Visual identification detection control device for EMS conveying system and EMS conveying system

Abstract

The invention relates to a visual identification detection control device for an EMS conveying system and the EMS conveying system. In an EMS conveying system, self-propelled trolleys respectively carrying one or more lifting appliances move along a predetermined moving path, the visual recognition detection control device comprises: a first shooting assembly configured to shoot the self-propelled trolleys and the lifting appliances to generate a first image containing a self-propelled trolley code of the self-propelled trolleys and a lifting appliance code of the lifting appliances; the control component is connected with the first shooting assembly and used for recognizing and processing the first image and setting the recognized self-propelled trolley code of the self-propelled trolley and the lifting appliance code of the lifting appliance into one group, and the first shooting assembly is fixedly arranged in a section where the combination of the self-propelled trolley and the lifting appliance is not changed in the moving path; and the control component detects the self-propelled trolley corresponding to the self-propelled trolley code located in the same group with the lifting appliance code as a to-be-processed component under the condition that the recognized lifting appliance code is consistent with the preset to-be-detected lifting appliance code.

Description

Technical Field

[0001] The present invention relates to a visual recognition detection control device for an EMS conveying system and an EMS conveying system, and in particular to a visual recognition detection control device for detecting a specific sling mounted on a self-propelled trolley and an EMS conveying system equipped with the visual recognition detection control device. Background Art

[0002] In the related art, a large number of self-propelled trolleys are used in workshops such as automobile production to move the lifting fixtures (sometimes also called "LAMs") that fix vehicle parts such as front and rear doors to predetermined workstations for corresponding processing and installation operations. Usually, one or more of the above-mentioned lifting fixtures are set on a self-propelled trolley, and vehicle parts such as vehicle doors are loaded on each lifting fixture, thereby making it possible to reliably and efficiently move vehicle parts such as vehicle doors to be processed using the self-propelled trolley.

[0003] However, since there are a large number of self-propelled carts used in the workshop and each of the self-propelled carts is equipped with multiple hoists, and in order to save costs, the hoists used to fix the front and rear doors are usually simple mechanical structures that do not contain electronic components. Therefore, it is impossible to smoothly determine the position of the hoist, and it is difficult to detect specific hoists that are abnormal and need to be repaired or require regular maintenance from the large number of hoists in the workshop.

[0004] In addition, in the actual production process of the vehicle, according to the needs of some processing and assembly processes, the combination of the sling originally mounted on the trolley and the trolley before entering the process will be disrupted, and a sling different from the original sling will be reinstalled on the trolley to carry out the next process. Since the combination of the sling mounted on the trolley and the trolley is not fixed, but will change in different processes, this also increases the difficulty of detecting specific slings (for example, slings that are abnormal and need to be repaired or require regular maintenance). Summary of the invention

[0005] The present invention has been made in view of the above situation, and an object of the present invention is to provide a visual recognition detection control device that can easily detect a specific lifting device even when the combination of the lifting device mounted on the self-propelled vehicle and the self-propelled vehicle is changed.

[0006] In order to achieve the above-mentioned purpose, the first aspect of the present invention provides a visual recognition detection control device for an EMS transportation system, in which a self-propelled cart respectively equipped with one or more slings moves along a predetermined moving path, wherein the visual recognition detection control device includes: a first shooting component, the first shooting component is configured to shoot the self-propelled cart and the sling entering into the shooting range to generate a first image, the first image including the self-propelled cart code of the self-propelled cart and the sling code of the sling; and a control member, the control member is connected to the first shooting component, recognizes and processes the first image, and sets the recognized self-propelled cart code of the self-propelled cart and the sling code of the sling as a group, the first shooting component is fixedly arranged in a fixed section of the moving path where the combination of the self-propelled cart and the sling does not change, and the control member is configured to detect the self-propelled cart corresponding to the self-propelled cart code in the same group as the sling code as a component to be processed when the recognized sling code of the sling is consistent with the preset sling code to be tested of the sling to be tested.

[0007] According to one embodiment of the present invention, the visual recognition detection control device may also include a second shooting component, which is fixedly arranged in the fixed section at a position downstream of the moving path of the self-propelled cart than the first shooting component, and the second shooting component is configured to shoot the self-propelled cart entering the shooting range to generate a second image, the second image including the self-propelled cart code of the self-propelled cart, and the control component is configured to detect the self-propelled cart corresponding to the self-propelled cart code as the component to be processed when the self-propelled cart code identified from the second image is consistent with the self-propelled cart code corresponding to the pre-set self-propelled cart code of the hoist to be tested.

[0008] According to one embodiment of the present invention, the first shooting component may include a first shooting unit and a plurality of second shooting units, the first shooting unit is configured to shoot the self-propelled vehicle to generate a first sub-image including the code of the self-propelled vehicle, the plurality of second shooting units are configured to respectively shoot the plurality of hoists mounted on the self-propelled vehicle to respectively generate a plurality of second sub-images including the codes of the respective hoists, and the first image is constituted by the first sub-image and the plurality of second sub-images.

[0009] According to one embodiment of the present invention, the visual recognition detection control device may also include a first shooting activation component, which is connected to the first shooting component or the control component to detect whether the self-driving vehicle enters the shooting range of the first shooting component.

[0010] According to one embodiment of the present invention, the visual recognition detection control device may also include a second shooting activation component, which is connected to the second shooting component or the control component to detect whether the self-driving vehicle enters the shooting range of the second shooting component.

[0011] According to one embodiment of the present invention, the visual recognition detection control device may further include an alarm component, and when the control component detects the component to be processed, the alarm component sends an alarm signal in the form of sound and / or light.

[0012] According to one embodiment of the present invention, the visual recognition detection control device may also include: a display component, which at least displays the first image taken by the first shooting component and includes the self-propelled vehicle code and the hoist code; and / or a storage component, which stores the self-propelled vehicle code and the hoist code included in the first image as a group.

[0013] According to an embodiment of the present invention, the visual recognition detection control device may further include an illuminating unit, and the illuminating unit may illuminate the self-propelled vehicle and / or the sling that enters the shooting range of the first shooting component.

[0014] According to an embodiment of the present invention, the first photographing component may photograph the self-propelled vehicle and the sling from a side of the moving path of the self-propelled vehicle.

