AGV-based assembly system and production line assembly method

Abstract

The invention relates to the technical field of assembly conveying, in particular to an AGV-based assembly system and a production line assembly method. The system comprises a plurality of assembly stations, and each assembly station is provided with a monitoring device; the plurality of AGV groups move in sequence along the same fixed route, and are in butt joint with each assembly station in sequence; and the main control module is in signal connection with the monitoring equipment and the AGV groups, and the main control module is used for receiving the working rhythm of the assembly station and the position information of each AGV group fed back by the monitoring equipment, and adjusting the speed of the AGV groups according to the working rhythm of the assembly station, so that the transportation speed of the AGV groups is matched with the working rhythm of the assembly station. By controlling the distance and the vehicle speed of the AGV transport vehicle sets, automatic operation of the AGV transport vehicle sets is utilized, the takt of a takt chasing and following production line body is adjustable, local shutdown does not affect overall operation, the purpose of balanced production is achieved, the shutdown time of the whole line body is chased and shortened, energy consumption is saved, and production efficiency is improved.

Description

Technical Field

[0001] This application relates to the technical field of assembly and transportation, and particularly relates to an AGV-based assembly system and a production line assembly method. Background Art

[0002] With the evolution of the automotive business model, the diverse and personalized needs of customers have become increasingly prominent. In the era of automotive personalized customization, the automotive production mode has changed from the previous large-scale static production mode of a single type to a large-scale dynamic production mode of multiple types. In automotive manufacturing, there are several common layout methods for production lines, workstations, processes, etc. in the production system. For example, in the large-scale automotive manufacturing assembly line layout method, each workstation corresponds to a simple operation process, and the workstations are arranged in series to form a production line. The production cycle in the production line refers to the interval time between the continuous completion of two identical products. Usually, the workstation with the slowest production cycle in a process is called the bottleneck workstation. The production capacity of the production line is directly related to the production cycle, and the production cycle is restricted by the time of the bottleneck workstation.

[0003] In the related art, the AGV (Automated Guided Vehicle) intelligent vehicle technology is increasingly widely used in the field of automotive assembly. Using AGV for automatic material distribution and assembly transportation is more efficient, safer, and lower-cost compared to the traditional plate chain and drag chain transportation methods. However, in the automotive assembly production line, the production cycle fluctuates greatly and irregularly. Any workstation may become a bottleneck workstation at any time, and the duration is uncertain. For the traditional automotive assembly line, when a certain workstation becomes a bottleneck workstation, the assembly before this workstation will gradually become blocked until the upstream production of this workstation completely stops and waits for this workstation to complete the work; while the work-in-progress after this workstation will gradually decrease until the downstream production line of this workstation is completely idle and waits for the upstream products to flow down for processing, resulting in a waiting waste where one side is waiting while the other side cannot complete the operation. Summary of the Invention

[0004] Aiming at the problem in the related art that in the automotive assembly production line, the production cycle fluctuates greatly and irregularly, any workstation may become a bottleneck workstation at any time, and the duration is uncertain, resulting in the assembly before this workstation gradually becoming blocked and the work-in-progress after this workstation gradually decreasing, and there is a waiting waste where one side is waiting while the other side cannot complete the operation.

[0005] In a first aspect, an embodiment of the present application provides an AGV-based assembly system, which includes:

[0006] Multiple assembly workstations, and monitoring devices are provided at each assembly workstation;

[0007] Multiple groups of AGV vehicles, and multiple groups of AGV vehicles move along the same fixed route in sequence and dock with each assembly station in turn;

[0008] A main control module, which is signal-connected to the monitoring device and the AGV vehicle group. The main control module is used to receive the working beat of the assembly station and the position information of each AGV vehicle group fed back by the monitoring device, and adjust the vehicle speed of the AGV vehicle group according to the working beat of the assembly station, so that the transportation speed of the AGV vehicle group matches the working beat of the assembly station.

