Automobile body-in-white hanging method and system

Abstract

The invention provides an automobile body-in-white transfer method and system, and the method comprises the steps: carrying out the full scanning of an automobile body-in-white through a preset sensor array, so as to detect a target body parameter corresponding to the body-in-white in real time; on the basis of a preset rule, a grabbing control instruction corresponding to the automobile body in white is generated in real time according to the automobile body parameters, and the grabbing control instruction is correspondingly transmitted to a preset holding tool system so that the preset holding tool system can be correspondingly adjusted to the target grabbing posture; creating a digital twin model corresponding to the automobile body in white and a preset holding tool system in real time through a preset program, and performing a corresponding virtual transfer experiment according to the digital twin model so as to generate an optimal transfer path corresponding to the automobile body in white in real time; and correspondingly finishing the transfer of the automobile body in white according to the target grabbing posture through a preset holding tool system based on the optimal transfer path, wherein the target automobile body parameter has uniqueness. The process of manual operation can be omitted, and the working efficiency is correspondingly improved.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a method and system for transferring a vehicle body-in-white. Background Art

[0002] With the advancement of science and technology and the rapid development of productivity, cars have become popular in people's daily lives, greatly improving people's travel efficiency and making people's lives more convenient.

[0003] Among them, in the actual production process of existing automobiles, it is necessary to first manufacture the white body of the automobile, and then further paint the white body. In this process, the white body of the automobile needs to be transferred to the painting production line to complete the painting of the white body surface, so as to complete the subsequent final assembly.

[0004] Furthermore, in the prior art, in the process of transferring the automobile body-in-white to the painting production line, most of the corresponding staff and corresponding semi-automatic equipment are arranged. In the actual transfer process, the transfer of the automobile body-in-white is mainly completed manually by the staff using the semi-automatic equipment. However, since this transfer method has no standard transfer route, the transfer of the automobile body-in-white mainly relies on the subjective experience of the staff, which is prone to certain deviations, which is not conducive to subsequent production and correspondingly reduces the production efficiency of the automobile. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide a method and system for transferring the automobile body in white, so as to solve the problem that in the process of transferring the automobile body in white in the prior art, the transfer mainly relies on the subjective experience of the staff, which leads to easy deviation.

[0006] The first aspect of the embodiment of the present invention proposes: A method for transferring a vehicle body in white, wherein the method comprises: When it is detected in real time that the automobile body-in-white arrives at a preset detection area, the automobile body-in-white is fully scanned by a preset sensor array to detect target body parameters corresponding to the automobile body-in-white in real time; Based on the preset rules, a gripping control instruction corresponding to the automobile body-in-white is generated in real time according to the target body parameters, and the gripping control instruction is transmitted to the preset gripping system to adjust the preset gripping system to the target gripping posture; A digital twin model corresponding to the automobile body-in-white and the preset gripping system is created in real time through a preset program, and a corresponding virtual transfer and hanging experiment is performed according to the digital twin model to generate an optimal transfer and hanging path corresponding to the automobile body-in-white in real time; Based on the optimal transfer path, the preset gripping system completes the transfer of the automobile body in white according to the target grasping posture, and the target body parameters are unique.

[0007] The beneficial effects of the present invention are as follows: by performing a full scan of the automobile body-in-white detected in real time, the target body parameters corresponding to the body-in-white can be detected in real time, based on which, a grabbing control instruction corresponding to the current automobile body-in-white can be generated in real time, and the grabbing posture of the preset gripping system can be adjusted accordingly through the grabbing control instruction, based on which, finally, the optimal transfer path corresponding to the current automobile body-in-white can be simulated in real time through a preset program, and the current gripping system can complete the transfer of the automobile body-in-white according to the current optimal transfer path and the target grabbing posture, thereby eliminating the manual operation process, eliminating the deviation accordingly, and improving work efficiency at the same time.