[0015] According to an embodiment of the present invention, the control means may be configured to move the self-propelled carriage and stop it in a maintenance area parallel to the movement path when the self-propelled carriage is detected as a component to be processed.

[0016] A second aspect of the present invention provides an EMS delivery system, wherein the EMS delivery system includes the above-mentioned visual recognition detection control device.

[0017] According to the visual recognition detection control device of the first aspect of the present invention, the first shooting component in the visual recognition detection control device is fixedly arranged in a fixed section of the moving path of the self-propelled vehicle where the combination of the self-propelled vehicle and the sling does not change, and the self-propelled vehicle code and the sling code identified from the first image shot by the first shooting component are set as a group by a control component. When the identified sling code is consistent with the pre-set sling code to be tested of the sling to be tested, the self-propelled vehicle corresponding to the self-propelled vehicle code in the same group as the sling code is detected as the component to be processed. Thus, even if the sling mounted on the self-propelled vehicle is consistent with the self-propelled vehicle, the self-propelled vehicle code corresponding to the self-propelled vehicle code is detected as the component to be processed. When the combination of vehicles is changed in a vehicle production workshop or the like due to the needs of processing and assembly procedures, the combination state of the self-propelled trolley and the sling arranged on the self-propelled trolley can be accurately grasped based on the self-propelled trolley code and the sling code set as the same group identified by the control component from the first image, and a specific sling can be conveniently and reliably detected based on the comparison result of the identified sling code with the pre-set sling code to be tested. Furthermore, it can effectively prevent equipment shutdown failures caused by omissions in inspection of slings that are abnormal or require regular maintenance, and can effectively ensure the production rhythm.

[0018] According to the EMS delivery system of the second aspect of the present invention, the benefits described with respect to the above-mentioned visual recognition detection control device can be obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The diagram schematically shows an EMS transport system of a vehicle production plant according to one embodiment of the present invention.

[0020] Figure 2 It is a schematic configuration diagram schematically showing a visual recognition detection control device according to one embodiment of the present invention.

[0021] Figure 3 It is a front view schematically showing a hanging tool according to an embodiment of the present invention.

[0022] Figure 4 It is a perspective view schematically showing a hanger according to an embodiment of the present invention.

[0023] Figure 5 This is a schematic diagram schematically showing a state where a sling according to one embodiment of the present invention is mounted on a self-propelled vehicle. DETAILED DESCRIPTION

[0024] The present disclosure will be described below with reference to the accompanying drawings, wherein the accompanying drawings illustrate several embodiments of the present disclosure. However, it should be understood that the present disclosure can be presented in a variety of different ways and is not limited to the embodiments described below; in fact, the embodiments described below are intended to make the disclosure of the present disclosure more complete and fully illustrate the scope of protection of the present disclosure to those skilled in the art. It should also be understood that the embodiments disclosed herein can be combined in various ways to provide more additional embodiments.

[0025] It should be understood that, in all the drawings, the same reference numerals represent the same elements. In the drawings, for clarity, the size and shape of some features may be appropriately modified.

[0026] It should be understood that the terms used in the specification are only used to describe specific embodiments and are not intended to limit the present disclosure. All terms (including technical terms and scientific terms) used in the specification have the meanings commonly understood by those skilled in the art unless otherwise defined. For the sake of simplicity and / or clarity, well-known functions or structures may not be described in detail.

[0027] The singular forms "a", "the" and "the" used in the specification include the plural forms unless clearly indicated. The terms "include", "comprise" and "contain" used in the specification indicate the presence of the claimed features, but do not exclude the presence of one or more other features. The term "and / or" used in the specification includes any and all combinations of one or more of the relevant listed items. The terms "between X and Y" and "between approximately X and Y" used in the specification should be interpreted as including X and Y. The term "between approximately X and Y" used in this specification means "between approximately X and approximately Y", and the term "from approximately X to Y" used in this specification means "from approximately X to approximately Y".

[0028] In the specification, when an element is said to be "on", "attached", "connected", "coupled", or "contacting" another element, the element may be directly on, attached, connected, coupled, or contacting another element, or there may be an intermediate element. In contrast, when an element is said to be "directly" "on", "directly attached", "directly connected", "directly coupled", or "directly contacting" another element, there will be no intermediate element. In the specification, a feature is arranged "adjacent" to another feature, which may refer to a feature having a portion that overlaps with an adjacent feature or a portion that is located above or below an adjacent feature.

[0029] Reference Figures 1 to 5, a visual recognition detection control device 100 according to an embodiment of the present invention is described in detail. It should be noted that in the following drawings, the same or similar parts are marked with the same or similar reference numerals. However, the drawings are schematic, and attention should be paid to the situation where the ratios of various dimensions are different from the actual situation. Therefore, the specific dimensions should be judged with reference to the following description. In addition, the drawings may also include parts with different dimensional relationships or ratios.

[0030] First, refer to Figure 1 , an EMS conveying system in a vehicle production workshop of one embodiment of the present invention is illustratively described. In the vehicle production workshop, for example, production and assembly operations such as processing and installation of the front and rear doors of the vehicle are performed. Generally speaking, the EMS (Electrical Monorail System, referred to as EMS) conveying system includes a track that extends and circulates in the vehicle production workshop, and the track forms a moving path for the self-propelled trolley. Under normal circumstances, a plurality of self-propelled trolleys run along the track. Each self-propelled trolley can carry one or more slings, and the slings can support vehicle components such as front and rear doors. When transporting vehicle components, the self-propelled trolley drives the carried slings together with the vehicle components supported thereon to move along the track, so as to transport workpieces between different workstations in the vehicle production workshop.

[0031] For example, in Figure 4 In the case shown, the two front doors and two rear doors of the vehicle are, for example, respectively fixed on four hangers (sometimes also referred to as "LAM") 300, and the four hangers 300 with the front doors and rear doors respectively fixed thereon are arranged on the same self-propelled trolley 200 and move with the self-propelled trolley 200 on the production line, thereby moving the two front doors and two rear doors of the vehicle to predetermined workstations for corresponding operations. Throughout the present specification, the case where the two front doors and two rear doors of the vehicle are respectively fixed to four hangers 300 and moved with the self-propelled trolley 200 is used as an example for explanation, but it is not limited to this, and other vehicle components in the vehicle may also be fixed to the hangers 300 and moved with the self-propelled trolley 200. In addition, the number of hangers 300 mounted on the self-propelled trolley 200 may also be 1, 2, 3 or more than 4, which may be appropriately changed according to actual needs. In addition, in Figure 3 to Figure 5 2 and 3 , an example of a hoisting device 300 and a self-propelled vehicle 200 provided with the hoisting device 300 are shown by way of example.