[0009] In combination with the first aspect, in an implementation manner, the fixed route for the AGV vehicle group to pass through is provided with a station landmark at each assembly station. The station landmark is used to contact the AGV vehicle group and feed back position information to the AGV vehicle group.

[0010] In combination with the first aspect, in an implementation manner, an encoder is provided on the drive motor of the AGV vehicle group. The encoder is used to restart counting after the AGV vehicle group interacts with the station landmark information, and calculate the real-time position and speed of the AGV vehicle group.

[0011] In combination with the first aspect, in an implementation manner, the multiple assembly stations include:

[0012] An online station, which is used to dock with the AGV vehicle group and send vehicle type information to the AGV vehicle group;

[0013] A VIN stamping station, which is used to receive the vehicle type information of the AGV vehicle group and stamp the product according to the vehicle type information.

[0014] In combination with the first aspect, in an implementation manner, the multiple assembly stations further include:

[0015] A frame flipping station, which is used to receive the vehicle type information of the AGV vehicle group and perform flipping adjustment on the product according to the vehicle type information;

[0016] A filling station, which is used to receive the product filling parameters conveyed by the AGV vehicle group and fill the product on the AGV vehicle group according to the product filling parameters.

[0017] In combination with the first aspect, in an implementation manner, the main control module performs data interaction with the assembly station through PN coupling communication to obtain the information of the AGV vehicle group and the product.

[0018] In a second aspect, an embodiment of the present application provides a production line assembly method using the above-mentioned AGV-based assembly system. The AGV-based production line assembly method includes:

[0019] Collect the working beat information of all assembly stations and the position information of all AGV vehicle groups in real time;

[0020] Judge whether the corresponding assembly station is in a stagnant state according to the working beat information of the assembly station, and use the main control module to adjust the vehicle speed of the AGV vehicle group; among them,

[0021] When all assembly stations are not in a stagnant state, drive all AGV vehicle groups to travel at a preset normal transportation speed uniformly, and keep a normal transportation distance between adjacent AGV vehicle groups;

[0022] When any assembly station is in a stagnant state, divide all AGV vehicle groups into normal vehicle groups downstream of the assembly station and stagnant vehicle groups at and upstream of the assembly station, and drive the normal vehicle groups to continue transporting at a preset normal transportation speed. At the same time, drive the stagnant vehicle groups to decelerate or stop running until the assembly station gets out of the stagnant state;

[0023] When any assembly station gets out of the stagnant state, drive the stagnant vehicle groups to accelerate to catch up with the normal vehicle groups until the distance between all adjacent AGV vehicle groups reaches the normal transportation distance.

[0024] Combined with the second aspect, in an implementation manner, the driving the stagnant vehicle groups to accelerate to catch up with the normal vehicle groups includes:

[0025] Calculate the stagnant distance between the adjacent front and rear AGV vehicle groups after the assembly station gets out of the stagnant state;

[0026] Calculate the time-consuming information during the pursuit of the stagnant vehicle groups according to the stagnant distance and the preset pursuit speed, and drive the stagnant vehicle groups to accelerate to catch up with the normal vehicle groups according to the time-consuming information during the pursuit.

[0027] Combined with the second aspect, in an implementation manner, the calculating the time-consuming information during the pursuit of the stagnant vehicle groups according to the pursuit distance value and the preset pursuit speed includes:

[0028] Calculate the acceleration distance and acceleration time when the stagnant vehicle groups accelerate to the preset pursuit speed;

[0029] Calculate the pursuit distance between adjacent AGV vehicle groups when the stagnant vehicle groups accelerate to the preset pursuit speed according to the stagnant distance, the acceleration distance and the acceleration time of the stagnant vehicle groups;

[0030] Calculate the time-consuming information during the pursuit of the stagnant vehicle groups according to the pursuit distance, the preset pursuit speed, the preset normal transportation speed and the acceleration time.

