A vehicle control device and method

Abstract

The application relates to a carrier control device and method, which is used for controlling carriers in a carrier on a conveying device, the carriers are provided with at least two buckle grooves arranged oppositely in position, the carrier is located in a carrier box when the carrier is conveyed on the conveying device, at least one positioning mark is arranged on the carrier, an image acquisition position and a carrier dismounting position are arranged on the conveying device; the image acquisition position is located in front of the carrier dismounting position along the conveying direction of the conveying device; the carrier control device comprises a positioning image acquisition device, a carrier dismounting device, a transfer mechanical arm and a processor. According to the carrier control device provided by the application, the existing watch and carrier dismounting problem can be solved, manual dismounting is mostly adopted, manual dismounting is low in efficiency, high in difficulty and time-consuming, and low in automation degree.

Description

Technical Field

[0001] This application relates to the field of equipment manufacturing, and more particularly to a vehicle control device and method. Background Technology

[0002] In recent years, driven by the rapid development of technology, the wearable device industry has experienced explosive growth, with increasingly diverse product types and, consequently, higher demands on them. Smart wearable products are evolving towards miniaturization, lightweight design, and flexibility. Smartwatches, as a major category of smart wearable products, combine the functions of smartphones and wristwatches, possessing core features such as location tracking and anti-loss, audio and video calls, as well as various other functions including electronic payment, health monitoring, social networking, photography, and intelligent object recognition, making them applicable in a wide range of scenarios.

[0003] However, the mass production of smartwatches involves multiple production stages, such as assembly, manufacturing, and testing. Each stage requires the smartwatch to be fixed in a specific watch carrier. Since the processes and functions required at each stage differ, the carriers for each stage also differ. Frequent carrier changes are necessary when interacting between different production stages; for example, the smartwatch needs to be disassembled from a carrier in one stage and installed in a carrier in the next.

[0004] Currently, most watches and vehicles are disassembled manually, which is inefficient, difficult, time-consuming, and has a low degree of automation. Summary of the Invention

[0005] This application provides a vehicle control device and method to solve the technical problems of existing watch and vehicle disassembly, which mostly rely on manual disassembly, which is inefficient, difficult, time-consuming, and has a low degree of automation.

[0006] In a first aspect, this application provides a vehicle control device for controlling a carrier in a vehicle being transported on a transmission device, wherein the carrier has at least two latching slots arranged in opposite positions.

[0007] The vehicle is located inside the vehicle box when it is transported on the transmission device. The vehicle is provided with at least one positioning mark. The transmission device is provided with an image acquisition position and a vehicle disassembly position.

[0008] Along the transmission direction of the transmission device, the image acquisition position is located in front of the vehicle disassembly position;

[0009] The vehicle control device includes: a positioning image acquisition device, a vehicle disassembly device, a transfer robotic arm, and a processor.

[0010] The image acquisition device covers the image acquisition position. When the vehicle placed in the vehicle box passes the image acquisition position on the transmission device, the image acquisition device acquires a positioning image of the vehicle located in the vehicle box. The positioning image includes the positioning mark.

[0011] The processor identifies the positioning image and generates position information of the vehicle within the vehicle box;

[0012] The transfer robotic arm uses the position information to grip the carrier at the image acquisition position and transfer it to the carrier disassembly position, and the carrier disassembly device disassembles the carrier in the carrier.

[0013] In one possible implementation, the device further includes: a carrier platform and a carrier stand, the carrier platform and the carrier stand being located on the side of the transmission device, the carrier stand being used to store a carrier, and the carrier stand being used to store a disassembled carrier or a target carrier;

[0014] The transfer robotic arm transfers the carrier to the carrier platform, moves the disassembled carrier from the carrier disassembly position, moves the target carrier located on the carrier platform to the carrier disassembly position, and transfers the carrier on the carrier platform to the target carrier at the carrier disassembly position.

[0015] In one possible implementation, the carrier is provided with two symmetrically arranged snap-fit ​​slots, and the carrier includes:

[0016] The vehicle body includes:

[0017] First positioning hole and second positioning hole for fixing the vehicle body inside the vehicle box;

[0018] First and second magnetic suction holes are used to prevent the vehicle body from shifting.

[0019] The first and second latches are used to engage the two latching slots;

[0020] A first socket for installing the first latch, and a second socket for installing the second latch;

[0021] A first spring for abutting the first latch, and a second spring for abutting the second latch; and

[0022] A first groove for mounting the first spring, and a second groove for mounting the second spring.

[0023] In one possible implementation, the positioning markers on the vehicle include:

[0024] A first positioning bright field is set corresponding to the first positioning hole, and a second positioning bright field is set corresponding to the second positioning hole;

[0025] A first concentric circle dark field is set corresponding to the first magnetic attraction hole, and a second concentric circle dark field is set corresponding to the second magnetic attraction hole;

[0026] A first square bright field is set corresponding to the first socket, and a second square bright field is set corresponding to the second socket;

[0027] A copper reflective bright field is disposed on one side of the vehicle body; and

[0028] An edge feature bright field is set on the same side as the reflective bright field of the copper sheet.

[0029] In one possible implementation, the vehicle disassembly device includes:

[0030] A first and a second rotary fixing clamp are provided around the vehicle disassembly position for securing the vehicle.

[0031] A vehicle sensor located in the vehicle disassembly position for sensing the vehicle;

[0032] A carrier sensor located in the carrier disassembly position for sensing the carrier;

[0033] The first set of bore rods and the second set of bore rods are symmetrically arranged in the vehicle disassembly position;

[0034] The left and right shift cylinders located in the vehicle disassembly position move the vehicle horizontally; and

[0035] A lifting cylinder located in the vehicle disassembly position that moves the vehicle vertically.

[0036] In one possible implementation, the transmission device is further provided with: a carrier box adjustment position; along the transmission direction of the transmission device, the carrier box adjustment position is located in front of the image acquisition position;

[0037] The vehicle box adjustment position is equipped with a blocking cylinder, which is used to block the vehicle box from moving beyond a preset range for adjustment.

[0038] In one possible implementation, the image acquisition position is provided with a blocking bar, which is located between the image acquisition position and the vehicle disassembly position and closer to the side of the vehicle disassembly position, to block vehicles and carriers that have not undergone image acquisition for adjustment.

[0039] In one possible implementation, the positioning image acquisition device includes: a visible light source, an invisible light source, and a camera, wherein,

[0040] Both the visible light source and the invisible light source are located above the transmission device, and both the visible light source and the invisible light source cover the image acquisition position. The illumination direction of the visible light source and the shooting direction are at a first angle, and the illumination direction of the invisible light source and the shooting direction are at a second angle.

[0041] The camera is positioned above the image acquisition point, and its shooting direction is perpendicular to the plane of the transmission device. It is used to capture a first positioning image under the illumination of the visible light source and a second positioning image under the illumination of the invisible light source.

[0042] In one possible implementation, the processor includes:

[0043] An image processing device is used to filter the first positioning image and / or the second positioning image captured by the positioning image acquisition device;

[0044] A feature recognition device is used to perform threshold segmentation on a first positioning image and / or a second positioning image to separate the contour image of the positioning marker and the contour image of the carrier from the background image.