[0008] Furthermore, the step of generating a grab control instruction corresponding to the automobile body-in-white in real time according to the target body parameters based on preset rules includes: When the target vehicle body parameters are acquired in real time, the target vehicle body parameters are analyzed and processed in real time to extract the vehicle body size, body shape and body structure corresponding to the vehicle body in white in real time; A corresponding body-in-white model is created in real time according to the body size, the body shape and the body structure through a preset three-dimensional software, and a dynamic analysis is performed on the body-in-white model to output gripping parameters corresponding to the gripping system in real time; A grabbing control instruction corresponding to the automobile body-in-white is generated in real time according to the grabbing parameters.

[0009] Furthermore, the step of generating a gripping control instruction corresponding to the automobile body-in-white in real time according to the gripping parameters comprises: When the body-in-white model is acquired in real time, the grasping posture between the holding system and the body-in-white model is simulated in real time by the preset three-dimensional software; According to the grasping posture, a number of contact points and a number of contact surfaces generated between the grasping system and the body-in-white model are detected in real time, and the grasping force, grasping speed and grasping torque generated by the grasping system are detected in real time at the contact points and the contact surfaces; The grasping force, the grasping speed, and the grasping torque are integrated to generate the grasping parameters accordingly, and the grasping control instructions are generated according to the grasping parameters.

[0010] Furthermore, the step of generating the grab control instruction according to the grab parameters includes: When the grabbing parameters are acquired in real time, the grabbing parameters are fully scanned to detect in real time several target parameter values ​​contained in the grabbing parameters; Classifying the target parameter values ​​to generate a number of parameter sets, and converting each parameter set into a local control code corresponding thereto; Each of the local control codes is spliced ​​to generate a corresponding target control code in real time, and the target control code is converted into the grab control instruction in real time.

[0011] Furthermore, the step of performing a corresponding virtual transfer experiment according to the digital twin model to generate an optimal transfer path corresponding to the automobile body in white in real time includes: When the digital twin model is acquired in real time, an iterative grasping experiment is performed on the digital twin model through the preset program; During the iterative grasping experiment of the digital twin model, the experimental transfer path generated by the digital twin model after grasping is collected in real time; Each of the experimental transfer paths is analyzed to generate an optimal transfer path corresponding to the automobile body-in-white in real time.

[0012] Furthermore, the step of analyzing each of the experimental transfer paths to generate an optimal transfer path corresponding to the automobile body-in-white in real time includes: When each of the experimental transfer paths is detected in real time, a real-time transfer endpoint corresponding to each of the experimental transfer paths is detected in real time; Calculate in real time the target difference between the real-time transfer and hanging end point of each of the experimental transfer and hanging paths and the preset standard transfer and hanging end point, and sort each of the experimental transfer and hanging paths according to the size of the target difference, so as to generate a corresponding first sorting table in real time; The optimal transfer path is selected according to the first sorting table.

[0013] Furthermore, the step of selecting the optimal transfer path according to the first sorting table includes: When the first ranking table is obtained in real time, the transfer time corresponding to each of the experimental transfer paths is calculated in real time; The rankings in the first sorting table are re-sorted according to the transfer time to generate a corresponding second sorting table in real time, and the first place in the second sorting table is set as the optimal transfer path.

[0014] The second aspect of the embodiment of the present invention proposes: A vehicle body-in-white transfer system, wherein the system comprises: A detection module, for, when it is detected in real time that the automobile body-in-white arrives at a preset detection area, performing a full scan of the automobile body-in-white through a preset sensor array, so as to detect in real time target body parameters corresponding to the automobile body-in-white; An adjustment module, for generating a gripping control instruction corresponding to the automobile body-in-white in real time according to the target body parameters based on preset rules, and transmitting the gripping control instruction to a preset gripping system to adjust the preset gripping system to a target gripping posture; A creation module, used to create a digital twin model corresponding to the automobile body-in-white and the preset gripping system in real time through a preset program, and perform a corresponding virtual transfer and hanging experiment according to the digital twin model to generate an optimal transfer and hanging path corresponding to the automobile body-in-white in real time; A processing module is used to complete the transfer of the automobile body in white based on the optimal transfer path through the preset gripping system according to the target grasping posture, and the target body parameters are unique.