[0032] like Figure 1As shown, in some embodiments, the self-propelled trolley 200 can be cyclically moved in the vehicle production workshop along a predetermined moving path. Optionally, along the moving path of the self-propelled trolley 200, the vehicle production workshop can be divided into, for example, a door loading area S1 to be processed, a door pre-installation area S2, a first buffer area S3, a door assembly area S4, a second buffer area S5, and a component maintenance area S6. In the door loading area S1 to be processed, the doors to be processed of the vehicle (for example, including two front doors and two rear doors of the vehicle, a total of 4 doors) are respectively loaded (installed) on the slings carried by the self-propelled trolley 200, and the self-propelled trolley 200 is used to move the doors to be processed along the moving path of the self-propelled trolley 200 to the door pre-installation area S2.

[0033] In the vehicle door pre-installation area S2, as an example, first, at the first station S21, two hangers with the vehicle front door installed are removed from the trolley 200 by a mechanical arm (not shown) known in the art and transferred to the first pre-installation trolley (not shown) in the vehicle door pre-installation area S2. Then, as the trolley 200 moves, at the second station S22, two hangers with the vehicle rear door installed are removed from the trolley 200 by a mechanical arm (not shown) known in the art and transferred to the second pre-installation trolley (not shown) in the vehicle door pre-installation area S2. Then, the trolley 200 that has entered the vehicle door pre-installation area S2 moves to the end station SE at the end of the vehicle door pre-installation area S2 without any hangers to wait. At the same time, the first pre-installation self-propelled cart in the door pre-installation area S2 will transfer the two hangers installed with the vehicle front door to the front door pre-installation production line S23 for pre-installation processes such as painting and insulating parts packaging. The second pre-installation self-propelled cart in the door pre-installation area S2 will transfer the two hangers installed with the vehicle rear door to the rear door pre-installation production line S24 for pre-installation processes such as painting and insulating parts packaging.

[0034] Since the pre-installation process of the front door and the rear door of the vehicle in the front door pre-installation production line S23 and the rear door pre-installation production line S24 respectively takes time, in order to improve the production cycle, after the self-propelled trolley 200 moves to the terminal station SE of the door pre-installation area S2, the four hangers (with the front door and the rear door of the vehicle installed respectively) carried by the self-propelled trolley that entered the door pre-installation area S2 before the self-propelled trolley 200 and completed the pre-installation process are set on the self-propelled trolley 200 and moved to the next first buffer area S3. In this case, compared with the situation before entering the door pre-installation area S2, the combination of the hangers initially carried on the self-propelled trolley 200 and the self-propelled trolley 200 is disrupted, and the self-propelled trolley 200 moves to the next area in a state where the hangers different from the initial hangers are installed.

[0035] Next, after passing through the first buffer area S3, the self-propelled trolley 200 enters the door assembly area S4, and assembles the front door and the rear door of the vehicle to the vehicle body. In some embodiments, according to the needs of the assembly process, the hanger with the door installed will be removed from the self-propelled trolley 200 again at a predetermined station in the door assembly area S4, and the four hangers (in an unloaded state without doors installed) carried by the self-propelled trolley that entered the door assembly area S4 before the self-propelled trolley 200 and completed the assembly process are set on the self-propelled trolley 200 at the end station of the door assembly area S4. As a result, the combination of the self-propelled trolley 200 and the hanger is further disrupted.

[0036] Then, after passing through the second buffer area S5 and the component inspection area S6, the self-propelled trolley 200 enters the door loading area S1 to be processed again, and installs the new doors to be processed on the slings carried by the self-propelled trolley 200, thereby forming a moving path for cyclic movement in the vehicle production workshop. Optionally, the component inspection area S6 is connected in parallel with the moving path of the self-propelled trolley 200, for example. Thus, when there is no need to inspect the self-propelled trolley 200 and the sling 300 provided on the self-propelled trolley 200, that is, when the self-propelled trolley 200 is not detected as a component to be processed, the self-propelled trolley 200 and the sling 300 are moved along the moving path of the self-propelled trolley 200 to the door loading area S1 to be processed. On the other hand, when the self-propelled carriage 200 or the hoist 300 installed on the self-propelled carriage 200 needs to be inspected, that is, when the self-propelled carriage 200 is detected as a component to be processed, the self-propelled carriage 200 and the hoist 300 are moved and stopped in the component inspection area S6, thereby allowing the operator to inspect the self-propelled carriage 200 as the component to be processed or the hoist 300 installed on the self-propelled carriage 200 without hindering the movement of other self-propelled carriages 200 along the moving path of the self-propelled carriage 200.

[0037] As described above, in different areas of the vehicle production workshop such as the door pre-installation area S2 and the door assembly area S4, the combination of the sling originally mounted on the trolley 200 and the trolley 200 before entering the process is sometimes disrupted according to the needs of the processing and assembly process, and a sling different from the initial sling is reinstalled on the trolley 200 to carry out the next process. Since the combination of the sling mounted on the trolley 200 and the trolley 200 in the entire vehicle production workshop changes in different processes, especially when a large number of trolleys and slings are used on site in the workshop, it becomes difficult to detect a specific sling (for example, a sling that has an abnormality and needs to be repaired or requires regular maintenance, hereinafter sometimes referred to as a "sling to be tested")

[0038] In order to conveniently detect a specific sling 300 even when the combination of the sling mounted on the self-propelled vehicle 200 and the self-propelled vehicle 200 is changed, the inventors have designed a visual recognition detection control device 100 for an EMS delivery system, wherein the visual recognition detection control device 100 is configured to detect the sling 300 mounted on the self-propelled vehicle 200. For example, the self-propelled vehicle 200 is moved along Figure 1 The predetermined moving path in the EMS conveying system of the vehicle production workshop shown performs cyclic movement.