[0045] An edge extraction device is used to extract the edges of the carrier in a first positioning image and / or a second positioning image based on the contour image of the positioning marker and the contour image of the carrier, so as to obtain the image coordinates of the edges of the carrier in the image coordinate system.

[0046] The coordinate transformation device is used to convert the first coordinate of the edge of the carrier in the image coordinate system into the spatial coordinate of the edge of the carrier on the vehicle according to the preset transformation relationship between the image coordinate system and the spatial coordinate system, and use the spatial coordinate as the position information of the vehicle located in the vehicle box.

[0047] Secondly, this application provides a vehicle control method employing the vehicle control device as described above, applied in a transmission device, the method comprising:

[0048] The carrier is placed in the carrier box, the carrier box is placed in the carrier box, and the carrier box is placed on the conveying device for transport.

[0049] When the vehicle reaches the image acquisition position, the vehicle is positioned and photographed by the positioning image acquisition device.

[0050] The location and image capture results are transmitted to the processor;

[0051] The robotic arm is used to pick up the vehicle after image acquisition from the image acquisition position and move it to the vehicle disassembly position.

[0052] When the vehicle reaches the vehicle disassembly position, the vehicle is disassembled using the vehicle disassembly device.

[0053] In one possible implementation, the vehicle control device further includes: a vehicle platform and a carrier platform, the vehicle platform and the carrier platform being located on the side of the transmission device, the carrier platform being used to store a carrier, and the vehicle platform being used to store a disassembled vehicle or a target vehicle;

[0054] The method further includes:

[0055] The carrier is transferred to the carrier platform by the transfer robotic arm, and the disassembled carrier is transferred from the carrier disassembly position.

[0056] The target vehicle located on the vehicle platform is transferred to the vehicle disassembly position by the transfer robotic arm.

[0057] The carrier on the carrier platform is transferred to the target carrier at the carrier disassembly position by the transfer robotic arm.

[0058] The technical solutions provided in this application have the following advantages compared with the prior art:

[0059] 1. When smartwatches are mass-produced as a carrier, different carriers can be quickly and automatically changed, the watch can be disassembled, and the efficiency of product production and testing can be improved.

[0060] 2. Image acquisition and positioning: accurately locate the watch as a carrier within the container, precisely grasp it, reduce manual handling, reduce the risk of external collisions, and greatly improve production and testing efficiency.

[0061] 3. The disassembly device is integrated under the conveyor belt of the production line, which avoids the separation of the traditional production line and the disassembly device. It overcomes the problems of manually taking the watch carrier from the production line, disassembling and separating the watch from the carrier, assembling the watch with the new carrier, and finally putting the watch carrier back into the production line. This shortens the movement path of the watch carrier and improves production efficiency.

[0062] The carrier control method provided in this application effectively avoids the problems caused by the separation of the traditional assembly line and disassembly device. This method overcomes the cumbersome process of manually removing the watch carrier from the assembly line, disassembling the watch from the carrier, assembling the watch with a new carrier, and finally returning the assembled watch carrier to the assembly line. The method in this application significantly shortens the movement path of the watch carrier throughout the production process, thereby greatly improving production efficiency and the smoothness of the production line. Attached Figure Description

[0063] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0064] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0065] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0066] Figure 1 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application.

[0067] Figure 2 This is a schematic diagram of the buckle groove and carrier provided in the embodiments of this application.

[0068] Figure 3 This is a schematic diagram of the structure of the vehicle provided in the embodiments of this application.

[0069] Figure 4 A schematic diagram of the location of the positioning mark provided in the embodiments of this application.

[0070] Figure 5 This is a schematic diagram of the structure of the vehicle disassembly device provided in the embodiments of this application.

[0071] Figure 6 This is a schematic diagram of image acquisition using a positioning image acquisition device provided in an embodiment of this application.

[0072] Figure 7 A schematic diagram of a processor provided in an embodiment of this application.

[0073] Figure 8 A flowchart of a vehicle control method provided in an embodiment of this application.

[0074] Marker explanation:

[0075] 1. Transmission device;

[0076] 2. Vehicle box;

[0077] 3. Carrier; 301. First positioning hole; 302. Second positioning hole; 303. First magnetic suction hole; 304. Second magnetic suction hole; 305. First latch; 306. Second latch; 307. First insertion hole; 308. Second insertion hole; 309. First spring; 3010. Second spring; 3011. First groove; 3012. Second groove;

[0078] 4. Carrier;

[0079] 5. Buckle slot;

[0080] 6. Positioning image acquisition device; 601. Visible light source; 602. Invisible light source; 603. Camera;

[0081] 7. Vehicle disassembly device; 701. First rotating fixing clamp; 702. Second rotating fixing clamp; 703. Vehicle sensor; 704. Carrier sensor; 705. First set of perforated rods; 706. Second set of perforated rods; 707. Left-moving cylinder; 708. Right-moving cylinder; 709. Lifting cylinder;

[0082] 8. Transfer robotic arm;

[0083] 9. Processor; 901. Image processing device; 902. Feature recognition device;

[0084] 1001, First position bright field; 1002, Second position bright field; 1003, First concentric circle dark field; 1004, Second concentric circle dark field; 1005, First square bright field; 1006, Second square bright field; 1007, Copper sheet reflective bright field; 1008, Edge feature bright field;

[0085] 11. Vehicle platform;

[0086] 12. Carrier platform;

[0087] 13. Blocking cylinder;

[0088] 14. Blocking bar;

[0089] 15. Inclined baffle;

[0090] A. Image acquisition position; B. Vehicle disassembly position; C. Vehicle box adjustment position. Detailed Implementation

[0091] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0092] To address the technical problems of existing watch and vehicle disassembly methods, which mostly rely on manual disassembly, resulting in low efficiency, high difficulty, and long working hours, as well as low automation, this application provides a vehicle disassembly device and method to achieve efficient automated transportation of vehicles and thus achieve high-efficiency production.

[0093] Specifically, such as Figures 1 to 6 As shown, this application provides a vehicle control device for controlling the carrier 4 in the vehicle 3 being transported on the transmission device 1. The carrier 4 has at least two locking slots 5 arranged opposite each other. The vehicle 3 is located inside the vehicle box 2 when being transported on the transmission device 1. The vehicle 3 is provided with at least one positioning mark. The transmission device 1 is provided with an image acquisition position A and a vehicle disassembly position B. Along the transmission direction of the transmission device 1, the image acquisition position A is located in front of the vehicle disassembly position B. The vehicle control device includes: a positioning image acquisition device 6, a vehicle disassembly device 7, a transfer robotic arm 8, and a processor 9, wherein... The image acquisition device covers the image acquisition position A. When the vehicle 3 placed in the carrier box 2 passes the image acquisition position A on the transmission device 1, the image acquisition device acquires a positioning image of the vehicle 3 located in the carrier box 2. The positioning image contains the positioning mark. The processor 9 identifies the positioning image and generates position information of the vehicle 3 located in the carrier box 2. The transfer robotic arm 8 uses the position information to grip the vehicle 3 on the image acquisition position A and transfers it to the vehicle disassembly position B. The vehicle disassembly device 7 disassembles the carrier 4 in the vehicle 3.