[0015] Furthermore, the adjustment module is specifically used for: When the target vehicle body parameters are acquired in real time, the target vehicle body parameters are analyzed and processed in real time to extract the vehicle body size, body shape and body structure corresponding to the vehicle body in white in real time; A corresponding body-in-white model is created in real time according to the body size, the body shape and the body structure through a preset three-dimensional software, and a dynamic analysis is performed on the body-in-white model to output gripping parameters corresponding to the gripping system in real time; A grabbing control instruction corresponding to the automobile body-in-white is generated in real time according to the grabbing parameters.

[0016] Furthermore, the adjustment module is specifically used for: When the body-in-white model is acquired in real time, the grasping posture between the holding system and the body-in-white model is simulated in real time by the preset three-dimensional software; According to the grasping posture, a number of contact points and a number of contact surfaces generated between the grasping system and the body-in-white model are detected in real time, and the grasping force, grasping speed and grasping torque generated by the grasping system are detected in real time at the contact points and the contact surfaces; The grasping force, the grasping speed, and the grasping torque are integrated to generate the grasping parameters accordingly, and the grasping control instructions are generated according to the grasping parameters.

[0017] Furthermore, the adjustment module is specifically used for: When the grabbing parameters are acquired in real time, the grabbing parameters are fully scanned to detect in real time several target parameter values ​​contained in the grabbing parameters; Classifying the target parameter values ​​to generate a number of parameter sets, and converting each parameter set into a local control code corresponding thereto; Each of the local control codes is spliced ​​to generate a corresponding target control code in real time, and the target control code is converted into the grab control instruction in real time.

[0018] Furthermore, the creation module is specifically used for: When the digital twin model is acquired in real time, an iterative grasping experiment is performed on the digital twin model through the preset program; During the iterative grasping experiment of the digital twin model, the experimental transfer path generated by the digital twin model after grasping is collected in real time; Each of the experimental transfer paths is analyzed to generate an optimal transfer path corresponding to the automobile body-in-white in real time.

[0019] Furthermore, the creation module is specifically used for: When each of the experimental transfer paths is detected in real time, a real-time transfer endpoint corresponding to each of the experimental transfer paths is detected in real time; Calculate in real time the target difference between the real-time transfer and hanging end point of each of the experimental transfer and hanging paths and the preset standard transfer and hanging end point, and sort each of the experimental transfer and hanging paths according to the size of the target difference, so as to generate a corresponding first sorting table in real time; The optimal transfer path is selected according to the first sorting table.

[0020] Furthermore, the creation module is specifically used for: When the first ranking table is obtained in real time, the transfer time corresponding to each of the experimental transfer paths is calculated in real time; The rankings in the first sorting table are re-sorted according to the transfer time to generate a corresponding second sorting table in real time, and the first place in the second sorting table is set as the optimal transfer path.

[0021] The third aspect of the embodiment of the present invention proposes: A computer comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned automobile body-in-white transfer method when executing the computer program.

[0022] The fourth aspect of the embodiments of the present invention proposes: A readable storage medium stores a computer program, wherein the program, when executed by a processor, implements the automobile body-in-white transfer method as described above.

[0023] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A flow chart of a method for transferring a vehicle body-in-white provided in a first embodiment of the present invention; Figure 2 This is a structural block diagram of a vehicle body-in-white transfer system provided in the third embodiment of the present invention.

[0025] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0026] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0027] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0029] See also Figure 1 , shown is a method for transferring the automobile body-in-white provided by the first embodiment of the present invention. The method for transferring the automobile body-in-white provided by this embodiment can save the manual operation process, eliminate the deviation accordingly, and improve the work efficiency at the same time.