[0031] Combined with the second aspect, in an implementation manner, it is characterized in that: the preset pursuit speed of the AGV vehicle group is between 1.1 and 1.5 times of its preset normal speed

[0032] The beneficial effects brought by the technical solutions provided by the embodiments of the present application include:

[0033] By controlling the spacing and vehicle speed of the AGV transport vehicle group, and making use of the automatic operation of the AGV vehicle group and the adjustable production line beat of the rhythm chase follow-up, local shutdown does not affect the overall operation, achieving the goal of balanced production. The shutdown time of the entire production line is chased and shortened, energy consumption is saved, and production efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the AGV vehicle group transportation adjustment strategy in the embodiment of the present application;

[0035] Figure 2 It is a schematic diagram of the variable distance control process of the AGV vehicle group in the embodiment of the present application;

[0036] Figure 3 It is a schematic diagram of the AGV vehicle group chasing in the embodiment of the present application;

[0037] Figure 4 It is a data interaction logic diagram of the online station of the assembly system in the embodiment of the present application;

[0038] Figure 5 It is a data interaction logic diagram of the VIN stamping station of the assembly system in the embodiment of the present application;

[0039] Figure 6 It is a data interaction logic diagram of the filling station of the assembly system in the embodiment of the present application;

[0040] Figure 7 It is a logic diagram of the AGV vehicle group spacing adjustment operation in the embodiment of the present application.

[0041] In the figure: 1. AGV vehicle group; 11. Normal vehicle group; 12. Stagnant vehicle group; 2. Station landmark. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0043] In the related art, the production line beat of the automobile assembly production line fluctuates greatly and irregularly. Any station may become a bottleneck station at any time, and the duration is uncertain, resulting in the gradual blockage of the assembly before the station and the gradual decrease of the work in process after the station, and the problem of waiting waste where one side is waiting and the other side cannot complete the operation appears.

[0044] It should be noted that during mixed-flow production, if an assembly station has difficult operations or its production rate decreases, the stations upstream of this assembly station will have their production rates decreased or even stop due to blockage at this assembly station. The stations downstream of this assembly station will gradually become emptied due to the deceleration or stop of this assembly station. At this time, the conventional approach is to pause the downstream station and wait for this assembly station to complete its work before continuing to release the products.

[0045] In a first aspect, an embodiment of the present application provides an AGV-based assembly system, which is characterized by comprising: a plurality of assembly stations, a plurality of AGV vehicle groups 1, and a main control module; wherein,

[0046] A plurality of assembly stations, each of which is provided with monitoring equipment;

[0047] A plurality of AGV vehicle groups 1 move in sequence along the same fixed route and dock with each assembly station in turn; the main control module is connected to the monitoring equipment and the AGV vehicle groups 1 by signals. The main control module is configured to receive the working beat of the assembly station and the position information of each AGV vehicle group 1 fed back by the monitoring equipment, and adjust the vehicle speed of the AGV vehicle groups 1 according to the working beat of the assembly station, so that the transportation speed of the AGV vehicle groups 1 matches the working beat of the assembly station.

[0048] It is worth noting that the AGV vehicle groups 1 run along a fixed route to realize the binding of the assembled products with the AGV vehicle groups. After binding, the AGV vehicle groups 1 contain vehicle type information, management numbers, and wheelbase information. After the AGV vehicle groups 1 reach the docking points of each assembly station, they will feedback their positions to the main control module, which is convenient for the main control module to control the speeds of the respective AGV vehicle groups 1 so that the transportation speed of the AGV vehicle groups 1 matches the working beat of the assembly station, and to avoid causing a greater impact on the entire assembly production line when there is a bottleneck beat at an individual assembly station.

[0049] In some preferred embodiments, a station landmark 2 is provided at each assembly station on the fixed route for the AGV vehicle groups 1 to pass through. The station landmark 2 is used to contact the AGV vehicle groups 1 and feedback position information to the AGV vehicle groups 1.