[0094] In a specific example of this embodiment, such as Figure 1As shown, this application relates to an innovative carrier control device. The main function of this device is to precisely control the carrier 4 within the carrier 3 transported on the transmission device 1. It is particularly applicable to the control of the carrier 3 when transporting watches as carrier 4. The carrier 3 has at least two locking slots 5, which are used to ensure the stability and safety of the carrier 4 within the carrier 3. When the carrier 3 is transported on the transmission device 1, it is positioned within the carrier box 2 to prevent any accidents during transport. Furthermore, the carrier 3 is also equipped with at least one positioning mark, which is crucial for subsequent image acquisition and positioning.

[0095] In this embodiment of the application, the transmission device 1 can be a transmission belt or a transmission trough. A drive roller (not shown in the figure) can be provided below the transmission device 1 for transmitting the items (such as the carrier box 2) being transported on the transmission device 1.

[0096] The transmission device 1 is equipped with an image acquisition position A and a vehicle disassembly position B, which are key links in the entire vehicle 3 control process. It should be noted that, along the transmission direction of the transmission device 1, the image acquisition position A is designed before the vehicle disassembly position B. This ensures that the positioning and identification of the vehicle 3 are completed before the vehicle 3 reaches the disassembly position.

[0097] Structurally, the vehicle control device provided in this example includes several key components, specifically a positioning image acquisition device 6, a vehicle disassembly device 7, a transfer robotic arm 8, and a processor 9. The acquisition area of ​​the positioning image acquisition device 6 covers image acquisition point A. When the vehicle 3 inside the vehicle box 2 passes through image acquisition point A on the transfer device 1, the positioning image acquisition device 6 quickly acquires a positioning image of the vehicle 3 located inside the vehicle box 2. This positioning image contains positioning markers on the vehicle 3, which is crucial for subsequent processing.

[0098] The processor 9 intelligently recognizes the acquired positioning images and generates precise position information of the carrier 3 within the carrier box 2 based on the recognition results. This position information is essential for the transfer robotic arm 8, as it uses this information to grip the carrier 3 at image acquisition position A and safely and accurately transfer it to carrier disassembly position B. Finally, the carrier disassembly device 7 disassembles the carrier 4 within the carrier 3 according to a predetermined program, completing the entire control process.

[0099] Through this design, the vehicle control device can efficiently and accurately complete the control tasks of vehicle 3, ensuring the smoothness and safety of the entire transmission process, while also improving the automation level and work efficiency of the entire system.

[0100] In one possible implementation, the device further includes: a carrier platform 11 and a carrier stage 12, which are located on the side of the transmission device 1. The carrier stage 12 is used to store the carrier 4, and the carrier platform 11 is used to store the disassembled carrier 3 or the target carrier 3. The transfer robotic arm 8 transfers the carrier 4 to the carrier stage 12 and transfers the disassembled carrier 3 from the carrier disassembly position B. In addition, it transfers the target carrier located on the carrier stage 11 to the carrier disassembly position B and transfers the carrier 4 on the carrier stage 12 to the target carrier on the carrier disassembly position B.

[0101] In a specific example of this embodiment, such as Figure 1 and combined Figure 2 As shown, the vehicle control device may also structurally include a vehicle platform 11 and a carrier platform 12, both of which are located on the side of the transfer device 1. Specifically, the carrier platform 12 is designed to store the carrier 4, while the vehicle platform 11 is used to store the disassembled vehicle or the target vehicle. Further, the transfer robotic arm 8 is responsible for performing a series of operations, including but not limited to transferring the carrier 4 from its current position to the carrier platform 12, and transferring the disassembled vehicle from the vehicle disassembly position B to the vehicle platform 11. In addition, the transfer robotic arm 8 is also responsible for transferring the target vehicle located on the vehicle platform 11 to the vehicle disassembly position B, and transferring the carrier 4 on the carrier platform 12 to the target vehicle at the vehicle disassembly position B, to complete the entire transfer process.

[0102] In addition, to improve the overall efficiency and accuracy of the device, it may also include a control system. This control system can precisely control the movements of the transfer robotic arm 8, ensuring that the transfer process between the carrier 4 and the platform 3 is both fast and safe. The control system can receive signals from sensors that can detect the position and status of the carrier 3 and the platform 4, thereby achieving automated operation. In this way, human intervention can be reduced, the possibility of operational errors can be decreased, and production efficiency can be improved.

[0103] It should be noted that in this example, the transfer robotic arm 8 can be a six-axis robotic arm to facilitate omnidirectional movement and grasping.

[0104] In one possible implementation, the carrier 4 is provided with two symmetrically arranged snap-fit ​​slots 5, and the carrier 3 includes: a carrier body, the carrier body including: a first positioning hole 301 and a second positioning hole 302 for fixing the carrier body in the carrier box 2; a first magnetic suction hole 303 and a second magnetic suction hole 304 for preventing the carrier body from shifting; a first latch 305 and a second latch 306 for engaging the two snap-fit ​​slots 5; a first insertion hole 307 for installing the first latch 305 and a second insertion hole 308 for installing the second latch 306; a first spring 309 for abutting the first latch 305 and a second spring 3010 for abutting the second latch 306; and a first groove 3011 for installing the first spring 309 and a second groove 3012 for installing the second spring 3010.

[0105] In a specific example of this embodiment, please refer to Figure 3 The carrier 4 is provided with two symmetrically arranged snap-fit ​​slots 5, which are designed to precisely align with corresponding structures on the carrier 3 to secure the carrier 4. Specifically, the carrier 3 has the following structure: the carrier 3 includes a carrier body, which has multiple positioning holes for fixing the carrier body within the carrier box 2, specifically including a first positioning hole 301 and a second positioning hole 302. Furthermore, to further ensure the stability of the carrier body within the carrier box 2, a first magnetic suction hole 303 and a second magnetic suction hole 304 are designed to prevent the carrier body from shifting. To achieve a reliable connection between the snap-fit ​​slots 5 and the carrier body, the carrier body is also provided with a first latch 305 and a second latch 306 for engaging the two snap-fit ​​slots 5. For ease of installation and disassembly, the carrier body is also provided with a first insertion hole 307 for installing the first latch 305 and a second insertion hole 308 for installing the second latch 306. To provide necessary elastic support during the latching process, a first spring 309 for abutting the first latch 305 and a second spring 3010 for abutting the second latch 306 are designed. Finally, to secure these springs, the vehicle body is also provided with a first groove 3011 for mounting the first spring 309 and a second groove 3012 for mounting the second spring 3010.

[0106] Furthermore, the design of the vehicle body takes into account various usage scenarios, including but not limited to portability, durability, and ease of use. To accommodate different sizes of vehicle boxes 2, the dimensions of the vehicle body are designed with flexibility while maintaining structural robustness. High-strength plastics or metals are preferred for the vehicle body to ensure long-term reliability. In addition, the surface treatment of the vehicle body is specially designed to provide a good feel and anti-slip effect, ensuring that the vehicle body will not easily slide or shift during use.