[0039] like Figure 2 As shown, in some embodiments, the visual recognition detection control device 100 may include a first shooting component 10 and a control member 20, and the first shooting component 10 and the control member 20 are connected to each other in a manner that can communicate with each other, for example, via a known method such as a network cable or power line communication. As an example, the first shooting component 10 is composed of a high-definition camera such as a CCD camera, and is configured to shoot (collect image information) the self-propelled vehicle 200 and the sling 300 mounted on the self-propelled vehicle 200 that enter the shooting range of the first shooting component 10 to generate a first image including a self-propelled vehicle code C for identifying the self-propelled vehicle 200 and a sling code D for identifying the sling 300. As an example, the self-propelled vehicle code C may be, for example, a QR code, a character number, a barcode, or an RFID electronic tag set on the outer side of the self-propelled vehicle 200, thereby enabling the self-propelled vehicle 200 to be identified by shooting the self-propelled vehicle code C from the outer side of the self-propelled vehicle 200. Similarly, the hanger code D can be, for example, a QR code, a character number, a barcode or an RFID electronic tag set on the outer side of the hanger 300, thereby enabling each hanger 300 to be identified by photographing the hanger 300 from the outside.

[0040] In addition, as described above, the combination of the sling 300 and the self-propelled trolley 200 will change in different processes or different areas on the moving path. In order to use the visual recognition detection control device 100 of the present scheme to conveniently and reliably detect the specific sling 300 mounted on the self-propelled trolley 200, and accurately grasp the combination state of the self-propelled trolley 200 and the sling 300 set on the self-propelled trolley 200 during the period from the assembly process of assembling the front and rear doors to the vehicle body (i.e., the door assembly area S4) to loading the new door to be processed on the sling 300 (i.e., the door loading area S1), it is optional to set the first shooting component 10 in a fixed section in the moving path of the self-propelled trolley 200 where the combination of the self-propelled trolley 200 and the sling 300 remains unchanged. For example, the first shooting component 10 can be set between the door assembly area S4 and the door loading area S1, or the first shooting component 10 can be set between the door assembly area S4 and the component inspection area S6. Preferably, the first photographing assembly 10 is disposed at a position just before the self-propelled vehicle 200 enters the component maintenance area S6. Optionally, the first photographing assembly 10 is fixed to the workshop ceiling or the ground via a bracket or directly.

[0041] The control member 20 connected to the first shooting component 10 in a manner capable of communicating with each other can receive a first image including a trolley code C and a sling code D from the first shooting component 10, and perform recognition processing (image processing) on ​​the first image, and record the recognized trolley code C of the trolley 200 and the sling code D of the sling as a group. Optionally, the control member 20 can be implemented by hardware such as a well-known CPU, LSI, ASIC, FPGA, GPU, or the coordinated cooperation of the above-known hardware and well-known software, and is not particularly limited. As an example, after receiving the first image shot by the first shooting component 10, the control member 20 calls a dedicated analysis tool software to perform image processing such as recognition processing on the image information. As an example of the above-mentioned recognition processing, the control member 20 performs processing such as feature extraction and analysis, image comparison, etc. The specific processing method is an existing processing method, and the present invention does not specifically limit this.

[0042] In some embodiments, the control member 20 is configured to detect the self-propelled trolley 200 corresponding to the self-propelled trolley code C in the same group as the sling code D as the component to be processed when the sling code D of the identified sling 300 is consistent with the pre-set sling code to be tested. The pre-set sling to be tested may be, for example, a sling whose sling code is pre-input into the control member 20 via an input member (not shown) when an operator finds an abnormality in a vehicle production workshop, or may be a pre-recorded sling that needs regular maintenance after a period of time. The pre-set code of the sling to be tested is pre-input and / or stored in the control component 20. The control component 20 can compare the sling code D of the sling 300 identified from the first image with the pre-set code of the sling to be tested. When the identified sling code D is consistent with the code of the sling to be tested, the sling 300 carried by the self-propelled trolley 200 is determined to be the sling to be tested, and the self-propelled trolley 200 (i.e., the self-propelled trolley 200 corresponding to the self-propelled trolley code C in the same group as the sling code D) is detected as a component to be processed. Optionally, the control component 20 moves the self-propelled trolley 200 detected as the component to be processed and the sling 300 set on the self-propelled trolley 200 and stops them in a maintenance area (e.g., component maintenance area S6), and the operator performs maintenance or regular maintenance. On the other hand, when the identified spreader code D does not match the spreader code to be tested, the control component 20 allows the self-propelled vehicle 200 to pass through the inspection area (for example, the component inspection area S6) without stopping and further move to the next area.

[0043] In this way, by fixing the first shooting component 10 in the visual recognition detection control device 100 at a fixed position in a fixed section of the moving path of the self-propelled vehicle 200 where the combination of the self-propelled vehicle 200 and the sling 300 does not change, and using the control component 20 to set the self-propelled vehicle code C and the sling code D recognized from the first image captured by the first shooting component 10 as a group, when the recognized sling code D is consistent with the sling code to be tested of the pre-set sling to be tested, the self-propelled vehicle 200 corresponding to the self-propelled vehicle code C in the same group as the sling code D is detected as the component to be processed, thereby, even if the sling 300 mounted on the self-propelled vehicle 200 is in contact with the self-propelled vehicle 200, 00 is changed in a vehicle production workshop or the like due to the needs of processing and assembly procedures, the combination state of the self-propelled trolley 200 and the sling 300 arranged on the self-propelled trolley 200 can be accurately grasped based on the self-propelled trolley code C and the sling code D set as the same group identified by the control component 20 from the first image, and a specific sling can be conveniently and reliably detected based on the comparison result of the identified sling code D with the pre-set sling code to be tested. Furthermore, it can effectively prevent the occurrence of equipment shutdown failures caused by omissions in the inspection of slings that are abnormal or require regular maintenance, and can effectively ensure the production rhythm.

[0044] In some embodiments, optionally, the first shooting component 10 may include, for example, a first shooting unit and a plurality of second shooting units. Each of the first shooting unit and the plurality of second shooting units may be, for example, a split CCD camera or other high-definition camera. Optionally, the first shooting unit is configured to shoot the self-propelled vehicle 200 to generate a first sub-image including the self-propelled vehicle code C, and the plurality of second shooting units are configured to shoot the plurality of slings 300 mounted on the self-propelled vehicle 200 to generate a plurality of second sub-images including the sling codes D. The first sub-image and the plurality of second sub-images together constitute a first image including the self-propelled vehicle code C and the sling codes D.

