, Figure 6 As shown, obtaining the first positioning information and the second positioning information of the hand of the assembly operation object includes steps S131 to S133. Among them:

[0133] Step S131, obtaining first current positioning information, first historical positioning information, first future positioning information, second current positioning information, second historical positioning information and second future positioning information.

[0134] Among them, the first current positioning information is the positioning information of the hand of the assembly operation object detected by the wireless ranging sensor in the current detection round; the first historical positioning information is the positioning information of the hand of the assembly operation object detected by the wireless ranging sensor in a historical period before the current detection round; the first future positioning information is the positioning information of the hand of the assembly operation object detected by the wireless ranging sensor in a future period after the current detection round. The second current positioning information is the positioning information of the hand of the assembly operation object detected by the inertial sensor in the current detection round; the second historical positioning information is the positioning information of the hand of the assembly operation object detected by the inertial sensor in a historical period before the current detection round; the second future positioning information is the positioning information of the hand of the assembly operation object detected by the inertial sensor in a future period after the current detection round.

[0135] Exemplarily, at the beginning of the current detection round, the first current positioning information is detected by the wireless ranging sensor, and the second current positioning information is detected by the inertial sensor, the first current positioning information and the second current positioning information are stored, timing is started or future detection rounds are counted, and the next detection round is waited for to start; at the beginning of the next detection round, the first future positioning information is detected by the wireless ranging sensor, and the second future positioning information is detected by the inertial sensor, the first future positioning information and the second future positioning information are stored, and it is determined whether the timing and counting meet the preset timing requirements or the pre-designed timing requirements; if the preset timing requirements or the pre-designed timing requirements are not met, continue to wait for the next detection round to start, and continue to detect the first future positioning information and the second future positioning information; if the preset timing requirements or the pre-designed timing requirements are met, determine the first current positioning information, the first future positioning information, the second current positioning information and the second future positioning information corresponding to the current detection round; according to the preset historical time requirements or the historical round requirements, obtain the first historical positioning information and the second historical positioning information that meet the preset historical time requirements or the historical round requirements. For example, the preset historical time requirement may be t1 second, the first historical positioning information is the positioning information detected by the wireless ranging sensor within t1 seconds before the current moment, and the second historical positioning information is the positioning information detected by the inertial sensor within t1 seconds before the current moment; the preset number requirement may be n1 times, the first future positioning information is the positioning information detected by the wireless ranging sensor n1 times after the current detection round, and the second future positioning information is the positioning information detected by the inertial sensor n1 times after the current detection round.

[0136] Step S132: When it is determined that the data error of the first current positioning information is less than a preset first error threshold based on the first current positioning information, the first historical positioning information and the first future positioning information, the first current positioning information is determined as the first positioning information.

[0137] The data error may be determined by calculating the deviation, variance, etc. between the current positioning data and the average value of the data set. The specific determination may be based on actual conditions, and this embodiment does not impose any limitation on this.

[0138] Exemplarily, based on the first current positioning information, the first historical positioning information and the first future positioning information, the data error of the first current positioning information is calculated; if the data error of the first current positioning information is less than a preset first error threshold, the first current positioning information is determined to be reliable, and the first current positioning information is determined to be the first positioning information for subsequent assembly sequence anomaly detection; if the data error of the first current positioning information is greater than or equal to the preset first error threshold, it means that the first current positioning information itself is abnormal. If it is used for subsequent assembly sequence anomaly detection, the accuracy of the assembly sequence anomaly detection will be reduced. Therefore, the first current positioning information can be cleaned up as abnormal data.

[0139] Step S133: When it is determined that the data error of the second current positioning information is less than a preset second error threshold based on the second current positioning information, the second historical positioning information and the second future positioning information, the second current positioning information is determined as the second positioning information.

[0140] Exemplarily, based on the second current positioning information, the second historical positioning information and the second future positioning information, the data error of the second current positioning information is calculated; if the data error of the second current positioning information is less than a preset second error threshold, the second current positioning information is determined to be reliable, and the second current positioning information is determined to be the second positioning information for subsequent assembly sequence anomaly detection; if the data error of the second current positioning information is greater than or equal to the preset second error threshold, it means that the second current positioning information itself is abnormal. If it is used for subsequent assembly sequence anomaly detection, the accuracy of the assembly sequence anomaly detection will be reduced. Therefore, the second current positioning information can be cleaned up as abnormal data.

[0141] In this embodiment, before performing assembly sequence anomaly detection, a simple data error analysis may be performed to eliminate data with obvious anomalies, thereby improving the accuracy of assembly sequence anomaly detection.

