A flexible maintenance system and method for truck body section repair

Abstract

The present invention provides a flexible maintenance system for truck body segment repair, which involves intelligent manufacturing technology, including: a first maintenance area, which includes a body cleaning station, a frame disassembly station, a hook and brake replacement station, a first pneumatic test station and a body repair station in sequence; a second maintenance area, which includes a car drop measurement assembly station and a second pneumatic test station in sequence; a bogie transfer path and a body transfer path are provided between the first maintenance area and the second maintenance area; an unmanned transfer channel is provided between the first maintenance area and the bogie maintenance station, and the unmanned transfer channel includes a first channel and a second channel parallel to each other, and the traction equipment travels in opposite directions on the first channel and the second channel. The present invention performs a streamlined layout design for the stations, and uses unmanned transportation equipment to automatically transport logistics, reasonably divert, reduce cross operations, and ensure operation safety.

Description

Technical Field

[0001] The present invention relates to the field of intelligent manufacturing technology, and in particular to a flexible maintenance system and method for truck body section repair. Background Art

[0002] The existing car body section maintenance and overhaul adopts a fixed-station repair mode, with multiple truck body maintenance stations in the workshop. The maintenance content mainly includes unloading, car body maintenance, coupler disassembly and assembly, brake air circuit disassembly and assembly, vehicle inspection, etc. At present, the stations in the repair garage are tightly arranged, the various processes of car body maintenance are mixed, there is no operation process, multiple maintenance tools are cross-operated, and personnel, logistics, and vehicles are mixed in the narrow passages between stations, which poses a safety hazard. The integration and intelligence of maintenance tooling equipment are low, and the labor intensity of personnel is high. Summary of the invention

[0003] The purpose of the present invention is to provide a flexible maintenance system and method for truck body section repair to improve the above problems. In order to achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0004] In a first aspect, the present application provides a flexible maintenance system for truck body section repair, comprising:

[0005] The first maintenance area includes, in sequence, a car body cleaning station, a car frame disassembly station, a hook and brake replacement station, a first pneumatic test station, and a car body rebuilding station;

[0006] The second maintenance area includes a car-dropping measurement assembly station and a second pneumatic test station in sequence; a bogie transfer path connected to the car-dropping measurement assembly station is provided between the car-dropping disassembly station and the hook-slow brake replacement station, and a bogie maintenance station is provided on the bogie transfer path; the first pneumatic test station and the car body rework station are respectively connected to the car-dropping measurement assembly station through the car body transfer path;

[0007] An unmanned transfer channel is arranged between the first maintenance area and the bogie maintenance station and is used for the traction equipment to travel. The unmanned transfer channel includes a first channel and a second channel parallel to each other. The travel directions of the traction equipment on the first channel and the second channel are opposite.

[0008] Optionally, the vehicle body cleaning station includes an automatic cleaning device;

[0009] The automatic cleaning device includes a truss structure, an industrial robot, and an air shovel. The truss structure spans over the vehicle body; the industrial robot is arranged on the truss structure; the air shovel is arranged on the mechanical arm of the industrial robot and is used to remove rust from the surface of the vehicle body.

[0010] Optionally, a buffer station is also provided on the vehicle body transfer path for caching the repaired vehicle bodies.

[0011] Optionally, the car dismantling station includes a pit and an electric car lift, the electric car lift is arranged in the pit and is flush with the ground when not in operation; the electric car lift includes a bogie lifting unit and a car body lifting unit; the position of the bogie lifting unit corresponds to the position of the wheels; the position of the car body lifting unit corresponds to the positions on both sides of the car body.

[0012] Optionally, an AGV three-dimensional storage warehouse is also provided on the vehicle body transfer path, and the AGV three-dimensional storage warehouse includes a three-dimensional storage rack, a lifting device and a charging device;

[0013] The three-dimensional storage rack includes multiple layers of storage platforms, and each layer of the storage platform includes multiple storage locations for storing AGVs;

[0014] The lifting device is arranged on the three-dimensional storage rack and connected to each storage platform of the three-dimensional storage rack; the charging device is arranged in each storage position.