[0107] It should be noted that the first positioning hole 301 and the second positioning hole 302, the first magnetic suction hole 303 and the second magnetic suction hole 304, the first latch 305 and the second latch 306, the first insertion hole 307 and the second insertion hole 308, the first spring 309 and the second spring 3010, the first groove 3011 and the second groove 3012 can all be symmetrically arranged on the vehicle body.

[0108] In one possible implementation, the positioning markings on the vehicle include: a first positioning bright field 1001 corresponding to the first positioning hole 301, a second positioning bright field 1002 corresponding to the second positioning hole 302; a first concentric circle dark field 1003 corresponding to the first magnetic suction hole 303, a second concentric circle dark field 1004 corresponding to the second magnetic suction hole 304; a first square bright field 1005 corresponding to the first insertion hole 307, a second square bright field 1006 corresponding to the second insertion hole 308; a copper sheet reflective bright field 1007 disposed on one side of the vehicle body; and an edge feature bright field 1008 disposed on the same side as the copper sheet reflective bright field 1007.

[0109] In a specific example of this embodiment, please refer to Figure 4The positioning markings on the carrier 3 can comprise multiple parts to ensure precise positioning and alignment. First, a first positioning bright field 1001 is provided corresponding to the position of the first positioning hole 301, which helps in visually identifying and positioning the hole. Similarly, a second positioning bright field 1002 is provided corresponding to the position of the second positioning hole 302 to facilitate visual positioning of the second positioning hole 302. Furthermore, to further enhance positioning accuracy, a first concentric circle dark field 1003 is provided corresponding to the position of the first magnetic suction hole 303, visually forming a circular dark area to help identify and position the first magnetic suction hole 303. Similarly, a second concentric circle dark field 1004 is provided corresponding to the position of the second magnetic suction hole 304, also forming a circular dark area to help position the second magnetic suction hole 304. To accommodate other types of positioning methods, a first square bright field 1005 is provided corresponding to the position of the first socket 307, visually appearing as a square bright area to help identify and position the first socket 307. Similarly, corresponding to the position of the second socket 308, a second square bright field 1006 is provided, which presents as a square bright area to facilitate visual positioning of the second socket 308. Furthermore, to enhance the recognizability of the vehicle 3, a copper reflective bright field 1007 is provided on one side of the vehicle body. Under light, it reflects a bright luster, thus visually highlighting the position of the copper piece. Finally, to provide additional positioning reference, an edge feature bright field 1008 is provided on the same side as the copper reflective bright field 1007. It visually forms a distinct bright area, helping to identify the edge position of the vehicle 3. The combination of these positioning markers makes the positioning and alignment of the vehicle 3 more accurate and convenient.

[0110] In addition to the aforementioned positioning markers, the positioning system of vehicle 3 may also include other auxiliary visual elements. For example, to further improve positioning accuracy, a series of scale marks can be set in specific areas of vehicle 3. These scale marks can be linearly arranged or distributed in a grid pattern to facilitate fine-tuning and precise positioning by the operator. Furthermore, to adapt to different ambient light conditions, the positioning markers on vehicle 3 may use reflective or fluorescent materials to ensure clear visibility in low-light environments. In some special application scenarios, the positioning markers of vehicle 3 may also be combined with infrared or ultraviolet markers, which only appear under specific wavelengths of light, thus providing a more concealed positioning method. To ensure the positioning accuracy of vehicle 3 during long-term use, the design of the positioning markers should also consider wear-resistant and corrosion-resistant properties, ensuring that the positioning markers maintain their function and appearance even in harsh working environments. Finally, for ease of user operation, the design of the positioning markers of vehicle 3 should be as simple and intuitive as possible, avoiding overly complex patterns or colors, so that users can quickly understand and master them.

[0111] In one possible implementation, the vehicle disassembly device 7 includes: a first rotating clamp 701 and a second rotating clamp 702 arranged around the vehicle disassembly position B for fixing the vehicle 3; a vehicle sensor 703 located in the vehicle disassembly position B for sensing the vehicle 3; a carrier sensor 704 located in the vehicle disassembly position B for sensing the carrier 4; a first set of perforated rods 705 and a second set of perforated rods 706 symmetrically arranged in the vehicle disassembly position B; a left-moving cylinder 707 and a right-moving cylinder 708 located in the vehicle disassembly position B for moving the vehicle 3 horizontally; and a lifting cylinder 709 located in the vehicle disassembly position B for moving the vehicle 3 vertically.

[0112] In a specific example of this embodiment, please refer to Figure 5The vehicle disassembly device 7 includes a first rotating clamp 701 and a second rotating clamp 702 arranged around the vehicle disassembly position B for fixing the vehicle 3. These two clamps are designed to rotate around the vehicle disassembly position B to fix the vehicle 3 from different angles and orientations. Additionally, a vehicle sensor 703 located in the vehicle disassembly position B is used to sense the presence and position of the vehicle 3, ensuring the accuracy of the disassembly process. A carrier sensor 704 located in the vehicle disassembly position B is used to sense the carrier 4, which is responsible for detecting the state of the carrier 4 and the watch in this example, providing necessary information for the disassembly process. A first set of perforated rods 705 and a second set of perforated rods 706 are symmetrically arranged in the vehicle disassembly position B. These two sets of perforated rods provide stable support points to help fix and disassemble the vehicle 3. A left-moving cylinder 707 and a right-moving cylinder 708 located in the vehicle disassembly position B move the vehicle 3 horizontally. These two cylinders work together to move the vehicle 3 horizontally to a designated position. And a lifting cylinder 709 located in the vehicle disassembly position B that moves the vehicle 3 vertically, the lifting cylinder 709 being responsible for vertically lifting or lowering the vehicle 3 to facilitate various operations.

[0113] The vehicle dismantling device 7 may also include a control unit for coordinating the operation of the various components. The control unit receives data from the vehicle sensor 703 and the carrier sensor 704 to determine the current state and position of the vehicle 3, and then issues corresponding control commands to the rotating fixing clamp, the sleeve rod, the left-moving cylinder 707, the right-moving cylinder 708, and the lifting cylinder 709. Furthermore, the control unit can communicate with external systems, such as through a network interface, to achieve remote monitoring and control functions.

[0114] To improve dismantling efficiency and safety, the vehicle dismantling device 7 may also be equipped with an emergency stop button and safety protection devices. The emergency stop button can immediately cut off the power supply and stop all operations in any abnormal situation to ensure the safety of the operators. The safety protection devices include sensors and protective covers to detect and prevent potential hazards, such as the accidental movement or fall of the vehicle 3.

[0115] In its design, each component of the vehicle disassembly device 7 has been carefully selected and optimized to ensure its durability and reliability. For example, the rotating clamp may be made of high-strength materials, capable of withstanding prolonged use without deformation or damage. The sleeve rod and cylinder may employ precision machining techniques to ensure the accuracy and consistency of their movement. The entire device is also designed with ease of maintenance in mind, facilitating regular inspection and replacement of components.

[0116] In summary, the carrier disassembly device 7 provides an efficient, safe, and easy-to-operate solution for the automated disassembly and handling of the carrier 3. This not only improves production efficiency but also significantly reduces operational risks, offering the watchmaking industry a highly efficient equipment option.