[0142] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0143] Based on the same inventive concept, the embodiment of the present application also provides an assembly sequence abnormality alarm device for implementing the assembly sequence abnormality alarm method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the one or more assembly sequence abnormality alarm device embodiments provided below can refer to the limitations of the assembly sequence abnormality alarm method above, and will not be repeated here.

[0144] In an exemplary embodiment, Figure 7 As shown, an assembly sequence abnormality alarm device is provided, including: an acquisition module 702, a detection module 704 and an alarm module 706, wherein:

[0145] An acquisition module 702 is used to acquire first positioning information and second positioning information of a hand of an assembly operation object, wherein the first positioning information is obtained by detecting a wireless ranging sensor, and the second positioning information is obtained by detecting an inertial sensor;

[0146] A detection module 704 is used to detect first accessory information according to the first positioning information, the second positioning information and a plurality of preset accessory area position information, where the first accessory information is accessory information corresponding to the accessory area where the hand of the assembly operation object is currently located;

[0147] The alarm module 706 is used to generate an alarm for abnormal assembly sequence when it is detected that the first accessory information does not match the second accessory information corresponding to the preset assembly sequence.

[0148] In an exemplary embodiment, the wireless ranging sensor includes an ultra-wideband system, the ultra-wideband system includes an ultra-wideband tag and a plurality of ultra-wideband base stations, and the ultra-wideband tag is set on a wearable device worn on the hand of the assembly operation object; the acquisition module 702 is also used for:

[0149] Collecting a plurality of ultra-wideband distance data through an ultra-wideband system, wherein the ultra-wideband distance data is used to characterize the distance between the ultra-wideband tag and each ultra-wideband base station;

[0150] Detecting initial ultra-wideband positioning information of the hand of the assembly operation object according to the ultra-wideband distance data and the preset ultra-wideband base station position information;

[0151] The initial ultra-wideband positioning information is integrated to obtain the first positioning information.

[0152] In an exemplary embodiment, the acquisition module 702 is further configured to:

[0153] Sending a first pulse signal to an ultra-wideband tag through multiple ultra-wideband base stations, where the ultra-wideband tag is set on a wearable device worn on the hand of an assembly operation object;

[0154] Receiving, by each ultra-wideband base station, a second pulse signal returned by the ultra-wideband tag after receiving the first pulse signal;

[0155] Detecting a signal round trip time between a transmission time of a first pulse signal and a reception time of a second pulse signal;

[0156] Based on the signal round-trip time, the ultra-wideband distance data between the hand of the assembly operation object and each ultra-wideband base station is detected.

[0157] In an exemplary embodiment, the acquisition module 702 is further configured to:

[0158] The inertial sensor is used to collect inertial data of the hand of the assembly operation object in the current detection round, and the initial inertial positioning information of the hand of the assembly operation object in the previous detection round is obtained. The inertial sensor is set on a wearable device worn by the hand of the assembly operation object;

[0159] The hand of the assembly operation object is positioned according to the inertial data and the initial inertial positioning information to obtain second positioning information of the hand of the assembly operation object in the current detection round.

[0160] In an exemplary embodiment, the inertial data includes angular velocity and acceleration; the acquisition module 702 is further used to:

[0161] Obtain the initial moving direction and initial moving speed of the hand of the assembly operation object, as well as the detection interval time between the previous detection round and the current detection round;

[0162] Detecting a target moving direction of the hand of the assembly operation object based on the initial moving direction, the detection interval time, and the angular velocity, and detecting a target moving distance of the hand of the assembly operation object based on the acceleration, the detection interval time, and the initial moving velocity;

[0163] Based on the target moving direction, the target moving distance and the initial inertial positioning information, the hand of the assembly operation object is positioned to obtain second positioning information of the hand of the assembly operation object in the current detection round.

[0164] In an exemplary embodiment, the acquisition module 702 is further configured to:

[0165] Obtaining first current positioning information, first historical positioning information, first future positioning information, second current positioning information, second historical positioning information, and second future positioning information;

[0166] If it is determined based on the first current positioning information, the first historical positioning information and the first future positioning information that a data error of the first current positioning information is less than a preset first error threshold, the first current positioning information is determined as the first positioning information;

[0167] When it is determined based on the second current positioning information, the second historical positioning information and the second future positioning information that the data error of the second current positioning information is less than a preset second error threshold, the second current positioning information is determined as the second positioning information.