[0030] Specifically, this embodiment provides: A method for transferring a vehicle body in white comprises the following steps: Step S10, when it is detected in real time that the automobile body-in-white arrives at a preset detection area, the automobile body-in-white is fully scanned by a preset sensor array to detect target body parameters corresponding to the automobile body-in-white in real time; Step S20, generating a gripping control instruction corresponding to the automobile body-in-white in real time according to the target body parameters based on a preset rule, and transmitting the gripping control instruction to a preset gripping system to adjust the preset gripping system to a target gripping posture; Step S30, creating a digital twin model corresponding to the automobile body-in-white and the preset gripping system in real time through a preset program, and performing a corresponding virtual transfer and hanging experiment according to the digital twin model to generate an optimal transfer and hanging path corresponding to the automobile body-in-white in real time; Step S40, based on the optimal transfer path, the preset gripping system completes the transfer of the automobile body in white according to the target grasping posture, and the target body parameters are unique.

[0031] Specifically, in this embodiment, it should be noted that in order to quickly and effectively complete the transfer of the automobile body in white, it is necessary to accurately obtain vehicle information related to the automobile body in white. Based on this, the gripping posture and transfer path of the gripping system are adjusted in a targeted manner, so that the transfer of the automobile body in white can be completed quickly and effectively without causing deviations. Specifically, in the actual application process, different vehicle models will have different corresponding parameters such as body size and body shape. Based on this, in order to meet the requirements of different vehicle models at the same time, the present invention will pre-set a detection area for detecting the automobile body-in-white, and will pre-arrange the corresponding sensor array inside the detection area. Based on this, when the body-in-white is detected to enter the detection area in real time, the current sensor array will immediately perform a full scan of the current automobile body-in-white, and can scan out the target body parameters corresponding to the current automobile body-in-white in real time. Based on this, in order to be able to complete the control of the gripping system in a targeted manner, the present invention will immediately convert the current target body parameters according to the pre-set rules, and can generate a corresponding grasping control instruction corresponding to the current automobile body-in-white, and can transmit the grasping control instruction to the preset gripping system in real time. Based on this, after the processor set in the gripping system receives the grasping control instruction, it will adjust the grasping posture of the current gripping system to the required target grasping posture. It should be pointed out that the target grasping posture can be well coordinated with the current automobile body-in-white for subsequent processing.

[0032] Furthermore, after the gripping system is adjusted to the target grasping posture through the above steps, it is necessary to further determine the transfer path corresponding to the current gripping system. Preferably, the present invention will further create a digital twin model corresponding to the current automobile body in white and the gripping system in real time through existing three-dimensional programs such as ug or solidworks, wherein it should be noted that the digital twin model is a proportional model corresponding to the real object. Based on this, the current digital twin model can be subjected to a corresponding virtual transfer experiment in real time within the current three-dimensional program, that is, the transfer action of the current gripping system is iteratively simulated. Based on this, the optimal transfer path corresponding to the current automobile body in white can be finally generated. On this basis, the current gripping system can complete the transfer of the automobile body in white according to the current optimal transfer path in the above-mentioned target grasping posture, thereby eliminating the manual operation process, eliminating the deviation accordingly, and improving work efficiency at the same time.

[0033] Second embodiment Furthermore, the step of generating a grab control instruction corresponding to the automobile body-in-white in real time according to the target body parameters based on a preset rule includes: When the target vehicle body parameters are acquired in real time, the target vehicle body parameters are analyzed and processed in real time to extract the vehicle body size, body shape and body structure corresponding to the vehicle body in white in real time; A corresponding body-in-white model is created in real time according to the body size, the body shape and the body structure through a preset three-dimensional software, and a dynamic analysis is performed on the body-in-white model to output gripping parameters corresponding to the gripping system in real time; A grabbing control instruction corresponding to the automobile body-in-white is generated in real time according to the grabbing parameters.