[0050] Furthermore, station landmarks 2 are provided at the standard station spacing of the assembly production line. An RFID chip (radio frequency identification chip) is provided at the station landmark 2, and this RFID chip contains the station number here. When the AGV vehicle groups 1 pass through the station landmark here, they can read the landmark information in the chip, and then the AGV vehicle groups 1 feedback the position of the AGV vehicle groups 1 bound to the vehicle type to the main control module through wireless signals, and the main control module can receive the interval position of the current AGV vehicle groups 1.

[0051] In some preferred embodiments, an encoder is provided on the drive motor of the AGV vehicle group 1. The encoder is used to restart counting after the information interaction between the AGV vehicle group 1 and the station landmark 2, and calculate the real-time position and speed of the AGV vehicle group 1.

[0052] It can be understood that an encoder is installed on the traveling motor of the AGV vehicle group 1. After reading the landmark, the encoder is cleared to start counting. Through the set algorithm, the accurate position and speed of the vehicle group within the interval can be calculated in real time.

[0053] Furthermore, every time the AGV vehicle group 1 arrives at a station landmark 2, it can communicate with other equipment on the line side of the corresponding assembly station to obtain vehicle model information and relevant process parameters, so as to achieve data interaction between the AGV vehicle group 1 carrying the vehicle frame and other equipment on both sides of the line.

[0054] In some specific embodiments, the communication method is that when the AGV vehicle group 1 arrives at the position of the station landmark 2, after reading the landmark information, it feeds back its own information to the main control module. The main control module conducts data interaction with the equipment at the line side assembly station and the production mess system (production execution system) through PN coupling communication, so as to obtain information about the vehicle group and the product vehicle (such as the beat of this vehicle model, data such as parts assembled at the station, torque, filling volume, etc.).

[0055] Combined with the above embodiments, in some preferred embodiments, the above-mentioned multiple assembly stations include: the online station, the VIN (Vehicle Identification Number) stamping station, the vehicle frame flipping station, and the filling station; among them,

[0056] The online station is used to dock with the AGV vehicle group 1 and send vehicle model information to the AGV vehicle group 1; the VIN stamping station is used to receive the vehicle model information of the AGV vehicle group 1 and stamp the product according to the vehicle model information. The vehicle frame flipping station is used to receive the vehicle model information of the AGV vehicle group 1 and flip and adjust the product according to the vehicle model information; the filling station is used to receive the product filling parameters conveyed by the AGV vehicle group 1 and fill the product on the AGV vehicle group 1 according to the product filling parameters.

[0057] In some specific embodiments, as Figure 4 shown, at the online station, the mess system sends the vehicle frame information of the vehicle model to be put online (vehicle model information, management number, wheelbase) to the main control module. The main control module sends the information of the vehicle model to be put online to the AGV vehicle group 1 at the online point. The AGV vehicle group 1 adjusts the distance between the front and rear vehicles in the vehicle group according to the received information, and the beat of the received vehicle model, and automatically adjusts the distance between this vehicle group and the previous vehicle group and the running speed.

[0058] Furthermore, as Figure 5As shown, after the online vehicle information is bound to AGV group 1, AGV group 1 runs to the VIN engraving station area at the set speed. AGV group 1 transmits the vehicle model information to the VIN engraving device through the main control module with a PN coupler. The VIN engraving device requests the MESS system for engraving content according to the information transmitted by the AGV. The mess system sends the engraving content to the engraving machine, and the engraving machine engraves the VIN code according to the content sent by the mess system. After the engraving is completed, OCR photography is performed and the results are uploaded to the quality MQ system. After the upload is completed, the engraving machine sends a completion release signal to the AGV system, and the AGV is released and leaves the engraving station.