[0117] In one possible implementation, the transmission device 1 is further provided with: a carrier box adjustment position C; along the transmission direction of the transmission device 1, the carrier box adjustment position C is located in front of the image acquisition position A; the carrier box adjustment position C is provided with a blocking cylinder 13, which is used to block the carrier box 2 from exceeding the preset range position for adjustment.

[0118] In a specific example of this embodiment, please refer to Figure 1 The transmission device 1 provided in this example is also equipped with a carrier box adjustment position C. Along the transmission direction of the transmission device 1, the carrier box adjustment position C is located in front of the image acquisition position A. The carrier box adjustment position C is equipped with a blocking cylinder 13, which is used to block the carrier box 2 from moving beyond a preset range for adjustment. Furthermore, the transmission device 1 also includes a sensor system capable of detecting whether the carrier box 2 is correctly positioned on the carrier box adjustment position C. If the carrier box 2 is detected to have deviated from the predetermined position, the sensor system will send a signal to the control system, which will then activate the blocking cylinder 13, thereby preventing the carrier box 2 from continuing to move forward. This design ensures that the carrier box 2 can be precisely adjusted to the correct position before entering the image acquisition position A, thereby improving the accuracy and efficiency of the entire transmission process.

[0119] To further optimize the positioning accuracy of the carrier box 2, the transmission device 1 may also include a calibration system (not shown). This system, through a series of sophisticated mechanical devices and electronic sensors, ensures that the carrier box 2 is in optimal position and orientation before reaching the image acquisition point A. The calibration system can automatically adjust the horizontal and vertical position of the carrier box 2, and even fine-tune its angle, to ensure that the positioning image acquisition device 6 can accurately capture all relevant information on the carrier box 2. Furthermore, the calibration system can record the size and shape characteristics of the carrier box 2 so that the system can perform personalized processing based on these characteristics in subsequent processing.

[0120] In one possible implementation, the image acquisition position A is provided with a blocking rod 14, which is located between the image acquisition position A and the vehicle disassembly position B, and closer to the side of the vehicle disassembly position B, to block the vehicle 3 and carrier 4 that have not undergone image acquisition for adjustment.

[0121] In a specific example of this embodiment, please refer to Figure 1In this example, image acquisition station A is equipped with a blocking bar 14. The blocking bar 14 is designed and placed in a specific location, between image acquisition station A and vehicle disassembly station B, and closer to the side of vehicle disassembly station B. The main function of the blocking bar 14 is to prevent vehicles 3 and carriers 4 from undergoing image acquisition beforehand, thus ensuring that all vehicles 3 have undergone the necessary image acquisition steps before entering the disassembly process. This method allows for effective management of vehicles 3, ensuring a smooth process, and allows for appropriate adjustments to vehicles 3 to meet the requirements of subsequent operations.

[0122] Furthermore, the design of the barrier bars 14 takes into account the size and shape of the vehicle 3 to ensure they can adapt to different types of vehicles. The materials and structural strength of the barrier bars 14 are sufficient to withstand impacts and pressures during daily use, ensuring their long-term stability and reliability. The surface of the barrier bars 14 may be painted with a conspicuous color or covered with reflective material so that operators can clearly see the position of the barrier bars 14, thereby avoiding accidental collisions.

[0123] In one possible implementation, such as Figure 6 As shown, the positioning image acquisition device 6 includes: a visible light source 601, an invisible light source 602, and a camera 603. The camera 603 is positioned above the image acquisition position A, and the shooting direction of the camera 603 is perpendicular to the plane of the transmission device 1. Both the visible light source 601 and the invisible light source 602 are located above the transmission device 1, and both cover the image acquisition position A. The illumination direction of the visible light source 601 and the shooting direction are at a first angle α, and the illumination direction of the invisible light source 602 and the shooting direction are at a second angle β.

[0124] In a specific example of this embodiment, please refer to Figure 1 and Figure 6As shown, the positioning image acquisition device 6 includes several key components that work together to capture high-quality image data. Specifically, these components include a visible light source 601, an invisible light source 602, and a camera 603. The camera 603 is positioned above the image acquisition point A, ensuring its shooting direction is perpendicular to the plane of the transmission device 1. This arrangement helps to capture clear and accurate images. Furthermore, both the visible light source 601 and the invisible light source 602 are located above the transmission device 1 and are designed to cover the entire image acquisition point A, ensuring uniform illumination regardless of the object's location. The illumination direction of the visible light source 601 and the shooting direction of the camera 603 are set at a specific first angle α, which is set to optimize the illumination effect of visible light. Similarly, the illumination direction of the invisible light source 602 and the shooting direction of the camera 603 are set at a specific second angle β, which is set to optimize the illumination effect of invisible light (such as infrared or ultraviolet light) so that the camera 603 can capture details invisible under normal light. With this layout and angle setting, the image acquisition device can effectively acquire high-quality image data, suitable for a variety of different application scenarios. In this embodiment, the camera 603 is used to capture a first positioning image under the illumination of the visible light source 601, and a second positioning image under the illumination of the invisible light source 602.

[0125] In this embodiment, the light source is divided into two types: visible light and invisible light. Visible light has poor light energy stability. Since the vehicle box and the vehicle are mainly made of black plastic, the contrast of the vehicle needs to be improved. Therefore, this embodiment adopts a combination of forward lighting and strobe lighting. The positioning holes, magnetic holes, rectangular copper sheets, left and right grooves of the vehicle are used to form specular reflection and diffuse reflection, so that the feature points have obvious bright and dark fields of view, enhancing the outline of the vehicle and the shape of the object.

[0126] To further enhance the performance of the image acquisition device, integrating advanced image processing algorithms can be considered. These algorithms can perform real-time analysis and optimization of the acquired image data, thereby improving image contrast, sharpness, and color reproduction. For example, by applying automatic exposure and automatic white balance technology, the camera 603 can adapt to different lighting conditions, ensuring consistent image quality. Furthermore, the image acquisition device can be equipped with image stabilization functions to reduce image blurring caused by equipment vibration or movement, which is relatively important for improving the accuracy and reliability of image acquisition.

[0127] In practical applications, image acquisition devices may need to handle a wide variety of objects and scenes. Therefore, the design should consider the flexibility and adaptability of the device. For example, by adjusting the brightness and color temperature of the light source, it can adapt to objects of different materials and colors, ensuring accurate capture of image information. At the same time, the resolution and frame rate of the camera 603 should also be selected according to specific needs to meet the image quality requirements of different application scenarios.

[0128] To ensure the long-term stable operation of the image acquisition device, its heat dissipation and maintenance should also be considered. Proper heat dissipation design can prevent overheating and guarantee the lifespan and performance of electronic components. Furthermore, the device's maintenance interface should be designed for easy operation to facilitate quick replacement of the light source or cleaning of the camera lens, ensuring the continuity and reliability of image acquisition.

[0129] It should be noted that an efficient and reliable image acquisition device not only requires advanced hardware configuration, but also the integration of intelligent image processing algorithms, as well as consideration of flexibility, adaptability, and maintainability in practical applications. Through these comprehensive measures, the image acquisition device can ensure that it provides high-quality image data in various complex environments, meeting the needs of different fields.