[0015] In a second aspect, the present application further provides a flexible maintenance method for truck body section repair, the method is implemented based on the above-mentioned flexible maintenance system, and the method includes:

[0016] Tow the truck body to the body cleaning station for cleaning and rust removal;

[0017] The cleaned truck body is towed to the car-lifting and dismantling station for car-lifting and dismantling operations to obtain the car body and bogie;

[0018] The bogie is transported to a bogie maintenance station for maintenance;

[0019] The car body is transferred to the hook and brake replacement station, and parts of the car body are replaced according to the state of the car body;

[0020] The vehicle body after parts replacement is transported to the first wind dynamic test station for testing, and the rebuilt vehicle body is identified based on the test results;

[0021] transporting the rebuilt vehicle body to a vehicle body rebuilding station for rebuilding;

[0022] The overhauled bogie and the repaired car body are transferred to the car-drop measurement and assembly station for assembly;

[0023] The assembled truck body is towed to the second wind test station for testing to complete the inspection of the truck body.

[0024] Optionally, the truck disassembly station is provided with an appearance inspection system, and the method further comprises:

[0025] The appearance inspection system uses laser scanning to obtain two-dimensional images and three-dimensional point cloud data of the vehicle body;

[0026] By comparing and analyzing 2D images and 3D point cloud data with historical data, it can distinguish between heavy and lightly repaired vehicle bodies.

[0027] The rebuilt vehicle body is towed to a vehicle body rebuilding station for rebuilding.

[0028] Optionally, the first pneumatic test station includes a marking spraying device, the marking spraying device includes a spraying AGV, a spraying robot and a spraying mechanism; the spraying robot is arranged on the spraying AGV, and the spraying mechanism is arranged on the mechanical arm of the spraying robot; the method further includes:

[0029] towing the vehicle body to a spraying position assigned thereto;

[0030] The spraying operation information is sent to the spraying AGV according to the spraying position, and the spraying path information is sent to the spraying robot, so as to schedule the spraying AGV to perform the spraying operation.

[0031] Optionally, the traction equipment includes an automatic tractor and a transfer AGV; the method further includes:

[0032] On the path between the car body cleaning station and the car disassembly station and on the path from the car drop measurement assembly station to the second wind test station, an automatic tractor is used to tow the truck body; on other paths, a transfer AGV is used to transfer the car body and bogie.

[0033] Optionally, the automatic tractor is connected or separated from the truck body by an automatic coupler.

[0034] The beneficial effects of the present invention are:

[0035] The present invention designs a streamlined layout of workstations according to the maintenance process and system requirements, operation sequence and operation characteristics. At the same time, in order to meet the flexible maintenance requirements, unmanned transportation equipment is used to automate logistics transportation, reasonably divert people, goods and vehicles, reduce cross-operation, ensure operation safety, and improve logistics transportation efficiency. The concentration of processes is conducive to the centralized management of work teams and maintenance equipment, reducing safety risks caused by cross-operation.

[0036] Other features and advantages of the present invention will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 A schematic diagram of a flexible maintenance system for truck body section repair according to an embodiment of the present application;

[0039] Figure 2 This is a schematic diagram of the transport route of the embodiment of the present application;

[0040] Figure 3 This is a flow chart of the flexible maintenance method for truck body section repair according to an embodiment of the present application.

[0041] Markings in the figure: 1-car body cleaning station; 2-unmanned transfer channel; 3-car dismantling station; 4-hook slow brake replacement station; 5-first pneumatic test station, 6-AGV stop station, 7-car body overhaul station; 8-three-dimensional storage warehouse; 9-car drop measurement and assembly station; 10-second pneumatic test station; 11-appearance inspection system; 12-bogie maintenance station. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0043] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0044] At present, the fixed-station maintenance mode and related supporting equipment used in the maintenance of freight cars have been used for more than 20 years. There is no innovative maintenance mode in China. BHP Billiton has newly built a modern railway freight car maintenance workshop, and the car body maintenance in the warehouse has initially realized flexible maintenance. However, BHP Billiton's railway freight car maintenance volume is small, the maintenance degree is low, and it is also quite different from the domestic railway freight car maintenance process and maintenance workshop process layout, which is not suitable for the current domestic railway freight car maintenance.