[0034] Furthermore, the step of generating a gripping control instruction corresponding to the automobile body-in-white in real time according to the gripping parameters comprises: When the body-in-white model is acquired in real time, the grasping posture between the holding system and the body-in-white model is simulated in real time by the preset three-dimensional software; According to the grasping posture, a number of contact points and a number of contact surfaces generated between the grasping system and the body-in-white model are detected in real time, and the grasping force, grasping speed and grasping torque generated by the grasping system are detected in real time at the contact points and the contact surfaces; The grasping force, the grasping speed, and the grasping torque are integrated to generate the grasping parameters accordingly, and the grasping control instructions are generated according to the grasping parameters.

[0035] Furthermore, the step of generating the grab control instruction according to the grab parameters includes: When the grabbing parameters are acquired in real time, the grabbing parameters are fully scanned to detect in real time several target parameter values ​​contained in the grabbing parameters; Classifying the target parameter values ​​to generate a number of parameter sets, and converting each parameter set into a local control code corresponding thereto; Each of the local control codes is spliced ​​to generate a corresponding target control code in real time, and the target control code is converted into the grab control instruction in real time.

[0036] Furthermore, the step of performing a corresponding virtual transfer experiment according to the digital twin model to generate an optimal transfer path corresponding to the automobile body in white in real time includes: When the digital twin model is acquired in real time, an iterative grasping experiment is performed on the digital twin model through the preset program; During the iterative grasping experiment of the digital twin model, the experimental transfer path generated by the digital twin model after grasping is collected in real time; Each of the experimental transfer paths is analyzed to generate an optimal transfer path corresponding to the automobile body-in-white in real time.

[0037] Furthermore, the step of analyzing each of the experimental transfer paths to generate an optimal transfer path corresponding to the automobile body-in-white in real time includes: When each of the experimental transfer paths is detected in real time, a real-time transfer endpoint corresponding to each of the experimental transfer paths is detected in real time; Calculate in real time the target difference between the real-time transfer and hanging end point of each of the experimental transfer and hanging paths and the preset standard transfer and hanging end point, and sort each of the experimental transfer and hanging paths according to the size of the target difference, so as to generate a corresponding first sorting table in real time; The optimal transfer path is selected according to the first sorting table.

[0038] Furthermore, the step of selecting the optimal transfer path according to the first sorting table includes: When the first ranking table is obtained in real time, the transfer time corresponding to each of the experimental transfer paths is calculated in real time; The rankings in the first sorting table are re-sorted according to the transfer time to generate a corresponding second sorting table in real time, and the first place in the second sorting table is set as the optimal transfer path.

[0039] In addition, in the present embodiment, it is also necessary to explain that after the required target vehicle body parameters are obtained in real time through the above steps, it is necessary to parse and process the current target vehicle body parameters in real time to generate the required grab control instructions. Specifically, in the actual application process, since the current target vehicle body parameters contain a large number of different types of data, based on this, in order to shorten the data processing time, the present invention will extract the required key parameters in real time from the current target vehicle body parameters. Preferably, the present invention will extract the body size, body shape and body structure corresponding to the current automobile body-in-white in real time from the current target vehicle body parameters. Based on this, the corresponding body-in-white model can be created in real time according to the current complete body size, body shape and body structure through existing 3D software such as ug or solidworks. At the same time, in order to obtain the characteristics of the current body-in-white model, the current body-in-white model will be further subjected to dynamic analysis. Specifically, the present invention will simulate the relationship between the current gripping system and the current body-in-white through existing 3D software in real time. The grasping posture can be detected synchronously with the contact points and contact surfaces generated between the current grasping system and the current body-in-white model. It should be noted that corresponding grasping parameters are generated at the current contact points and contact surfaces. Based on this, the present invention can detect the grasping force, grasping speed and grasping torque generated by the current grasping system at the positions of the current contact points and contact surfaces. Based on this, a full scan is performed on the current parameters to detect the corresponding target parameter values ​​contained in the current grasping parameters. At the same time, the corresponding integration processing is performed synchronously on each type of parameter value, so that the corresponding parameter set can be generated in real time, and the existing DTW algorithm can be used to perform corresponding conversion processing on each current parameter set, and each current parameter set can be converted into a corresponding local control code, and then each current local control code is correspondingly spliced ​​into a whole, so as to generate the required target control code, and the current target control code can be finally converted into the required grasping control instruction for subsequent processing.