[0130] In one possible implementation, such as Figure 7 As shown, the processor 9 includes: an image processing device 901, a feature recognition device 902, an edge extraction device 903, and a coordinate transformation device 904.

[0131] The image processing device 901 is configured to perform filtering processing on the first positioning image and / or the second positioning image captured by the positioning image acquisition device.

[0132] Noise is inevitably introduced during image acquisition and transmission, and contour edge extraction in subsequent image processing is highly sensitive to noise. Therefore, in the preprocessing stage, after grayscale processing, further noise reduction algorithms are needed to process the image. Gaussian filtering is a linear smoothing filter that uses a Gaussian function distribution to determine the weights. Gaussian filtering can effectively remove Gaussian noise from images. When performing image filtering, Gaussian filtering uses a Gaussian kernel as the filter template to perform a convolution operation on the entire image.

[0133] The feature recognition device 902 is configured to perform threshold segmentation on the first positioning image and / or the second positioning image to separate the contour image of the positioning identifier and the contour image of the carrier from the background image.

[0134] Image thresholding is used to separate objects from the background in an image, making the image simpler and clearer, reducing the amount of subsequent data processing, and highlighting the region of interest. By statistically analyzing the inter-class variance of gray values ​​between the foreground and background regions of the image, the larger the inter-class variance, the greater the difference between the two regions that make up the image, indicating that the current threshold is optimal. It is considered the best algorithm for threshold selection in image segmentation because it is simple to calculate, has the lowest probability of misclassification, and is not affected by image brightness and contrast.

[0135] The edge extraction device 903 is configured to extract the edges of the carrier in a first positioning image and / or a second positioning image based on the contour image of the positioning mark and the contour image of the carrier, so as to obtain the image coordinates of the edges of the carrier in the image coordinate system.

[0136] The main purpose of contour extraction is to obtain the external contour information of an image, thereby enabling corresponding image shape analysis, recognition, and other processing. For contour extraction of binary images, the main principle of the contour extraction algorithm is to traverse a binary image from left to right and from top to bottom, continuously searching for boundary points, and finally finding all contours.

[0137] The coordinate transformation device 904 is configured to convert the first coordinate of the edge of the carrier in the image coordinate system into the spatial coordinate of the edge of the carrier on the vehicle according to the preset transformation relationship between the image coordinate system and the spatial coordinate system, and use the spatial coordinate as the position information of the vehicle located in the vehicle box.

[0138] This application also provides a vehicle 3 control method in its embodiments. Please refer to [link / reference]. Figure 8 ,include:

[0139] S01: Place the carrier 4 in the carrier 3, place the carrier 3 in the carrier box 2, and place the carrier box 2 on the conveying device 1 for transport;

[0140] S02: When the vehicle 3 arrives at the image acquisition position A, the positioning image acquisition device 6 takes a positioning picture of the vehicle 3.

[0141] In this step, the positioning image acquisition device 6 includes several key components that work together to capture high-quality image data. Specifically, these components include a visible light source 601, an invisible light source 602, and a camera 603. The camera 603 is positioned above the image acquisition point A, ensuring its shooting direction is perpendicular to the plane of the transmission device 1. This arrangement helps capture clear and accurate images. Furthermore, both the visible light source 601 and the invisible light source 602 are located above the transmission device 1 and are designed to cover the entire image acquisition point A, ensuring uniform illumination regardless of the object's location. A specific first angle is set between the illumination direction of the visible light source 601 and the shooting direction of the camera 603 to optimize the illumination effect of visible light. Similarly, a specific second angle is set between the illumination direction of the invisible light source 602 and the shooting direction of the camera 603 to optimize the illumination effect of invisible light (such as infrared or ultraviolet light), allowing the camera 603 to capture details invisible under normal lighting conditions. With this layout and angle setting, the image acquisition device can effectively acquire high-quality image data, making it suitable for a variety of different application scenarios.

[0142] S03: Transmit the location and image capture results to processor 9;

[0143] In this step, the processor 9 includes an image processing device 901, as described above, which is responsible for performing a series of filtering processes on the image captured by the camera 603 to optimize the image quality; the feature recognition device 902 is responsible for threshold segmentation of the filtered image, and by setting a specific threshold, effectively separating the image part of the positioning mark in the image from the background image part, thereby achieving accurate recognition and extraction of the target image.

[0144] In addition, processor 9 may also include an image analysis module that can analyze the image data processed by feature recognition device 902 to identify and extract key feature points in the image. These feature points can be corners, edges, bumps, or other significant image features, which are crucial for subsequent image matching and localization.

[0145] S04: The image-acquiring carrier 3 is picked up from image acquisition position A and moved to carrier disassembly position B by the transfer robotic arm 8;

[0146] In this step, the transfer robotic arm 8 is responsible for performing a series of operations, including but not limited to transferring the carrier 4 from its current position to the carrier platform 12, and transferring the disassembled carrier 3 from the carrier disassembly position B to the carrier platform 11. In addition, the transfer robotic arm 8 is also responsible for transferring the target carrier 3 located on the carrier platform 11 to the carrier disassembly position B, and transferring the carrier 4 on the carrier platform 12 to the target carrier 3 on the carrier disassembly position B, to complete the entire transfer process. It should be noted that the transfer robotic arm 8 can be a six-axis robotic arm.

[0147] S05: When vehicle 3 arrives at vehicle disassembly position B, vehicle 3 is disassembled by vehicle disassembly device 7.

[0148] In this step, the vehicle disassembly device 7 includes a first rotating clamp 701 and a second rotating clamp 702 arranged around the vehicle disassembly position B for fixing the vehicle 3. These two clamps are designed to rotate around the vehicle disassembly position B to fix the vehicle 3 from different angles and orientations. Additionally, a vehicle sensor 703 located in the vehicle disassembly position B is used to sense the presence and position of the vehicle 3, ensuring the accuracy of the disassembly process. A carrier sensor 704 located in the vehicle disassembly position B is used to sense the carrier 4, which is responsible for detecting the state of the carrier 4 and the watch in this example, providing necessary information for the disassembly process. A first set of perforated rods 705 and a second set of perforated rods 706 are symmetrically arranged in the vehicle disassembly position B. These two sets of perforated rods provide stable support points to help fix and disassemble the vehicle 3. A left-moving cylinder 707 and a right-moving cylinder 708 located in the vehicle disassembly position B move the vehicle 3 horizontally. These two cylinders work together to move the vehicle 3 to a designated position horizontally. And a lifting cylinder 709 located in the vehicle disassembly position B that moves the vehicle 3 vertically, the lifting cylinder 709 being responsible for vertically lifting or lowering the vehicle 3 to facilitate various operations.

[0149] It should be noted that the carrier 3 includes a carrier 3 body, which has multiple positioning holes for fixing the carrier 3 body inside the carrier box 2, specifically including a first positioning hole 301 and a second positioning hole 302. Furthermore, to further ensure the stability of the carrier 3 body within the carrier box 2, a first magnetic suction hole 303 and a second magnetic suction hole 304 are designed to prevent the carrier 3 body from shifting. To achieve a reliable connection between the latching slots 5 and the carrier 3 body, the carrier 3 body is also provided with a first latch 305 and a second latch 306 for engaging the two latching slots 5. For ease of installation and disassembly, the carrier 3 body is also provided with a first insertion hole 307 for mounting the first latch 305 and a second insertion hole 308 for mounting the second latch 306. To provide necessary elastic support during the engagement process, a first spring 309 for abutting the first latch 305 and a second spring 3010 for abutting the second latch 306 are also designed. Finally, in order to secure these springs, the carrier 3 body is also provided with a first groove 3011 for mounting the first spring 309 and a second groove 3012 for mounting the second spring 3010.