[0045] Therefore, in response to the domestic railway freight car maintenance needs, this application provides a flexible maintenance system and method for freight car body section maintenance with reasonable layout, high flexibility and high maintenance efficiency. During the car body maintenance process, the system automatically circulates at different workstations, and operators perform maintenance in fixed areas. The division of labor in each process of car body maintenance is clear, and personnel, logistics and vehicles operate and work in fixed areas, which is highly safe. The present invention is mainly used for the maintenance of open freight cars such as C70 and C80.

[0046] Example 1

[0047] See also Figure 1 and Figure 2 The present application provides a flexible maintenance system for truck body section repair, comprising:

[0048] The first maintenance area includes a car body cleaning station 1, a car frame disassembly station 3, a hook and brake replacement station 4, a first pneumatic test station 5 and a car body re-repair station 7 in sequence;

[0049] The second maintenance area includes a car-dropping measurement assembly station 9 and a second pneumatic test station 10 in sequence; a bogie transfer path connected to the car-dropping measurement assembly station 9 is provided between the car-dropping disassembly station 3 and the hook-slow brake replacement station 4, and a bogie maintenance station 12 is provided on the bogie transfer path; the first pneumatic test station 5 and the car body re-overhaul station 7 are respectively connected to the car-dropping measurement assembly station 9 through the car body transfer path;

[0050] An unmanned transfer channel 2, wherein the unmanned transfer channel 2 is arranged between the first maintenance area and the bogie maintenance station 12, and the unmanned transfer channel 2 includes a first channel and a second channel parallel to each other;

[0051] A traction device travels in opposite directions on the first channel and the second channel.

[0052] See also Figure 1The first maintenance area and the second maintenance area are two parallel areas, so that the maintenance path of the vehicle body is a "U"-shaped turning path, that is, after the vehicle body is transported from left to right for maintenance along the first maintenance area, it moves longitudinally to the second maintenance area, and then moves from right to left; the goods are transferred between the two areas by traction equipment, which is an unmanned area, and the maintenance station is a manned area, realizing the diversion of people and vehicles to ensure safety.

[0053] As an optional embodiment, the vehicle body cleaning station 1 is arranged outdoors and includes an automatic cleaning device;

[0054] The automatic cleaning device includes a truss structure, an industrial robot, and an air shovel. The truss structure spans over the vehicle body; the industrial robot is arranged on the truss structure; the air shovel is arranged on the mechanical arm of the industrial robot and is used to remove rust from the surface of the vehicle body.

[0055] The industrial robot arm is equipped with an image acquisition device, which obtains vehicle surface information through image acquisition and laser scanning to form accurate three-dimensional point cloud data. The point cloud algorithm system identifies the location and degree of dirt on the vehicle body, plans the cleaning path, and controls the industrial robot to carry an air shovel to remove rust from rusted areas. It can also carry a high-pressure nozzle to clean dirty locations.

[0056] As an optional embodiment, a cache station is also provided on the car body transfer path for caching the repaired car bodies. Due to the differences in truck bodies, the working progress of each station is inconsistent. After some car bodies are overhauled, they need to wait for the completion of bogie overhaul before they can be assembled. Therefore, a cache station for storing the repaired car bodies needs to be set up. The cache station can be adjacent to or parallel to the car body overhaul station 7.

[0057] As an optional embodiment, the vehicle disassembly station 3 includes a pit and an electric vehicle lift, and the electric vehicle lift is arranged in the pit and is flush with the ground in a non-working state, so as not to affect the normal passage of vehicles;

[0058] The electric vehicle lifting machine includes a bogie lifting unit and a car body lifting unit; the position of the bogie lifting unit corresponds to the position of the wheel; the position of the car body lifting unit corresponds to the position on both sides of the car body. That is, the bogie lifting unit is supported at the wheel position when it is raised, and the car body lifting unit is supported at the positions on both sides of the car body when it is raised. Both lifting units are lifted and lowered by a screw mechanism, the screw mechanism has a self-locking thread, and the driving motor has a brake device.