[0045] As an example, when a plurality of slings 300 are arranged on the left and right sides of the self-propelled vehicle 200 when observed along the moving path of the self-propelled vehicle 200, a plurality of second shooting units can be arranged on the left and right sides of the self-propelled vehicle 200 (outside the sling 300) corresponding to each sling 300 one by one, and one second shooting unit can be used to shoot one sling 300, that is, the number of the plurality of second shooting units is the same as the number of the plurality of slings 300, or a part of the plurality of second shooting units can be used to shoot at least two slings 300 at the same time, that is, the number of the plurality of second shooting units is less than the number of the plurality of slings 300. As long as the sling code D of each sling 300 can be obtained by shooting each of the plurality of slings 300 mounted on the self-propelled vehicle 200 using the plurality of second shooting units, the number and setting method of the plurality of second shooting units are not particularly limited. Figure 5 An example in which four hoisting devices 300 are provided on the self-propelled vehicle 200 is exemplarily shown. In this case, for example, one first photographing unit may be provided to photograph the self-propelled vehicle 200, and four second photographing units may be provided to photograph the four hoisting devices 300 respectively.

[0046] By using the first photographing unit in the first photographing component 10 to photograph the self-propelled vehicle 200 to generate a first sub-image including the self-propelled vehicle code C, and using the plurality of second photographing units to photograph the plurality of slings 300 mounted on the self-propelled vehicle 200 to generate a plurality of second sub-images including the sling codes D, even if it is difficult to appropriately photograph the first image including the self-propelled vehicle code C and the sling codes D using a single photographing component due to the large size of the self-propelled vehicle 200 and the slings 300 for fixing vehicle parts such as the front and rear doors, the first photographing unit and the plurality of second photographing units can be used to photograph the first sub-image including the self-propelled vehicle code C and the sling codes D. The unit appropriately photographs the self-propelled trolley 200 and the multiple hoisting devices 300 respectively to obtain a first sub-image including the self-propelled trolley code C and multiple second sub-images including the respective hoisting device codes D. The first image composed of the first sub-image and the multiple second sub-images can include the information of the self-propelled trolley code C and the respective hoisting device codes D without loss or omission. Therefore, the combination state of the self-propelled trolley 200 and the hoisting device 300 arranged on the self-propelled trolley 200 can be further accurately grasped, the specific hoisting device can be further reliably detected, and the occurrence of equipment shutdown failures caused by missing maintenance of the specific hoisting device can be avoided.

[0047] In some embodiments, Figure 2 As shown, optionally, the visual recognition detection control device 100 also has a first shooting activation component 11, which is connected to the first shooting component 10 or the control component 20 to detect whether the self-propelled vehicle 200 enters the shooting range of the first shooting component 10.

[0048] Optionally, the first photographing activation component 11 detects whether the self-driving vehicle 200 is about to or has entered a predetermined area that can be photographed by the first photographing component 10. For example, the predetermined area is located upstream of the first photographing component 10 in the direction of travel of the self-driving vehicle 200. Within the range of the predetermined area, the first photographing component 10 can clearly photograph the self-driving vehicle 200. As an example, the predetermined area is consistent with or partially overlaps with the photographing range of the first photographing component 10. In addition, preferably, the first photographing activation component 11 generates a photographing activation control signal and sends it to the control component 20 based on the detection result of whether the self-driving vehicle 200 enters the predetermined area. Alternatively, the first photographing activation component 11 can directly send a photographing activation control signal to the first photographing component 10.

[0049] As an example, when the first photographing activation member 11 does not detect the entry of the self-propelled vehicle 200, the first photographing activation member 11 does not generate a photographing activation control signal, and the first photographing unit 10 is in a standby state. On the other hand, when the first photographing activation member 11 detects the entry of the self-propelled vehicle 200, the first photographing activation member 11 generates a photographing activation control signal and sends it to the control member 20 or directly to the first photographing unit 10, so that the first photographing unit 10 is activated to photograph the entering self-propelled vehicle 200 and the sling 300. In addition, as an example, the photographing activation control signal generated by the first photographing activation member 11 is, for example, an electric pulse signal. As the first photographing activation member 11, for example, a known sensing device such as a proximity switch and a laser alignment sensor can be used. As long as the first photographing activation member 11 can detect the entry of the self-propelled vehicle 200 and generate a photographing activation control signal accordingly, the first photographing activation member 11 can use a technology known in the art and is not particularly limited.

[0050] Like this, in the case where the first shooting activation component 11 is provided, the shooting of the first shooting component 10 can be controlled according to whether the first shooting activation component 11 detects the self-propelled vehicle 200 that is about to or has entered the predetermined area that can be photographed by the first shooting component 10. As a result, the shooting efficiency of the first shooting component 10 on the self-propelled vehicle 200 and the sling 300 can be effectively improved, and the service life of the first shooting component 10 can be extended accordingly.

[0051] In some embodiments, Figure 2As shown, optionally, the visual recognition detection control device 100 further includes a second shooting component 30, which is fixedly arranged at a position downstream of the moving path of the self-propelled trolley 200 relative to the first shooting component 10 in a fixed section where the combination of the self-propelled trolley 200 and the sling 300 remains unchanged. As an example, the second shooting component 30 can be arranged between the vehicle door assembly area S4 and the component inspection area S6. Optionally, the second shooting component 30 is arranged at a position before the self-propelled trolley 200 is about to enter the component inspection area S6 (for example, Figure 1 In this case, the first photographing assembly 10 located on the upstream side of the moving path of the self-propelled vehicle 200 compared with the second photographing assembly 30 can be set at a position where the self-propelled vehicle 200 has just moved out of the component inspection area S6 (for example Figure 1 The position shown by the reference numeral B in FIG.

[0052] Similar to the first shooting component 10, the second shooting component 30 is also composed of a high-definition camera such as a CCD camera, and is configured to shoot (collect image information) the self-propelled vehicle 200 that enters the shooting range of the second shooting component 30 to generate a second image containing a self-propelled vehicle code C for identifying the self-propelled vehicle 200. As described above, the self-propelled vehicle code C can be, for example, a two-dimensional code, a character number, a barcode, or an RFID electronic tag. Since the second shooting component 30 only shoots the self-propelled vehicle 200, the shooting space required by the second shooting component 30 can be smaller than that of the first shooting component 10 that shoots the self-propelled vehicle 200 and the sling 300. In addition, the second image shot by the second shooting component 30 can be sent to the control component 20 via a known method such as a network cable or power line communication, and the control component 20 performs recognition processing (image processing) to identify the self-propelled vehicle code C of the self-propelled vehicle 200.