[0150] In addition, positioning markers are provided on the carrier 3. These markers may contain multiple parts to ensure accurate positioning and alignment. First, a first positioning bright field 1001 is provided corresponding to the position of the first positioning hole 301, which helps to visually identify and locate the hole. Similarly, a second positioning bright field 1002 is provided corresponding to the position of the second positioning hole 302 to facilitate visual positioning of the second positioning hole 302. Furthermore, to further enhance positioning accuracy, a first concentric circle dark field 1003 is provided corresponding to the position of the first magnetic suction hole 303. This forms a circular dark area visually, which helps to identify and locate the first magnetic suction hole 303. Similarly, a second concentric circle dark field 1004 is provided corresponding to the position of the second magnetic suction hole 304. This also forms a circular dark area to help locate the second magnetic suction hole 304. To accommodate other positioning methods, a first square bright field 1005 is provided corresponding to the position of the first socket 307. Visually, it presents as a square bright area, aiding in the identification and positioning of the first socket 307. Similarly, a second square bright field 1006 is provided corresponding to the position of the second socket 308. It also presents as a square bright area, facilitating visual positioning of the second socket 308. Furthermore, to enhance the recognizability of the vehicle 3, a copper reflective bright field 1007 is provided on one side of the vehicle 3 body. Under light, it reflects a bright luster, visually highlighting the position of the copper piece. Finally, to provide additional positioning reference, an edge feature bright field 1008 is provided on the same side as the copper reflective bright field 1007. It forms a distinct bright area, aiding in the identification of the edge position of the vehicle 3. This combination of positioning markers makes the positioning and alignment of the vehicle 3 more precise and convenient.

[0151] In other examples, such as Figure 1 As shown, the transmission device 1 provided in this example is also equipped with a carrier box adjustment position C; along the transmission direction of the transmission device 1, the carrier box adjustment position C is located in front of the image acquisition position A; as Figure 1As shown, the width of the vehicle box adjustment position C is slightly larger than the width of the vehicle box (width refers to the vertical transmission direction). Two inclined baffles 15 are positioned in front of the vehicle box adjustment position C in the transmission direction. The function of the inclined baffles 15 is to gather vehicle boxes from different positions on the transmission device 1 along the vertical transmission direction to the vehicle box adjustment position C. Each inclined baffle 15 has an angle with the plane of the transmission device 1; for example, the inclined baffle 15 can be perpendicular to the plane of the transmission device 1. Along the transmission direction, the front ends of the two inclined baffles 15 (position x in the figure) are flush with the outer edge of the transmission device 1. For example, when the transmission device 1 is a transmission trough, the front ends of the inclined baffles 15 can abut against the side wall of the transmission trough. The rear ends of the two inclined baffles 15 (position y in the figure) are far from the outer edge of the transmission device 1, and a gap is provided between the rear ends of the two inclined baffles 15. The gap is slightly equal to the width of the vehicle box adjustment position C along the vertical transmission direction, so that the vehicle box can smoothly enter the specific adjustment position C.

[0152] A blocking cylinder 13 is installed at a position in front of the carrier box adjustment position C in the transmission direction (such as the position where the carrier box adjustment position C is connected to the image acquisition position A). The blocking cylinder 13 can extend to a position above the plane of the transmission device 1 to block the carrier box 2, or the blocking cylinder 13 can retract to allow the carrier box 2 to be smoothly transmitted on the transmission device 1. In this embodiment, the blocking cylinder 13 can be located on the side of the transmission device 1, and the blocking cylinder 13 can extend from the side of the carrier box adjustment position C, or retract into the side of the carrier box adjustment position C. In addition, the blocking cylinder can also be set below the plane of the transmission device 1, and the transmission devices 1 located on both sides of the blocking cylinder along the transmission direction are independent of each other. For example, if the transmission device 1 is a conveyor belt, then the conveyor belts on both sides of the blocking cylinder are independent of each other. In this way, the blocking cylinder can extend from below to the position above the plane of the transmission device 1 to block the carrier box 2, or the blocking cylinder 13 can retract to the position below the plane of the transmission device 1 so that the carrier box 2 can be smoothly transmitted on the transmission device 1.

[0153] The blocking cylinder 13 is used to block the vehicle box 2 on the vehicle box adjustment position to prevent all vehicle boxes 2 from entering the vehicle disassembly position B. When the vehicle box on the image acquisition position A is removed, the blocking cylinder 13 retracts so that one vehicle box 2 can enter the image acquisition position A, and then extends to block the next vehicle box 2, ensuring that there is only one vehicle box in the image acquisition position A.

[0154] In another example, the image acquisition position A involved in this example is provided with a blocking rod 14. The blocking rod 14 can extend to a position above the plane of the transmission device 1 to block the carrier box 2 on the image acquisition position A, or the blocking rod 14 can retract to allow the carrier box 2 on the image acquisition position A to be smoothly transmitted on the transmission device 1. In this embodiment of the application, the blocking rod 14 can be located on the side of the image acquisition position A, and the blocking rod 14 can extend from the side of the image acquisition position A, or retract into the side of the image acquisition position A. In addition, the blocking cylinder can also be located below the plane of the transmission device 1, and the transmission devices 1 located on both sides of the blocking rod along the transmission direction are independent of each other. For example, if the transmission device 1 is a conveyor belt, then the conveyor belts on both sides of the blocking rod are independent of each other. In this way, the blocking rod can extend from below to a position above the plane of the transmission device 1 to block the carrier box 2, or the blocking rod 14 can retract to a position below the plane of the transmission device 1 to allow the carrier box 2 to be smoothly transmitted on the transmission device 1.

[0155] The blocking lever 14 is designed and placed in the image acquisition position A at a position in front of the transmission direction (e.g., between image acquisition position A and vehicle disassembly position B, but closer to the side of vehicle disassembly position B). The main function of the blocking lever 14 is to block vehicles 3 and carriers 4 that have not yet undergone image acquisition, thereby ensuring that all vehicles 3 have undergone the necessary image acquisition steps before entering the disassembly process. In this way, vehicles 3 can be effectively managed, ensuring the smooth progress of the process, and vehicles 3 can be appropriately adjusted to meet the requirements of subsequent operations.

[0156] The technical solutions provided in this application have the following advantages compared with the prior art:

[0157] 1. When smartwatches are mass-produced as a carrier, different carriers can be quickly and automatically changed, the watch can be disassembled, and the efficiency of product production and testing can be improved.

[0158] 2. Image acquisition and positioning: accurately locate the watch as a carrier within the container, precisely grasp it, reduce manual handling, reduce the risk of external collisions, and greatly improve production and testing efficiency.