[0059] If the car body needs to be separated from the bogie, first control the bogie lifting unit to lift the truck, lift the bogie together with the upper car body to the required height, and keep them locked; then control the car body lifting units on both sides to lift up. The car body lifting units are equipped with contact detection devices. After each of them contacts the two sides of the car and generates a certain pressure, the contact detection is triggered, and the lifting is automatically stopped and kept locked; then the connection between the bogie and the car body is released, and the bogie lifting unit is controlled to fall to achieve the separation of the car body and the bogie. At this time, the transfer AGV is synchronously dispatched to the bottom of the bogie. After the bogie falls, it is placed on the transfer AGV and can be sent to the next workstation by the transfer AGV. The transfer process of the car body is the same.

[0060] As an optional implementation, an AGV three-dimensional storage warehouse is also provided on the vehicle body transfer path, and the AGV three-dimensional storage warehouse includes a three-dimensional storage rack, a lifting device and a charging device;

[0061] The three-dimensional storage rack includes multiple layers of storage platforms, and each layer of the storage platform includes multiple storage locations for storing AGVs;

[0062] The lifting device is arranged on the three-dimensional storage rack and connected to each storage platform of the three-dimensional storage rack; the charging device is arranged in each storage position.

[0063] The AGV three-dimensional storage warehouse greatly saves land resources through the effective use of vertical space, and the integrated charging facilities significantly improve the operating efficiency and convenience of energy supply.

[0064] In addition, if the number of AGVs is large, an AGV stop station 6 may be provided as a buffer area when the AGV is not operating, so as to buffer the AGVs that have no tasks and do not need to be charged.

[0065] Example 2

[0066] See also Figure 3 The present application also provides a flexible maintenance method for truck body section repair, the method is implemented based on the flexible maintenance system described in Example 1, and the method includes:

[0067] The truck body is towed to the body cleaning station 1 for cleaning and rust removal;

[0068] The cleaned truck body is towed to the car-lifting and disassembling station 3 for car-lifting and disassembling operations to obtain the car body and bogie;

[0069] The bogie is transported to the bogie maintenance station 12 for maintenance;

[0070] The car body is transferred to the hook and brake replacement station 4, and parts of the car body are replaced according to the state of the car body;

[0071] The vehicle body after the parts are replaced is transported to the first wind dynamic test station 5 for testing, and the rebuilt vehicle body is identified according to the test results;

[0072] The rebuilt car body is transported to the car body rebuilding station 7 for rebuilding;

[0073] The overhauled bogie and the repaired car body are transferred to the car-dropping measurement and assembly station 9 for assembly;

[0074] The assembled truck body is towed to the second wind dynamic test station 10 for testing to complete the inspection of the truck body.

[0075] This application changes the traditional fixed-station car repair mode into an assembly line maintenance operation mode with centralized processes. Most areas in the warehouse adopt a trackless design. Each workstation is laid out according to the operation sequence and operation characteristics, and an unmanned transfer channel 2 and traction equipment are set up to automate the transportation of logistics, reasonably divert people, goods, and vehicles, reduce cross-operation, ensure operation safety, and improve transfer efficiency.

[0076] As an optional implementation, the car disassembly station 3 is provided with an appearance detection system, and the method further includes:

[0077] The appearance inspection system uses laser scanning to obtain two-dimensional images and three-dimensional point cloud data of the vehicle body; by comparing and analyzing the two-dimensional image and three-dimensional point cloud data with the data in the database, it distinguishes between a rebuilt vehicle body and a lightly repaired vehicle body; at this time, the vehicle body has been rust-removed and cleaned, and this appearance inspection can preliminarily identify the damage or malfunction of the truck. If some more obvious damage or malfunction is identified, it can be directly determined that it needs to be rebuilt, and then it can be transported to the vehicle body rebuilding station 7 without passing through the first pneumatic test station 5.