[0040] Furthermore, after the required grasping control instructions are obtained in real time through the above steps and the gripping system is adjusted to the target grasping posture, it is necessary to further determine the corresponding optimal transfer path. Specifically, the present invention will first create a digital twin model corresponding to the current gripping system and the automobile body in white. At the same time, the above-mentioned three-dimensional software can be used to perform iterative grasping experiments on the current digital twin model. It should be pointed out that during the experiment, the present invention will record in real time the experimental transfer path generated after each grasping and completion of the transfer. At the same time, it will also record the real-time transfer end point generated by each current experimental transfer path. Based on this, it is necessary to calculate in real time the real-time transfer end point of each current experimental transfer path and the preset standard transfer end point. The target difference corresponding to the two points is generated, based on this, each current experimental transfer and hanging path will be further sorted according to the size of the current target difference, so as to form a corresponding first sequence table. On this basis, in order to comprehensively screen out the optimal transfer and hanging path, the present invention will also synchronously calculate the transfer and hanging time corresponding to each current experimental transfer and hanging path after execution, and can perform secondary sorting on the ranking in the current first sequence table according to the size of the current transfer and hanging time, so as to form a corresponding second sequence table. Based on this, the present invention will ultimately set the first place in the current second sequence table as the above-mentioned optimal transfer and hanging path, so as to correspondingly improve the transfer and hanging efficiency of the holding system, thereby eliminating the manual operation process and improving production efficiency at the same time.

[0041] See also Figure 2 , the third embodiment of the present invention provides: A vehicle body-in-white transfer system, wherein the system comprises: A detection module, for, when it is detected in real time that the automobile body-in-white arrives at a preset detection area, performing a full scan of the automobile body-in-white through a preset sensor array, so as to detect in real time target body parameters corresponding to the automobile body-in-white; An adjustment module, for generating a gripping control instruction corresponding to the automobile body-in-white in real time according to the target body parameters based on preset rules, and transmitting the gripping control instruction to a preset gripping system to adjust the preset gripping system to a target gripping posture; A creation module, used to create a digital twin model corresponding to the automobile body-in-white and the preset gripping system in real time through a preset program, and perform a corresponding virtual transfer and hanging experiment according to the digital twin model to generate an optimal transfer and hanging path corresponding to the automobile body-in-white in real time; A processing module is used to complete the transfer of the automobile body in white based on the optimal transfer path through the preset gripping system according to the target grasping posture, and the target body parameters are unique.

[0042] Furthermore, the adjustment module is specifically used for: When the target vehicle body parameters are acquired in real time, the target vehicle body parameters are analyzed and processed in real time to extract the vehicle body size, body shape and body structure corresponding to the vehicle body in white in real time; A corresponding body-in-white model is created in real time according to the body size, the body shape and the body structure through a preset three-dimensional software, and a dynamic analysis is performed on the body-in-white model to output gripping parameters corresponding to the gripping system in real time; A grabbing control instruction corresponding to the automobile body-in-white is generated in real time according to the grabbing parameters.

[0043] Furthermore, the adjustment module is specifically used for: When the body-in-white model is acquired in real time, the grasping posture between the holding system and the body-in-white model is simulated in real time by the preset three-dimensional software; According to the grasping posture, a number of contact points and a number of contact surfaces generated between the grasping system and the body-in-white model are detected in real time, and the grasping force, grasping speed and grasping torque generated by the grasping system are detected in real time at the contact points and the contact surfaces; The grasping force, the grasping speed, and the grasping torque are integrated to generate the grasping parameters accordingly, and the grasping control instructions are generated according to the grasping parameters.