[0053] Optionally, the control member 20 is configured to detect the self-propelled trolley 200 corresponding to the self-propelled trolley code C as the component to be processed when the self-propelled trolley code C identified from the second image is consistent with the self-propelled trolley code corresponding to the pre-set sling code to be tested. The correspondence between the pre-set sling code to be tested and the self-propelled trolley code of the sling to be tested can be obtained by the correspondence between the self-propelled trolley code C and each sling code D in the same group identified by the control member 20 from the first image.

[0054] Optionally, the pre-set code of the sling to be tested is input and / or stored in the control component 20 in advance, and the control component 20 can obtain the trolley code corresponding to the sling code to be tested according to the above correspondence. The control component 20 can compare the trolley code C identified from the second image with the trolley code corresponding to the sling code to be tested. When the identified trolley code C is consistent with the trolley code corresponding to the sling code to be tested, it is determined that the sling 300 carried by the trolley 200 is the sling to be tested, and the trolley 200 is detected as a component to be processed. Optionally, the control component 20 moves the trolley 200 detected as the component to be processed and the sling 300 set on the trolley 200 and stops in the maintenance area (for example, the component maintenance area S6), and the operator performs maintenance or regular maintenance. On the other hand, when the identified trolley code C is inconsistent with the trolley code corresponding to the above-mentioned hoist code to be tested, the control component 20 does not stop the trolley 200 and moves further to the next area through the maintenance area (for example, the component maintenance area S6).

[0055] In this way, by further adding a second photographing component 30 in the visual recognition detection control device 100, which is located at a position on the downstream side of the moving path of the self-propelled cart 200 than the first photographing component 10 in the fixed section where the combination of the self-propelled cart 200 and the hoisting device 300 remains unchanged, and using the second photographing component 30 to photograph the self-propelled cart 200 to generate a second image including a self-propelled cart code C for identifying the self-propelled cart 200, when the self-propelled cart code C identified from the second image is consistent with the self-propelled cart code corresponding to the preset hoisting device code to be tested, the self-propelled cart 200 corresponding to the self-propelled cart code C is detected as a component to be processed. Therefore, before the self-propelled cart 200 is photographed by the second photographing component 30 located on the downstream side, the first photographing component 10 located on the upstream side can be used to photograph the self-propelled cart 200. The first image including the trolley code C and the sling code D captured can accurately grasp the combination state of the trolley 200 and the sling 300 set on the trolley 200 (the correspondence between the trolley 200 and the sling 300), that is, it can accurately know which trolley 200 the sling 300 is set on. The operator can conveniently pre-set the specific sling (the sling to be tested) to be detected based on the first image and the correspondence between the trolley 200 and the sling 300, and can conveniently and reliably detect the specific sling according to the comparison result between the trolley code C identified from the second image and the trolley code corresponding to the sling code to be tested, thereby effectively preventing the occurrence of equipment downtime caused by missing the inspection of the sling with abnormalities or requiring regular maintenance. In addition, since the second shooting component 30 only shoots the trolley 200, the shooting space required by the second shooting component 30 is smaller than the shooting space required by the first shooting component 10, and the setting position of the second shooting component 30 is more flexible.

[0056] In some embodiments, Figure 2 As shown, optionally, the visual recognition detection control device 100 also has a second shooting activation component 31, which is connected to the second shooting component 30 or the control component 20 to detect whether the self-propelled vehicle 200 enters the shooting range of the second shooting component 30.

[0057] Optionally, similar to the first photographing activation component 11, the second photographing activation component 31 detects whether the self-driving vehicle 200 is about to or has entered a predetermined area that can be photographed by the second photographing component 30. For example, the predetermined area is located upstream of the second photographing component 30 in the direction of travel of the self-driving vehicle 200. Within the range of the predetermined area, the second photographing component 30 can clearly photograph the self-driving vehicle 200. As an example, the predetermined area is consistent with or partially overlaps with the photographing range of the second photographing component 30. In addition, preferably, the second photographing activation component 31 generates a photographing activation control signal and sends it to the control component 20 based on the detection result of whether the self-driving vehicle 200 enters the predetermined area. Alternatively, the second photographing activation component 31 can directly send a photographing activation control signal to the second photographing component 30.

[0058] As an example, when the entry of the self-propelled vehicle 200 is not detected by the second photographing activation member 31, the second photographing activation member 31 does not generate a photographing activation control signal, and the second photographing unit 30 is in a standby state. On the other hand, when the entry of the self-propelled vehicle 200 is detected by the second photographing activation member 31, the second photographing activation member 31 generates a photographing activation control signal and sends it to the control member 20 or directly to the second photographing unit 30, activating the second photographing unit 30 to photograph the entering self-propelled vehicle 200 and the sling 300. In addition, as an example, the photographing activation control signal generated by the second photographing activation member 31 is, for example, an electric pulse signal. As the second photographing activation member 31, for example, a known sensing device such as a proximity switch or a laser alignment sensor can also be used. As long as the second photographing activation member 31 can detect the entry of the self-propelled vehicle 200 and generate a photographing activation control signal accordingly, the second photographing activation member 31 can use a technology known in the art and is not particularly limited.

[0059] Like this, in the case where a second shooting activation component 31 is provided, the shooting of the second shooting component 30 can be controlled according to whether the second shooting activation component 31 detects that the self-propelled vehicle 200 is about to or has entered a predetermined area that can be photographed by the second shooting component 30. As a result, the shooting efficiency of the second shooting component 30 on the self-propelled vehicle 200 can be effectively improved, and the service life of the second shooting component 30 can be extended accordingly.

[0060] In some embodiments, Figure 2 As shown, optionally, the visual recognition detection control device 100 further includes an alarm component 40. When the control component 20 detects the self-propelled vehicle 200 as a component to be processed, the alarm component 40 sends an alarm signal in the form of sound and / or light. As an example, the alarm component 40 can be a known mechanism such as a buzzer, an alarm light, a speaker, etc., and is not particularly limited.