[0078] The rebuilt car body is towed to the car body rebuilt station 7 for rebuilt. The car body rebuilt station 7 performs shaping and adjustment of the car body side wall; gas cutting removes the severely worn steel plate, patches the new steel plate and welds it firmly; and replaces the struts according to the corrosion of the internal struts and their connection parts of the car body.

[0079] As an optional embodiment, the first pneumatic test station 5 includes a marking spraying device, the marking spraying device includes a spraying AGV, a spraying robot and a spraying mechanism; the spraying robot is arranged on the spraying AGV, and the spraying mechanism is arranged on the mechanical arm of the spraying robot; the method also includes:

[0080] towing the vehicle body to a spraying position assigned thereto;

[0081] The spraying operation information is sent to the spraying AGV according to the spraying position, and the spraying path information is sent to the spraying robot, so as to schedule the spraying AGV to perform the spraying operation.

[0082] Traditional car body marking spraying is done manually, and manual spraying will cause spray atomization, which is harmful to the human body. This application sets up an automatic marking spraying device, and the spraying AGV is used to carry the spraying robot and the spraying mechanism and accurately transport them to the working position. The spraying robot moves the mechanical arm according to the spraying path to spray the mark on the car body surface.

[0083] As an optional implementation, the traction equipment includes an automatic tractor and a transfer AGV; the method further includes:

[0084] On the path between the body cleaning station 1 and the bogie disassembly station 3 and on the path from the vehicle drop measurement assembly station 9 to the second wind dynamic test station 10, an automatic tractor is used to tow the truck body; on other paths, a transfer AGV is used to transfer the body and bogie.

[0085] In addition, since the truck body is towed and moved when the truck is in an undisassembled state, the moving direction needs to be guaranteed. Therefore, a local track is set in the area of ​​the body cleaning station 1 and the car disassembly station 3, and the truck is towed and moved on the track until it is disassembled; similarly, after subsequent assembly at the vehicle drop measurement and assembly station 9, the truck also needs to be towed and moved on the local track.

[0086] A ground-level disassembly device is provided at the hook-slow brake replacement station 4. The ground-level disassembly device is located below the ground in a non-working state. When a disassembly task is received, the vehicle body is placed in a fixed position, the ground-level disassembly device is raised, and the staff checks and determines the parts that need to be replaced, connects the disassembly tooling on the ground-level disassembly device with the parts that need to be replaced, and then the ground-level disassembly device performs a horizontal movement to remove the parts.

[0087] As an optional embodiment, the automatic tractor is connected or disconnected with the truck body through an automatic coupler, or can be controlled remotely. The automatic tractor can be controlled by radio remote control, with a traction command set in advance, and the movement of the tractor is controlled by radio signals.

[0088] In order to optimize the scheduling of AGVs, the present application designs a scheduling method for AGVs, including steps S100, S200, S300, S400, and S500;

[0089] S100, obtaining task information, the task information including task station information and task path information, calculating the operation power consumption requirement based on the task information, and selecting the operation AGV to perform the transfer task according to the operation power consumption requirement and the position information of the AGV, specifically including:

[0090] S110, calculating the operating distance L of the AGV according to the task path information; the operating distance L includes the length L1 of the empty section and the length L2 of the loaded section;

[0091] S120, acquiring a load n matching the task station according to the task station information;

[0092] S130, obtaining workstations along the task path according to the task path information, obtaining operation progress information of all workstations along the task path, and predicting the required waiting time s through a first prediction model according to the operation progress information; the first prediction model is trained with historical operation progress information as input and historical AGV waiting time as output;

[0093] S140, obtaining the number of emergency braking times C according to historical emergency braking information on the task path;

[0094] S150, based on the operation distance, load, waiting time and emergency braking times, the operation power consumption requirement is calculated. Generally, the power consumption is calculated in 100%. Assuming that the current power consumption of the AGV is W%, calculate:

[0095] When W%-L1×a1%-L2×a2×n%-s×a3%-C×a4%>5%, the AGV can perform the task; among them, a1, a2, a3, and a4 are the power consumption coefficients under no-load, loaded, waiting, and emergency braking states, respectively, and 5% is the remaining power requirement for each AGV, that is, 5% of the power must be reserved to ensure that the AGV can automatically return to the charging device 400 for charging; among the AGVs that meet the above conditions, the AGV with the shortest path to the task station is selected to perform the task.