[0044] Furthermore, the adjustment module is specifically used for: When the grabbing parameters are acquired in real time, the grabbing parameters are fully scanned to detect in real time several target parameter values ​​contained in the grabbing parameters; Classifying the target parameter values ​​to generate a number of parameter sets, and converting each parameter set into a local control code corresponding thereto; Each of the local control codes is spliced ​​to generate a corresponding target control code in real time, and the target control code is converted into the grab control instruction in real time.

[0045] Furthermore, the creation module is specifically used for: When the digital twin model is acquired in real time, an iterative grasping experiment is performed on the digital twin model through the preset program; During the iterative grasping experiment of the digital twin model, the experimental transfer path generated by the digital twin model after grasping is collected in real time; Each of the experimental transfer paths is analyzed to generate an optimal transfer path corresponding to the automobile body-in-white in real time.

[0046] Furthermore, the creation module is specifically used for: When each of the experimental transfer paths is detected in real time, a real-time transfer endpoint corresponding to each of the experimental transfer paths is detected in real time; Calculate in real time the target difference between the real-time transfer and hanging end point of each of the experimental transfer and hanging paths and the preset standard transfer and hanging end point, and sort each of the experimental transfer and hanging paths according to the size of the target difference, so as to generate a corresponding first sorting table in real time; The optimal transfer path is selected according to the first sorting table.

[0047] Furthermore, the creation module is specifically used for: When the first ranking table is obtained in real time, the transfer time corresponding to each of the experimental transfer paths is calculated in real time; The rankings in the first sorting table are re-sorted according to the transfer time to generate a corresponding second sorting table in real time, and the first place in the second sorting table is set as the optimal transfer path.

[0048] A fourth embodiment of the present invention provides a computer, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the automobile body-in-white transfer method as described above when executing the computer program.

[0049] A fifth embodiment of the present invention provides a readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the automobile body-in-white transfer method as described above.

[0050] In summary, the automobile body-in-white transfer method and system provided by the above-mentioned embodiments of the present invention can save the manual operation process, eliminate the deviation accordingly, and improve the work efficiency.

[0051] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0052] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0053] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0054] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0055] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0056] The above-described embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A method for transferring a car body in white, characterized in that: The method comprises: When it is detected in real time that the automobile body-in-white arrives at a preset detection area, the automobile body-in-white is fully scanned by a preset sensor array to detect target body parameters corresponding to the automobile body-in-white in real time; Based on the preset rules, a gripping control instruction corresponding to the automobile body-in-white is generated in real time according to the target body parameters, and the gripping control instruction is transmitted to the preset gripping system to adjust the preset gripping system to the target gripping posture; A digital twin model corresponding to the automobile body-in-white and the preset gripping system is created in real time through a preset program, and a corresponding virtual transfer and hanging experiment is performed according to the digital twin model to generate an optimal transfer and hanging path corresponding to the automobile body-in-white in real time; Based on the optimal transfer path, the preset gripping system completes the transfer of the automobile body in white according to the target grasping posture, and the target body parameters are unique.

2. The method for transferring the automobile body-in-white according to claim 1, characterized in that: The step of generating a grab control instruction corresponding to the automobile body-in-white in real time according to the target body parameters based on preset rules comprises: When the target vehicle body parameters are acquired in real time, the target vehicle body parameters are analyzed and processed in real time to extract the vehicle body size, body shape and body structure corresponding to the vehicle body in white in real time; A corresponding body-in-white model is created in real time according to the body size, the body shape and the body structure through a preset three-dimensional software, and a dynamic analysis is performed on the body-in-white model to output gripping parameters corresponding to the gripping system in real time; A grabbing control instruction corresponding to the automobile body-in-white is generated in real time according to the grabbing parameters.