[0061] By setting an alarm component 40 in the visual recognition detection control device 100, when the self-propelled trolley 200 corresponding to a specific hoist 300 is detected as a component to be processed, the control component 20 will cause the alarm component 40 to send an alarm signal while moving the self-propelled trolley 200 and the hoist 300 set on the self-propelled trolley 200 and stopping them in the maintenance area, thereby prompting the operator to promptly inspect or perform regular maintenance on the hoist to be detected.

[0062] In some embodiments, Figure 2 As shown, optionally, the visual recognition detection control device 100 may further include a display and storage component 50. The display and storage component 50 has an integrated or split display component 51 and a storage component 52, which may be, for example, a well-known computer or laptop computer. For example, when the self-propelled vehicle 200 and the sling 300 carried by it enter the shooting range of the first shooting component 10 and are photographed by the first shooting component 10, the first image containing the self-propelled vehicle code C and the sling code D photographed by the first shooting component 10 is sent to the display component 51 of the display and storage component 50 via a known method such as a network cable or power line communication for display, and the operator can view the image remotely, and use the storage component 52 to archive the first image photographed by the first shooting component 10, that is, the self-propelled vehicle code C and the sling code D contained in the first image are stored as a group. In addition, optionally, when the visual recognition detection control device 100 is equipped with the above-mentioned second shooting component 30, when the self-propelled vehicle 200 enters the shooting range of the second shooting component 30 and is photographed by the second shooting component 30, the second image containing the self-propelled vehicle code C photographed by the second shooting component 30 is also sent to the display component 51 of the display and storage component 50 via a known method such as a network cable or power line communication, and is displayed together with the first image corresponding to the second image (the second image and the corresponding first image have the same self-propelled vehicle code C), and archived by the storage component 52. In addition, in some embodiments, the storage component 52 can store the image information (including the first image and / or the second image) of each self-propelled vehicle 200 and each sling 300 carried by it, so as to provide viewing and analysis for operators, which can effectively avoid equipment downtime caused by missing maintenance of specific slings.

[0063] In addition, in some embodiments, when the control component 20 determines that the sling 300 carried by a certain self-propelled trolley 200 is a pre-set sling to be tested and detects the self-propelled trolley 200 as a component to be processed, while the self-propelled trolley 200 and the sling 300 are moved and stopped in the maintenance area for maintenance, the specific time and date of maintenance and repair and other information can be added to the first image taken of the self-propelled trolley 200 and the sling 300, and archived in the storage component 52, thereby, the operating personnel can easily view and analyze the maintenance status of the sling to be tested.

[0064] In some embodiments, the visual recognition detection control device 100 may optionally further include an illumination unit, which, for example, illuminates the self-propelled vehicle 200 and / or the sling 300 that enters the shooting range of the first shooting component 10 and / or the second shooting component 30 when the light is dim or insufficient within the shooting range of the first shooting component 10 and / or the second shooting component 30. As the illumination unit, for example, well-known devices such as LED lights may be used, and are not particularly limited. By providing an illumination unit in the visual recognition detection control device 100, it is possible to facilitate the use of the first shooting component 10 and / or the second shooting component 30 to clearly capture the first image and the second image, and can effectively avoid the occurrence of situations such as failure to successfully identify the sling to be tested due to unclear first and second images.

[0065] In some embodiments, the first photographing assembly 10 and the second photographing assembly 30 may photograph the self-propelled vehicle 200 and / or the sling 300 from the side of the moving path of the self-propelled vehicle 200. Figure 3 to Figure 5 As shown, the side of the trolley 200 and the spreader 300 when viewed along the moving path of the trolley 200 usually has sufficient space (for example, a relatively flat plane portion), which is convenient for setting the trolley code C and the spreader code D. By setting the trolley code C and the spreader code D on the sides of the trolley 200 and the spreader 300 respectively, and using the first shooting component 10 and the second shooting component 30 to shoot from the side of the moving path of the trolley 200, the first image containing the trolley code C and the spreader code D and the second image containing the trolley code C can be clearly shot, which is helpful for identifying and detecting the spreader to be tested based on the first image and the second image.

[0066] In addition, in some embodiments, it is optional that the control component 20 is configured to move the self-propelled trolley 200 and stop it in a maintenance area parallel to the moving path of the self-propelled trolley 200 when the self-propelled trolley 200 is detected as a component to be processed. When the sling 300 carried by the self-propelled trolley 200 includes a sling to be detected (a specific sling), the control component 20 will detect the self-propelled trolley 200 as a component to be processed, and move the self-propelled trolley 200 and the sling 300 and stop it in the maintenance area. Since the maintenance area is connected in parallel with the moving path of the self-propelled trolley 200, when the specific sling carried by the self-propelled trolley 200 is inspected, the self-propelled trolley 200 and the sling 300 carried by the self-propelled trolley 200 that move to the maintenance area will not hinder other self-propelled trolleys 200 from moving along the moving path of the self-propelled trolley 200, and the production rhythm can be effectively guaranteed.

[0067] In addition, if Figure 2 As shown, in some embodiments, the visual recognition detection control device 100 may further include a power conversion component 60. The power conversion component 60 is electrically connected to the phase line L1 and the neutral line N, for example, and is used to convert high voltage electricity (for example, 220V) into low voltage electricity (for example, 24V) that can be used by the first shooting component 10, the control component 20, the second shooting component 30, the first shooting activation component 11 or the second shooting activation component 31, etc., such as a known device such as a transformer. In addition, the power conversion component 60 may be omitted and a known storage battery may be used to power the first shooting component 10, the control component 20, the second shooting component 30, the first shooting activation component 11 or the second shooting activation component 31, etc.

[0068] It should be noted that in Figure 2In the figure, it is shown by way of example that the visual recognition detection control device 100 includes a first shooting component 10, a control member 20, a second shooting component 30, a first shooting activation component 11, a second shooting activation component 31, a display and storage component 50, an alarm component 40, and a power conversion component 60, and the first shooting component 10, the control member 20, the second shooting component 30, the first shooting activation component 11, the second shooting activation component 31, the display and storage component 50, and the alarm component 40 are connected to each other in a manner that enables mutual communication, for example, via a known method such as a network cable or power line communication. However, the above-mentioned components are not necessarily required, and the visual recognition detection control device 100 only needs to include the first shooting component 10 and the control member 20, and the second shooting component 30, the first shooting activation component 11, the second shooting activation component 31, the display and storage component 50, the alarm component 40, and the power conversion component 60 can be omitted in whole or in part as needed. For example, in some embodiments, the visual recognition detection control device 100 only has a first shooting component 10 and a control component 20 , and in other embodiments, the visual recognition detection control device 100 has a first shooting component 10 , a control component 20 and a second shooting component 30 .