[0096] S200, obtaining the operation progress information of each workstation by visually identifying the component status of each workstation, specifically including:

[0097] Acquire an image corresponding to the workstation according to the workstation information and obtain component status information through visual recognition, wherein the component status information includes component surface status information, component location information, and component accumulation information;

[0098] The component surface status information includes the rust area or coating area on the component surface. For example, at the component rust removal station, the component surface image is obtained, and the image is input into the pre-trained model or the remaining rust area is directly calculated based on the image.

[0099] The location information of the component includes the position of the component on the conveyor line. Each workstation may contain multiple work positions. The components are transported and processed in sequence in an assembly line manner. Therefore, the position of the component on the conveyor line can also reflect the work progress of the workstation.

[0100] The information on the accumulated quantity of parts is mainly for small accessories after disassembly. Small accessories are generally sent to the workstation in batches for processing. After a batch of accessories is processed, they are transferred at the same time. Therefore, the cumulative quantity of parts completed through statistical processing can also determine the operation progress of the workstation.

[0101] The component status information is compared with the component processing stage table of the workstation to determine the stage time corresponding to the component status and the total time required for the operation, thereby obtaining the operation progress information; the component processing stage table is constructed by arranging the historical component status in time series, that is, during each operation, the component status and the corresponding operation time are automatically recorded at certain time intervals, and the data obtained for each operation is averaged to continuously update the component processing stage table; in addition to establishing the component processing stage table, a deep learning model can also be constructed based on the historical component status and the corresponding time to predict the operation progress of the workstation.

[0102] In this step, the time required for each workstation to complete the operation can be determined through the component status information, thereby predicting the time required for transfer.

[0103] S300, obtaining the workstations along the task path according to the task path information, and predicting the node occupancy position and node occupancy time on the task path according to the operation progress information of the workstations along the task path;

[0104] Node occupation means that the space at the location is occupied and the AGV cannot pass through. The time required for transfer at each workstation is obtained through step S200, that is, the node occupation position and node occupation time corresponding to the workstation are determined.

[0105] S400, based on the node occupation position and the node occupation time, identifying the conflicting nodes of the working AGV executing the current task at a preset speed and determining the corresponding conflicting workstations, obtaining the task priority of the conflicting workstations and the operation progress information of the upper / lower level workstations of the conflicting workstations;

[0106] Under normal circumstances, the AGV travels at a preset fixed speed. The time it takes for the AGV to occupy each node can be calculated based on the preset speed. If the difference between the time and the node occupation time is within the threshold range, it is determined that a conflict will occur at the node, and the corresponding workstation is the conflicting workstation. Then, the task priority of the conflicting workstation and the operation progress information of the upper / lower level workstations of the conflicting workstation are obtained.

[0107] S500, determine whether the task priority of the conflicting workstation or the operation progress information of its upper / lower level workstation meets the first preset condition. If so, modify the transfer time of the conflicting workstation to resolve the conflict state; if not, adjust the travel speed of the operating AGV in segments according to the conflicting nodes to obtain the control strategy of the operating AGV.