[0059] In some optional implementations, for automobile product assembly, the assembly system includes a frame flipping station, and the frame flipping station docking logic includes:

[0060] When AGV group 1 runs to the frame flipping station, it determines whether it is the front vehicle and the front vehicle has been docked. AGV group 1 is in the docking position at the waiting point, and the flip machine is allowed to enter without an emergency stop signal. If the front vehicle has not been completed, it will wait at the waiting point until it receives a signal to allow entry. After receiving the signal to allow entry, AGV group 1 sends the AGV in-position signal, management number, frame number, vehicle model and other information to the frame flipping mechanism through the main control PN coupler. The automatic flipping device adjusts the distance between the front and rear flip hoists according to the received information. At the same time, the AGV group begins to accelerate into the flipping area until it reaches the predetermined flipping stop point and decelerates to zero. The entire entry process is acceleration-maximum speed-deceleration to zero stop to achieve beat optimization.

[0061] Furthermore, when the flipping equipment lifts the frame to the preset height, the dual-vehicle linkage AGV group adjusts the distance between the groups according to the vehicle model information, and switches the support points from supporting the frame to supporting the bridge beam and bridge package. The frame assembly that has been flipped is placed on AGV group 1. After the flipping machine is disengaged, the flipping machine sends a completion signal to AGV group 1, and AGV group 1 starts to accelerate until it reaches the set speed and then starts to run.

[0062] In some specific implementation methods, the docking data interaction logic of the filling station includes: after the AGV group 1 arrives at the filling station, it transmits the arrival signal to the filling equipment (including the plan management number and the vehicle model), and the filling equipment calls the MES interface to obtain the filling parameters of the current vehicle; the request parameters include: transaction code, plan management number, and vehicle model; MES returns the filling parameters; the AGV carries the group and the accompanying equipment to move together until the filling is completed, and the filling machine gives a release signal to the AGV group in the filling area, the AGV group is released to leave the filling area, and the accompanying filling machine returns to the origin, waiting for the next group to enter.

[0063] Second aspect, the present application provides a production line assembly method using the above-mentioned AGV-based assembly system, which includes:

[0064] Step S1: Collect the working rhythm information of all assembly stations and the position information of all AGV vehicle groups 1 in real time.

[0065] Specifically, as described above, after the AGV vehicle group 1 moves to the station landmark 2, it will perform information interaction with the in-line equipment and monitoring equipment of the assembly station. After receiving the data, the AGV vehicle group 1 transmits the position information and the working information of the assembly station to the main control module.

[0066] Step S2: Judge whether the corresponding assembly station is in a stagnant state according to the working rhythm information of the assembly station, and use the main control module to adjust the vehicle speed of the AGV vehicle group 1.

[0067] It should be noted that the spacing adjustment operation logic of the AGV vehicle group in the present application is as Figure 7 shown. The main control module can obtain the position of each AGV vehicle group 1, and then cooperate with the received working rhythm information of the assembly station to judge and adjust the vehicle speed of the AGV vehicle group 1 and the distance between the front and rear vehicles, so as to make the overall line produce evenly.

[0068] As Figure 1 shown, the strategy for adjusting the vehicle speed of the AGV vehicle group 1 in the above step S2 includes:

[0069] Strategy A: Normal driving mode:

[0070] When all assembly stations are not in a stagnant state, drive all AGV vehicle groups 1 to travel at a preset normal transportation speed uniformly, and keep a normal transportation vehicle distance between adjacent AGV vehicle groups 1.

[0071] It can be understood that, as Figure 2 shown, the AGV vehicle group 1 needs to adjust the vehicle speed of the AGV vehicle group 1 according to the normal working rhythm of each assembly station, so as to keep the distance between the front and rear vehicles within the range of the normal transportation vehicle distance.