[0159] 3. The disassembly device is integrated under the conveyor belt of the production line, which avoids the separation of the traditional production line and the disassembly device. It overcomes the problems of manually taking the watch carrier from the production line, disassembling and separating the watch from the carrier, assembling the watch with the new carrier, and finally putting the watch carrier back into the production line. This shortens the movement path of the watch carrier and improves production efficiency.

[0160] The carrier control method provided in this application effectively avoids the problems caused by the separation of the traditional assembly line and disassembly device. This method overcomes the cumbersome process of manually removing the watch carrier from the assembly line, disassembling the watch from the carrier, assembling the watch with a new carrier, and finally returning the assembled watch carrier to the assembly line. The method in this application significantly shortens the movement path of the watch carrier throughout the production process, thereby greatly improving production efficiency and the smoothness of the production line.

[0161] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0162] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A vehicle control device for controlling a carrier in a vehicle being transported on a transmission device, the carrier having at least two locking slots positioned opposite each other, characterized in that, The vehicle is located inside the vehicle box when it is transported on the transmission device. The vehicle is provided with at least one positioning mark. The transmission device is provided with an image acquisition position and a vehicle disassembly position. Along the transmission direction of the transmission device, the image acquisition position is located in front of the vehicle disassembly position; The vehicle control device includes: a positioning image acquisition device, a vehicle disassembly device, a transfer robotic arm, and a processor. The image acquisition device covers the image acquisition position. When the vehicle placed in the vehicle box passes the image acquisition position on the transmission device, the image acquisition device acquires a positioning image of the vehicle located in the vehicle box. The positioning image includes the positioning mark. The processor identifies the positioning image and generates position information of the vehicle within the vehicle box; The transfer robotic arm uses the position information to grip the carrier at the image acquisition position and transfer it to the carrier disassembly position; the carrier disassembly device disassembles the carrier in the carrier. The carrier is provided with two symmetrically arranged snap-fit ​​slots, and the carrier includes: The vehicle body includes: First positioning hole and second positioning hole for fixing the vehicle body inside the vehicle box; First and second magnetic suction holes are used to prevent the vehicle body from shifting. The first and second latches are used to engage the two latching slots; A first socket for installing the first latch, and a second socket for installing the second latch; A first spring for abutting the first latch, and a second spring for abutting the second latch; and A first groove for mounting the first spring, and a second groove for mounting the second spring; The vehicle dismantling device includes: A first and a second rotary fixing clamp are provided around the vehicle disassembly position for securing the vehicle. A vehicle sensor located in the vehicle disassembly position for sensing the vehicle; A carrier sensor located in the carrier disassembly position for sensing the carrier; The first set of bore rods and the second set of bore rods are symmetrically arranged in the vehicle disassembly position; The left and right shift cylinders located in the vehicle disassembly position move the vehicle horizontally; and A lifting cylinder located in the vehicle disassembly position that moves the vehicle vertically.

2. The apparatus according to claim 1, characterized in that, The device further includes: a carrier platform and a carrier stand, which are located on the side of the transmission device. The carrier stand is used to store a carrier, and the carrier stand is used to store a disassembled carrier or a target carrier. The transfer robotic arm transfers the carrier to the carrier platform, moves the disassembled carrier from the carrier disassembly position, moves the target carrier located on the carrier platform to the carrier disassembly position, and transfers the carrier on the carrier platform to the target carrier at the carrier disassembly position.

3. The apparatus according to claim 1 or 2, characterized in that, The positioning markers on the vehicle include: A first positioning bright field is set corresponding to the first positioning hole, and a second positioning bright field is set corresponding to the second positioning hole; A first concentric circle dark field is set corresponding to the first magnetic attraction hole, and a second concentric circle dark field is set corresponding to the second magnetic attraction hole; A first square bright field is set corresponding to the first socket, and a second square bright field is set corresponding to the second socket; A copper reflective bright field is disposed on one side of the vehicle body; and An edge feature bright field is set on the same side as the reflective bright field of the copper sheet.

4. The apparatus according to claim 1 or 2, characterized in that, The transmission device is also provided with: a carrier box adjustment position; along the transmission direction of the transmission device, the carrier box adjustment position is located in front of the image acquisition position; The vehicle box adjustment position is equipped with a blocking cylinder, which is used to block the vehicle box from moving beyond a preset range for adjustment.

5. The apparatus according to claim 1 or 2, characterized in that, The image acquisition position is equipped with a blocking bar, which is located between the image acquisition position and the vehicle disassembly position, and closer to the side of the vehicle disassembly position, to block vehicles and carriers that have not undergone image acquisition for adjustment.

6. The apparatus according to claim 3, characterized in that, The positioning image acquisition device includes: a visible light source, an invisible light source, and a camera, wherein... Both the visible light source and the invisible light source are located above the transmission device, and both the visible light source and the invisible light source cover the image acquisition position. The illumination direction of the visible light source and the shooting direction of the camera form a first angle, and the illumination direction of the invisible light source and the shooting direction form a second angle. The camera is positioned above the image acquisition point, and its shooting direction is perpendicular to the plane of the transmission device. It is used to capture a first positioning image under the illumination of the visible light source and a second positioning image under the illumination of the invisible light source.

7. The apparatus according to claim 6, characterized in that, The processor includes: An image processing device is used to filter the first positioning image and / or the second positioning image captured by the positioning image acquisition device; A feature recognition device is used to perform threshold segmentation on a first positioning image and / or a second positioning image to separate the contour image of the positioning marker and the contour image of the carrier from the background image. An edge extraction device is used to extract the edges of the carrier in a first positioning image and / or a second positioning image based on the contour image of the positioning marker and the contour image of the carrier, so as to obtain the image coordinates of the edges of the carrier in the image coordinate system. The coordinate transformation device is used to convert the first coordinate of the edge of the carrier in the image coordinate system into the spatial coordinate of the edge of the carrier on the vehicle according to the preset transformation relationship between the image coordinate system and the spatial coordinate system, and use the spatial coordinate as the position information of the vehicle located in the vehicle box.

8. A vehicle control method employing the vehicle control device as described in any one of claims 1 to 7, applied in a transmission device, characterized in that, The method includes: The carrier is placed in the carrier box, the carrier box is placed in the carrier box, and the carrier box is placed on the conveying device for transport. When the vehicle reaches the image acquisition position, the vehicle is positioned and photographed by the positioning image acquisition device. The location and image capture results are transmitted to the processor; The robotic arm is used to pick up the vehicle after image acquisition from the image acquisition position and move it to the vehicle disassembly position. When the vehicle reaches the vehicle disassembly position, the vehicle is disassembled using the vehicle disassembly device.

9. The vehicle control method according to claim 8, characterized in that, The vehicle control device further includes: a vehicle platform and a carrier platform, which are located on the side of the transmission device. The carrier platform is used to store a carrier, and the vehicle platform is used to store a disassembled vehicle or a target vehicle. The method further includes: The carrier is transferred to the carrier platform by the transfer robotic arm, and the disassembled carrier is transferred from the carrier disassembly position. The target vehicle located on the vehicle platform is transferred to the vehicle disassembly position by the transfer robotic arm. The carrier on the carrier platform is transferred to the target carrier at the carrier disassembly position by the transfer robotic arm.

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