[0108] The first preset condition is specifically as follows: first, determine whether the task priority of the conflicting station is lower than the task priority of the operating AGV. If so, the transfer time of the conflicting station can be modified to allow the operating AGV to pass first; if the task priority does not meet the condition, then determine the operation progress information of its upper / lower station. This step is to determine whether the upper station has parts that need to be transferred to the conflicting station in a short time, or the lower station is idle and needs the conflicting station to transfer the parts to the lower station as soon as possible. If the upper / lower station does not have a more urgent transfer demand, it means that the transfer time of the conflicting station can be postponed, and the operating AGV can pass first;

[0109] It should be noted that if there are multiple conflicting workstations, all conflicting workstations need to meet the second preset condition;

[0110] The control strategy of the working AGV obtained by adjusting the travel speed of the working AGV in sections according to the conflicting nodes specifically includes:

[0111] Divide the road section to which the conflicting node belongs according to the location of the conflicting node and the conflicting time zone, wherein the road section includes an unloaded road section and a loaded road section;

[0112] The operating AGV is adjusted to a different optimized speed on an empty road section according to a preset speed increment, wherein the optimized speed is less than the maximum speed limit, and the operating AGV passes through the conflict node without stopping when traveling at the optimized speed on the empty road section;

[0113] In the unloaded state, the AGV can increase its speed within a suitable range. In the loaded state, the AGV carries various components, some of which may be lifted by the AGV and not directly fixed. To avoid safety risks, the AGV is set to travel at a fixed speed in the loaded state. It can only slow down or stop, but not accelerate.

[0114] For conflicting nodes on unloaded sections, the speed of the operating AGV can be increased to pass through the node before it is occupied. However, since the speed of the AGV is increased, the time it takes to occupy the node in the subsequent loaded section will change, that is, the conflicting nodes need to be recalculated;

[0115] Update the conflict nodes of the loaded section according to the adjusted different optimization speeds, and compare the number of conflict nodes of the loaded section before and after the update. If the number of conflict nodes of the loaded section decreases after the update, control the AGV driving at the adjusted optimization speed; if the number of conflict nodes decreases under multiple optimization speeds, select the optimization speed with the least number of conflict nodes; if the number of conflict nodes is the same, select a lower optimization speed.

[0116] If the number of conflicting nodes in the updated loaded section increases or remains unchanged, the preset speed is maintained to control the AGV to travel, and the AGV stops and waits at all conflicting nodes. Of course, since the operation progress information is updated in real time, the AGV's driving strategy can also be adjusted in real time to adapt to the differences in vehicle bodies. In this application, left and right paths (the first channel and the second channel) for AGV travel are set in the warehouse, that is, on the same path, the AGV travels in the same direction and will not go in opposite directions. Therefore, it is only necessary to avoid the AGV that stays on the path due to the transfer operation according to the above method.

[0117] As an optional implementation manner, the method further includes S600:

[0118] After modifying the transfer time of the conflicting station, obtain the AGV information assigned to the transfer task of the conflicting station, obtain the conflicting AGV and obtain the current position information of the conflicting AGV; it should be noted that in some cases, when modifying the transfer time of the conflicting station, the conflicting station may not have sent a transfer instruction, that is, there is no conflicting AGV;

[0119] According to the current position of the conflicting AGV, find the workstation along the way on the path that does not overlap with the task path of the working AGV, and determine the nearest workstation that needs to be transferred based on the work progress information of the workstation along the way;

[0120] Generate new task information based on the workstation to be transferred and update the task list of the conflicting AGV.

[0121] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A flexible maintenance system for truck body section repair, characterized in that: include: The first maintenance area includes, in sequence, a car body cleaning station, a car frame disassembly station, a hook and brake replacement station, a first pneumatic test station, and a car body rebuilding station; The second maintenance area includes a car-dropping measurement assembly station and a second pneumatic test station in sequence; a bogie transfer path connected to the car-dropping measurement assembly station is provided between the car-dropping disassembly station and the hook-slow brake replacement station, and a bogie maintenance station is provided on the bogie transfer path; the first pneumatic test station and the car body rework station are respectively connected to the car-dropping measurement assembly station through the car body transfer path; An unmanned transfer channel is arranged between the first maintenance area and the bogie maintenance station and is used for the traction equipment to travel. The unmanned transfer channel includes a first channel and a second channel parallel to each other. The travel directions of the traction equipment on the first channel and the second channel are opposite.