[0072] Strategy B: Abnormal line stop mode:

[0073] When any assembly station is in a stagnant state, divide all AGV vehicle groups 1 into normal vehicle groups 11 downstream of the assembly station and stagnant vehicle groups 12 at and upstream of the assembly station, and drive the normal vehicle groups 11 to continue transporting at a preset normal transportation speed, while driving the stagnant vehicle groups 12 to decelerate or stop running until the assembly station gets out of the stagnant state.

[0074] Strategy C: Accelerated pursuit mode:

[0075] When any assembly station gets out of the stagnant state, the stagnant vehicle group 12 is driven to accelerate to catch up with the normal vehicle group 11 until the distance between all adjacent AGV vehicle groups 1 reaches the normal transport vehicle distance.

[0076] Optionally, the preset chasing speed of the AGV vehicle group 1 is between 1.1 and 1.5 times its preset normal speed.

[0077] The chasing method of the AGV vehicle group 1 in the above acceleration chasing mode includes:

[0078] Step a: Calculate the stagnant distance between the adjacent front and rear AGV vehicle groups 1 after the assembly station gets out of the stagnant state.

[0079] Specifically, as Figure 1 and Figure 3 shown, after the line stops, some vehicle groups stop moving. The speed V1 of the stagnant vehicle group 12 is 0. At this time, the normal vehicle group 11 downstream keeps moving at the normal speed V0. At this time, the distance S1 between the adjacent normal vehicle group 11 and the front and rear of the stagnant vehicle group 12 after the line stops is:

[0080] S1 = S0 + V0 * T1

[0081] In the formula, T1 is the line stop time, the normal transport speed at the start of the line stop is V0, and the initial vehicle group distance S0 at the start of the line stop.

[0082] Step b: Calculate the acceleration distance and acceleration time when the stagnant vehicle group 12 accelerates to the preset chasing speed.

[0083] Specifically, after the line stop is released, the rear stagnant vehicle group 12 starts to accelerate and takes time T2 to accelerate from zero to the preset chasing speed V2.

[0084] V2 = a * T2

[0085] Furthermore, when accelerating from zero to the maximum chasing speed, the acceleration distance is S2 and the time is T2. Calculate the acceleration distance S2 according to the following formula

[0086] S2 = 1 / 2 * a * T2 2

[0087] Step c: Calculate the chasing distance between adjacent AGV vehicle groups 1 when the stagnant vehicle group 12 accelerates to the preset chasing speed according to the stagnant distance, the acceleration distance and the acceleration time of the stagnant vehicle group 12.

[0088] Calculate the chasing distance S3 between the front and rear vehicle groups when starting to chase at a constant speed with the preset chasing speed V2:

[0089] S3 = S1 + V0 * T2 - S2

[0090] Step d: Calculate the time-consuming information during the chasing period of the stagnant vehicle group 12 based on the chasing distance, the preset chasing speed, the preset normal transportation speed, and the acceleration time.

[0091] The reduced line stop time T is

[0092] T = S3 / V + T2 = (S0 + V0*T1 + V0*T2 - 1 / 2*V2 / T2*T2 2 ) / (V2 - V0) + T2

[0093] = (S0 + V0*T1 + V0*T2 - 1 / 2*V2*T2) / (V2 - V0) + T2

[0094] Step e: Drive the stagnant vehicle group 12 to accelerate and chase the normal vehicle group 11 according to the time-consuming information during the chasing period.

[0095] Specifically, when S3 = S0 in step d, drive the speed of the stagnant vehicle group 12 in the chasing mode to resume to the normal transportation speed V0 and maintain a constant speed operation.

[0096] In a third aspect, an embodiment of the present application provides a production line assembly device, and the production line assembly device can be a device with data processing functions such as a personal computer (PC), a notebook computer, a server, etc.

[0097] Among them, the communication bus can be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0098] The communication interface includes interfaces such as input / output (I / O) interfaces, physical interfaces, and logical interfaces for interconnecting the components inside the production line assembly device, and interfaces for interconnecting the production line assembly device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, an optical fiber interface, an ATM interface, etc.; the user device can be a display (Display), a keyboard (Keyboard), etc.