3. The automobile body-in-white transfer method according to claim 2, characterized in that: The step of generating a grab control instruction corresponding to the automobile body-in-white in real time according to the grab parameters comprises: When the body-in-white model is acquired in real time, the grasping posture between the holding system and the body-in-white model is simulated in real time by the preset three-dimensional software; According to the grasping posture, a number of contact points and a number of contact surfaces generated between the grasping system and the body-in-white model are detected in real time, and the grasping force, grasping speed and grasping torque generated by the grasping system are detected in real time at the contact points and the contact surfaces; The grasping force, the grasping speed, and the grasping torque are integrated to generate the grasping parameters accordingly, and the grasping control instructions are generated according to the grasping parameters.

4. The automobile body-in-white transfer method according to claim 3, characterized in that: The step of generating the grab control instruction according to the grab parameters comprises: When the grabbing parameters are acquired in real time, the grabbing parameters are fully scanned to detect in real time several target parameter values ​​contained in the grabbing parameters; Classifying the target parameter values ​​to generate a number of parameter sets, and converting each parameter set into a local control code corresponding thereto; Each of the local control codes is spliced ​​to generate a corresponding target control code in real time, and the target control code is converted into the grab control instruction in real time.

5. The automobile body-in-white transfer method according to claim 1, characterized in that: The step of performing a corresponding virtual transfer experiment according to the digital twin model to generate an optimal transfer path corresponding to the automobile body in white in real time comprises: When the digital twin model is acquired in real time, an iterative grasping experiment is performed on the digital twin model through the preset program; During the iterative grasping experiment of the digital twin model, the experimental transfer path generated by the digital twin model after grasping is collected in real time; Each of the experimental transfer paths is analyzed to generate an optimal transfer path corresponding to the automobile body-in-white in real time.

6. The automobile body-in-white transfer method according to claim 5, characterized in that: The step of analyzing each of the experimental transfer paths to generate an optimal transfer path corresponding to the automobile body-in-white in real time comprises: When each of the experimental transfer paths is detected in real time, a real-time transfer endpoint corresponding to each of the experimental transfer paths is detected in real time; Calculate in real time the target difference between the real-time transfer and hanging end point of each of the experimental transfer and hanging paths and the preset standard transfer and hanging end point, and sort each of the experimental transfer and hanging paths according to the size of the target difference, so as to generate a corresponding first sorting table in real time; The optimal transfer path is selected according to the first sorting table.

7. The automobile body-in-white transfer method according to claim 6, characterized in that: The step of selecting the optimal transfer path according to the first sorting table comprises: When the first ranking table is obtained in real time, the transfer time corresponding to each of the experimental transfer paths is calculated in real time; The rankings in the first sorting table are re-sorted according to the transfer time to generate a corresponding second sorting table in real time, and the first place in the second sorting table is set as the optimal transfer path.

8. A vehicle body-in-white transfer system, characterized in that: The system comprises: A detection module, for, when it is detected in real time that the automobile body-in-white arrives at a preset detection area, performing a full scan of the automobile body-in-white through a preset sensor array, so as to detect in real time target body parameters corresponding to the automobile body-in-white; An adjustment module, for generating a gripping control instruction corresponding to the automobile body-in-white in real time according to the target body parameters based on preset rules, and transmitting the gripping control instruction to a preset gripping system to adjust the preset gripping system to a target gripping posture; A creation module, used to create a digital twin model corresponding to the automobile body-in-white and the preset gripping system in real time through a preset program, and perform a corresponding virtual transfer and hanging experiment according to the digital twin model to generate an optimal transfer and hanging path corresponding to the automobile body-in-white in real time; A processing module is used to complete the transfer of the automobile body in white based on the optimal transfer path through the preset gripping system according to the target grasping posture, and the target body parameters are unique.

9. A computer comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the automobile body-in-white transfer method as described in any one of claims 1 to 7 is implemented.

10. A readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for transferring the automobile body-in-white as described in any one of claims 1 to 7 is implemented.

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