[0069] In some embodiments, when the visual recognition detection control device 100 only has the first shooting component 10 and the control member 20, for example, the first shooting component 10 can be set at Figure 1 The first image including the self-propelled vehicle code C and the spreader code D can be captured at the position indicated by the reference mark A in the figure (for example, the position just before entering the component maintenance area S6), and the first shooting component 10 can also be set Figure 1 The first image including the self-propelled vehicle code C and the spreader code D is captured at the position indicated by the reference mark B in FIG. 1 (for example, the position just moved out of the component maintenance area S6). In other embodiments, optionally, when the visual recognition detection control device 100 includes the first shooting component 10, the control component 20 and the second shooting component 30, for example, the first shooting component 10 can be set at Figure 1 The first image including the self-propelled vehicle code C and the spreader code D is photographed at the position indicated by the reference numeral B in FIG. 1, and the second photographing component 30 is set at Figure 1 The second image including the self-driving vehicle code C is captured at the position indicated by the reference numeral A in FIG. The above-mentioned setting positions of the first shooting component 10 and the second shooting component 30 are only exemplary descriptions and are not limited in any way. The first shooting component 10 and the second shooting component 30 can be appropriately set according to the needs of specific working conditions.

[0070] In addition, Figure 1The example in the figure shows that the vehicle production workshop is divided into the door loading area S1 to be processed, the door pre-installation area S2, the first buffer area S3, the door assembly area S4, the second buffer area S5, and the component inspection area S6, but the visual recognition detection control device 100 of this solution is not limited to be applied to such a vehicle production workshop. It is possible to omit all or part of the door loading area S1 to be processed, the door pre-installation area S2, the first buffer area S3, the door assembly area S4, and the second buffer area S5 from the above-mentioned vehicle production workshop and only set the visual recognition detection control device 100 in the component inspection area S6, or the visual recognition detection control device 100 can be set in the door loading area S1 to be processed in a fixed section where the combination of the self-propelled trolley 200 and the sling 300 remains unchanged, and detect and / or record the combination state of the self-propelled trolley 200 and the sling 300 it carries.

[0071] In addition, although exemplary embodiments of the present invention have been described, it will be appreciated by those skilled in the art that various changes and modifications can be made to the exemplary embodiments of the present invention without departing substantially from the spirit and scope of the present invention. Therefore, all changes and modifications are included within the scope of protection of the present invention as defined by the claims. The present invention is defined by the appended claims, and the equivalents of these claims are also included.

Claims

1. A visual recognition detection control device for an EMS delivery system, in which a self-propelled trolley equipped with one or more slings moves along a predetermined moving path, characterized in that: The visual recognition detection control device comprises: a first photographing component, wherein the first photographing component is configured to photograph the self-propelled trolley and the sling that enter into a photographing range to generate a first image, wherein the first image includes a self-propelled trolley code of the self-propelled trolley and a sling code of the sling; and a control member connected to the first shooting assembly, for performing recognition processing on the first image, and setting the recognized trolley code of the trolley and the sling code of the sling as a group, The first photographing assembly is fixedly arranged in a fixed section of the moving path where the combination of the self-propelled trolley and the sling remains unchanged. The control means is configured to detect the self-propelled trolley corresponding to the self-propelled trolley code in the same group as the trolley code as a component to be processed when the trolley code of the identified trolley matches a preset trolley code to be tested.

2. The visual recognition detection control device according to claim 1, characterized in that: The visual recognition detection control device further includes a second shooting component, which is fixedly arranged in the fixed section at a position downstream of the moving path of the self-propelled vehicle relative to the first shooting component. The second photographing component is configured to photograph the bicycle that enters the photographing range to generate a second image, wherein the second image includes the bicycle code of the bicycle. The control means is configured to detect the self-propelled cart corresponding to the self-propelled cart code as the component to be processed when the self-propelled cart code recognized from the second image is consistent with the self-propelled cart code corresponding to the pre-set hanger code of the hanger to be tested.

3. The visual recognition detection control device according to claim 1 or 2, characterized in that: The first photographing assembly includes a first photographing unit and a plurality of second photographing units. The first photographing unit is configured to photograph the bicycle to generate a first sub-image containing a code of the bicycle. The plurality of second photographing units are configured to respectively photograph the plurality of slings mounted on the self-propelled vehicle and respectively generate a plurality of second sub-images including codes of the slings. The first image is composed of the first sub-image and a plurality of the second sub-images.

4. The visual recognition detection control device according to claim 1, characterized in that: The visual recognition detection control device also includes a first shooting activation component, which is connected to the first shooting component or the control component to detect whether the self-driving vehicle enters the shooting range of the first shooting component.

5. The visual recognition detection control device according to claim 2, characterized in that: The visual recognition detection control device also has a second shooting activation component, which is connected to the second shooting component or the control component to detect whether the self-propelled vehicle enters the shooting range of the second shooting component.

6. The visual recognition detection control device according to claim 1 or 2, characterized in that: The visual recognition detection control device further includes an alarm component, which emits an alarm signal in the form of sound and / or light when the control component detects the component to be processed.

7. The visual recognition detection control device according to claim 1 or 2, characterized in that: The visual recognition detection control device also includes: a display component, which at least displays the first image taken by the first shooting component and includes the self-propelled vehicle code and the hoist code; and / or a storage component, which stores the self-propelled vehicle code and the hoist code included in the first image as a group.

8. The visual recognition detection control device according to claim 1 or 2, characterized in that: The visual recognition detection control device also includes an illumination unit, which illuminates the self-propelled vehicle and / or the sling that enters the shooting range of the first shooting component.

9. The visual recognition detection control device according to claim 1 or 2, characterized in that: The first photographing component photographs the self-propelled trolley and the hoisting device from the side of the moving path of the self-propelled trolley.

10. The visual recognition detection control device according to claim 1, characterized in that: The control means is configured to move the self-propelled carriage and stop the self-propelled carriage in a maintenance area parallel to the movement path when the self-propelled carriage is detected as a component to be processed.

11. An EMS delivery system, characterized in that: The EMS delivery system comprises the visual recognition detection control device according to any one of claims 1 to 10.

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