[0099] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical memory, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0100] The processor may be a general-purpose processor, which can call the production line assembly program stored in the memory and execute the production line assembly method provided by the embodiments of the present application. For example, the general-purpose processor may be a central processing unit (CPU). Among them, the method executed when the production line assembly program is called may refer to the various embodiments of the production line assembly method of the present application, which will not be elaborated here.

[0101] In summary, the present application controls the spacing and vehicle speed of the AGV transport vehicle group, and uses the automatic operation of the AGV vehicle group and the beat chasing to follow up the adjustable beat of the production line body. The partial shutdown does not affect the overall operation, achieving the goal of balanced production. The shutdown time of the entire line body is chased and shortened, saving energy consumption and improving production efficiency. The production line body uses a two-vehicle linkage AGV vehicle group. By binding the AGV to the workpiece, setting the operation section control mechanism of the AGV, setting the AGV position calibration mark point, and the AGV realizing differential speed operation according to the spacing of the previous group of AGVs, the AGV realizes position synchronization according to the servo encoder data, and the master and slave AGVs between the two-vehicle linkage vehicle groups perform position calibration according to the position calibration point to eliminate the cumulative error; means and methods such as automatic chasing and automatic following between the front and rear two groups of vehicle groups are used to solve the problems of automatic following of multiple groups of AGVs and spacing chasing to eliminate the beat difference and shutdown, ensuring the reliability and accuracy of control, and realizing the control strategy and effect of automatic operation, beat chasing and following up, and reduction of line body shutdown of the chassis main line AGV vehicle group. Further, the beat of this production line body is adjustable, and the partial shutdown does not affect the overall operation, achieving the goal of balanced production. The shutdown time of the entire line body is chased and shortened, saving energy consumption and improving production efficiency.

[0102] It should be noted that the serial numbers of the embodiments of the present application above are only for description and do not represent the superiority or inferiority of the embodiments.

[0103] Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence, or the part that makes a contribution to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions for causing a terminal device to execute the methods described in the various embodiments of the present application.

[0104] In the description of the specification, claims and the above-mentioned drawings of this application, the terms "comprising", "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include steps or units not listed, or may optionally further include other steps or units inherent to these processes, methods, products or devices. The descriptions such as "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit that "first", "second" and "third" are different types.

[0105] In the description of the embodiments of this application, terms such as "exemplary", "for example" or "for illustration" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary", "for example" or "for illustration" in the embodiments of this application should not be construed as being more preferred or having more advantages than other embodiments or designs. Rather, the use of words such as "exemplary", "for example" or "for illustration" is intended to present relevant concepts in a specific manner.

[0106] In the description of the embodiments of this application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B; "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B may mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "a plurality of" means two or more than two.

[0107] In some processes described in the embodiments of this application, there are multiple operations or steps that appear in a specific order. However, it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of this application or may be executed in parallel. The serial numbers of the operations are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0108] The above are only the preferred embodiments of this application, and do not limit the patent scope of this application accordingly. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of this application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of this application.

Claims

1. An AGV-based assembly system, characterized in that, Including: Multiple assembly workstations, each equipped with monitoring equipment; Multiple groups of AGVs (1), which move in sequence along the same fixed route and dock with each assembly workstation in turn; The main control module, which is signal-connected to the monitoring equipment and the AGV groups (1). The main control module is used to receive the working rhythm of the assembly workstation and the position information of each AGV group (1) fed back by the monitoring equipment, and adjust the vehicle speed of the AGV groups (1) according to the working rhythm of the assembly workstation, so that the transportation speed of the AGV groups (1) matches the working rhythm of the assembly workstation.

2. The AGV-based assembly system according to claim 1, wherein: The fixed route for the AGV groups (1) to pass through is provided with a workstation landmark (2) at each assembly workstation. The workstation landmark (2) is used to contact the AGV groups (1) and feed back position information to the AGV groups (1).