2. A flexible inspection and repair system for truck body section repair according to claim 1, characterized in that: The vehicle body cleaning station includes an automatic cleaning device; The automatic cleaning device includes a truss structure, an industrial robot, and an air shovel. The truss structure spans over the vehicle body; the industrial robot is arranged on the truss structure; the air shovel is arranged on the mechanical arm of the industrial robot and is used to remove rust from the surface of the vehicle body.

3. The flexible maintenance system for truck body section repair according to claim 1 is characterized in that: A buffer station is also provided on the vehicle body transfer path for buffering the repaired vehicle bodies.

4. The flexible inspection and repair system for truck body section repair according to claim 1 is characterized in that: The vehicle dismantling station includes a pit and an electric vehicle lift, which is arranged in the pit and is flush with the ground when not in operation; the electric vehicle lift includes a bogie lifting unit and a car body lifting unit; the position of the bogie lifting unit corresponds to the position of the wheels; the position of the car body lifting unit corresponds to the positions on both sides of the car body.

5. The flexible maintenance system for truck body section repair according to claim 1 is characterized in that: The vehicle body transfer path is also provided with an AGV three-dimensional storage warehouse, which includes a three-dimensional storage rack, a lifting device and a charging device; The three-dimensional storage rack includes multiple layers of storage platforms, and each layer of the storage platform includes multiple storage locations for storing AGVs; The lifting device is arranged on the three-dimensional storage rack and connected to each storage platform of the three-dimensional storage rack; the charging device is arranged in each storage position.

6. A flexible maintenance method for truck body section repair, characterized in that: The method is implemented based on the flexible maintenance system according to any one of claims 1 to 5, and the method comprises: Tow the truck body to the body cleaning station for cleaning and rust removal; The cleaned truck body is towed to the car-lifting and dismantling station for car-lifting and dismantling operations to obtain the car body and bogie; The bogie is transported to a bogie maintenance station for maintenance; The car body is transferred to the hook and brake replacement station, and parts of the car body are replaced according to the state of the car body; The vehicle body after parts replacement is transported to the first wind dynamic test station for testing, and the rebuilt vehicle body is identified based on the test results; transporting the rebuilt vehicle body to a vehicle body rebuilding station for rebuilding; The overhauled bogie and the repaired car body are transferred to the car-drop measurement and assembly station for assembly; The assembled truck body is towed to the second wind test station for testing to complete the inspection of the truck body.

7. A flexible inspection and repair method for a truck body section according to claim 6, characterized in that: The car disassembly station is provided with an appearance detection system, and the method further comprises: The appearance inspection system uses laser scanning to obtain two-dimensional images and three-dimensional point cloud data of the vehicle body; By comparing and analyzing 2D images and 3D point cloud data with historical data, it can distinguish between heavy and lightly repaired vehicle bodies. The rebuilt vehicle body is towed to a vehicle body rebuilding station for rebuilding.

8. The flexible maintenance method for truck body section repair according to claim 6 is characterized in that: The first pneumatic test station includes a marking spraying device, which includes a spraying AGV, a spraying robot, and a spraying mechanism; the spraying robot is arranged on the spraying AGV, and the spraying mechanism is arranged on the mechanical arm of the spraying robot; the method further includes: towing the vehicle body to a spraying position assigned thereto; The spraying operation information is sent to the spraying AGV according to the spraying position, and the spraying path information is sent to the spraying robot, so as to schedule the spraying AGV to perform the spraying operation.

9. A flexible inspection and repair method for a truck body section according to claim 6, characterized in that: The traction equipment includes an automatic traction vehicle and a transfer AGV; the method also includes: On the path between the car body cleaning station and the car disassembly station and on the path from the car drop measurement assembly station to the second wind test station, an automatic tractor is used to tow the truck body; on other paths, a transfer AGV is used to transfer the car body and bogie.

10. A flexible inspection and repair method for a truck body section according to claim 9, characterized in that: The automatic tractor is connected to or separated from the truck body through an automatic coupler.

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