[0168] Each module in the above-mentioned assembly sequence abnormality alarm device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0169] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 8As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, an assembly sequence abnormality alarm method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0170] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0171] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0172] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0173] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0174] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0175] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0176] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0177] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. An assembly sequence abnormality alarm method, characterized in that: The method comprises: Acquire first positioning information and second positioning information of a hand of an assembly operation object, wherein the first positioning information is obtained by detecting a wireless ranging sensor, and the second positioning information is obtained by detecting an inertial sensor; Detecting first accessory information according to the first positioning information, the second positioning information and a plurality of preset accessory area position information, where the first accessory information is accessory information corresponding to the accessory area where the hand of the assembly operation object is currently located; When it is detected that the first accessory information does not match the second accessory information corresponding to the preset assembly sequence, an assembly sequence abnormality alarm is issued.

2. The method according to claim 1, characterized in that The wireless ranging sensor includes an ultra-wideband system, the ultra-wideband system includes an ultra-wideband tag and a plurality of ultra-wideband base stations, and the ultra-wideband tag is arranged on a wearable device worn on the hand of the assembly operation object; Obtaining the first positioning information of the hand of the assembly operation object includes: Collecting a plurality of ultra-wideband distance data through the ultra-wideband system, wherein the ultra-wideband distance data is used to characterize the distance between the ultra-wideband tag and each ultra-wideband base station; Detecting initial ultra-wideband positioning information of the hand of the assembly operation object according to the ultra-wideband distance data and preset ultra-wideband base station position information; The initial ultra-wideband positioning information is integrated to obtain the first positioning information.

3. The method according to claim 2, characterized in that The collecting of a plurality of ultra-wideband distance data by the ultra-wideband system comprises: Sending a first pulse signal to an ultra-wideband tag through a plurality of ultra-wideband base stations, wherein the ultra-wideband tag is disposed on a wearable device worn on a hand of an assembly operation subject; Receiving, by each of the ultra-wideband base stations, a second pulse signal returned by the ultra-wideband tag after receiving the first pulse signal; Detecting a signal round trip time between a transmission time of the first pulse signal and a reception time of the second pulse signal; Based on the signal round trip time, ultra-wideband distance data between the hand of the assembly operation object and each of the ultra-wideband base stations is detected.

4. The method according to claim 1, characterized in that: Obtaining the second positioning information of the hand of the assembly operation object, including: The inertial data of the hand of the assembly operation object in the current detection round is collected by an inertial sensor, and the initial inertial positioning information of the hand of the assembly operation object in the previous detection round is obtained, wherein the inertial sensor is set on a wearable device worn by the hand of the assembly operation object; The hand of the assembly operation object is positioned according to the inertial data and the initial inertial positioning information to obtain second positioning information of the hand of the assembly operation object in the current detection round.

5. The method according to claim 4, characterized in that The inertial data includes angular velocity and acceleration; the positioning of the hand of the assembly operation object according to the inertial data and the initial inertial positioning information to obtain the second positioning information of the hand of the assembly operation object in the current detection round includes: Obtain the initial moving direction and initial moving speed of the hand of the assembly operation object, as well as the detection interval time between the previous detection round and the current detection round; Detecting a target moving direction of the hand of the assembly operation object based on the initial moving direction, the detection interval time and the angular velocity, and detecting a target moving distance of the hand of the assembly operation object based on the acceleration, the detection interval time and the initial moving velocity; Based on the target moving direction, the target moving distance and the initial inertial positioning information, the hand of the assembly operation object is positioned to obtain second positioning information of the hand of the assembly operation object in the current detection round.

6. The method according to any one of claims 1 to 5, characterized in that: The step of obtaining the first positioning information and the second positioning information of the hand of the assembly operation object includes: Obtaining first current positioning information, first historical positioning information, first future positioning information, second current positioning information, second historical positioning information, and second future positioning information; If it is determined based on the first current positioning information, the first historical positioning information, and the first future positioning information that a data error of the first current positioning information is less than a preset first error threshold, determining the first current positioning information as the first positioning information; When it is determined based on the second current positioning information, the second historical positioning information and the second future positioning information that the data error of the second current positioning information is less than a preset second error threshold, the second current positioning information is determined as the second positioning information.

7. An assembly sequence abnormality alarm device, characterized in that: The device comprises: An acquisition module, used to acquire first positioning information and second positioning information of a hand of an assembly operation object, wherein the first positioning information is obtained by detecting a wireless ranging sensor, and the second positioning information is obtained by detecting an inertial sensor; a detection module, configured to detect first accessory information according to the first positioning information, the second positioning information and a plurality of preset accessory area position information, wherein the first accessory information is accessory information corresponding to the accessory area where the hand of the assembly operation object is currently located; The alarm module is used to issue an assembly sequence abnormality alarm when it is detected that the first accessory information does not match the second accessory information corresponding to the preset assembly sequence.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

Images