3. The AGV-based assembly system according to claim 2, characterized in that: An encoder is provided on the drive of the AGV group (1). The encoder is used to restart counting after the information interaction between the AGV group (1) and the workstation landmark (2), and calculate the real-time position and speed of the AGV group (1).

4. The AGV-based assembly system according to claim 1, characterized in that, The multiple assembly workstations include: The on-line workstation, which is used to dock with the AGV group (1) and send vehicle type information to the AGV group (1); The VIN stamping workstation, which is used to receive the vehicle type information of the AGV group (1) and stamp the product according to the vehicle type information.

5. The AGV-based assembly system according to claim 4, wherein, The multiple assembly workstations further include: The frame flipping workstation, which is used to receive the vehicle type information of the AGV group (1) and perform flipping adjustment on the product according to the vehicle type information; The filling workstation, which is used to receive the product filling parameters conveyed by the AGV group (1) and fill the product on the AGV group (1) according to the product filling parameters.

6. The AGV-based assembly system according to claim 1, wherein: The main control module exchanges assembly workstation data through PN coupling communication to obtain the information of the AGV group (1) and the product.

7. A production line assembly method using the AGV-based assembly system as described in claim 1, characterized in that The AGV-based production line assembly method includes: Real-time collection of the working rhythm information of all assembly workstations and the position information of all AGV groups (1); Judging whether the corresponding assembly workstation is in a stagnant state according to the working rhythm information of the assembly workstation, and using the main control module to adjust the vehicle speed of the AGV group (1); where When all assembly workstations are not in a stagnant state, drive all AGV groups (1) to travel at a preset normal transportation speed uniformly, and keep a normal transportation vehicle distance between adjacent AGV groups (1); When any assembly workstation is in a stagnant state, all AGV groups (1) are divided into normal vehicle groups (11) downstream of the assembly workstation and stagnant vehicle groups (12) at and upstream of the assembly workstation, and drive the normal vehicle groups (11) to continue transporting at a preset normal transportation speed, while driving the stagnant vehicle groups (12) to decelerate or stop until the assembly workstation gets out of the stagnant state; When any assembly workstation gets out of the stagnant state, drive the stagnant vehicle groups (12) to accelerate and catch up with the normal vehicle groups (11) until the distance between all adjacent AGV groups (1) reaches the normal transportation vehicle distance.

8. The AGV-based production line assembly method according to claim 7, wherein, Driving the stagnant vehicle groups (12) to accelerate and catch up with the normal vehicle groups (11) includes: After the computing and assembly station gets out of the stagnant state, calculate the stagnation spacing of the adjacent front and rear AGV vehicle groups (1). According to the stagnation spacing and the preset chasing speed, calculate the time-consuming information during the chasing period of the stagnant vehicle group (12), and drive the stagnant vehicle group (12) to accelerate and chase the normal vehicle group (11) according to the time-consuming information during the chasing period.

9. The AGV-based production line assembly method according to claim 8, wherein The calculating the time-consuming information during the chasing period of the stagnant vehicle group (12) according to the chasing spacing value and the preset chasing speed includes: Calculate the acceleration distance and acceleration time when the stagnant vehicle group (12) accelerates to the preset chasing speed. According to the stagnation spacing, the acceleration distance and acceleration time of the stagnant vehicle group (12), calculate the chasing spacing of the adjacent AGV vehicle group (1) when the stagnant vehicle group (12) accelerates to the preset chasing speed. According to the chasing spacing, the preset chasing speed, the preset normal transportation speed and the acceleration time, calculate the time-consuming information during the chasing period of the stagnant vehicle group (12).

10. The AGV-based production line assembly method according to claim 7, wherein: The preset chasing speed of the AGV vehicle group (1) is between 1.1 and 1.5 times of its preset normal speed.

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