Heat insulation pad assembly method, system and device and storage medium

Abstract

The invention discloses a heat insulation pad assembling method, system and device and a storage medium. The method comprises the steps that in response to a heat insulation pad in-place signal and a cab in-place signal, target heat insulation pad information is obtained, and the target heat insulation pad information at least comprises model information, shape information and size information of a target heat insulation pad; determining an initial position and an assembly position of the target heat insulation pad based on the target heat insulation pad information; based on the initial position and the assembly position, a target planning path is generated, and the target planning path is used for representing a moving path for moving the target heat insulation pad from the initial position to the assembly position; based on the target planning path, an assembly control instruction is generated and used for controlling the heat insulation pad grabbing device to move the target heat insulation pad from the initial position to the assembly position according to the target planning path. The technical problems that a heat insulation pad assembling method cannot meet the requirement for the working efficiency and the intelligent degree is low are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent assembly of commercial vehicles, and in particular, to a method, system, device and storage medium for assembling heat insulation pads. Background Art

[0002] With the in-depth development of automotive intelligent manufacturing, more and more manufacturing scenarios require intelligent manufacturing methods and systems to meet the realization of the scenarios; the intelligent assembly of automotive heat insulation pads requires innovative workpiece clamping methods and systems to ensure the installation of automotive heat insulation pads.

[0003] Since the automotive heat insulation pad is installed on the main assembly line of the vehicle and has clear rhythm requirements for installation, as an important link in the installation of the heat insulation pad - heat insulation pad clamping, it is required that the clamping method and device can quickly identify the clamping position, smoothly grab the heat insulation pad, avoid interference positions during feeding, and support the workpiece to reach the predetermined position, etc.

[0004] The current development trend of intelligent manufacturing requires that while a single manufacturing scenario is completed, cross-business data sharing with other scenarios needs to be realized to reduce manual transfer; the current workpiece clamping methods and devices focus on single scenarios and do not explain the data communication between the clamping methods and devices and other feeding scenarios, material using scenarios, etc. The data is relatively closed and cannot meet the current trend requirements of intelligent manufacturing, and cross-business data fusion and application have not been realized.

[0005] In view of the above problems, no effective solution has been proposed yet. Summary of the Invention

[0006] Embodiments of the present invention provide a method, system, device and storage medium for assembling heat insulation pads to at least solve the technical problems that the heat insulation pad assembly method cannot meet the working efficiency and has a low degree of intelligence.

[0007] According to one aspect of the embodiments of the present invention, a method for assembling a heat insulation pad is provided, including the following steps: in response to a heat insulation pad in-place signal and a cab in-place signal, obtaining target heat insulation pad information, where the target heat insulation pad information at least includes model information, shape information, and size information of the target heat insulation pad; based on the target heat insulation pad information, determining an initial position and an assembly position of the target heat insulation pad; based on the initial position and the assembly position, generating a target planned path, where the target planned path is used to represent a movement path for moving the target heat insulation pad from the initial position to the assembly position; based on the target planned path, generating an assembly control instruction, where the assembly control instruction is used to control a heat insulation pad gripping device to move the target heat insulation pad from the initial position to the assembly position according to the target planned path.

[0008] Optionally, the method further includes: generating a fastening control instruction in response to the target heat insulation pad moving to the assembly position, where the fastening control instruction is used to control the fastening device to perform a fastening operation on the target heat insulation pad.

[0009] Optionally, based on the target heat insulation pad information, determining the initial position and the assembly position of the target heat insulation pad includes: collecting the cab position information and the heat insulation pad loading position information; determining the initial position of the target heat insulation pad based on the heat insulation pad loading position information and the target heat insulation pad information; determining the assembly position of the target heat insulation pad based on the cab position information and the target heat insulation pad information.

[0010] Optionally, the method further includes: generating a target grasping path based on the initial position of the target heat insulation pad, where the target grasping path is used to represent the movement path for moving the heat insulation pad grasping device from the current position to the grasping position; generating a grasping instruction based on the target grasping path, where the grasping instruction is used to control the heat insulation pad grasping device to move to the grasping position according to the target grasping path, and controlling the heat insulation pad grasping device to grasp the target heat insulation pad; generating an assembly control instruction in response to the heat insulation pad grasping device grasping the target heat insulation pad.

[0011] Optionally, the method further includes: obtaining the passing dimension condition of the target planned path; determining whether the dimension information of the target heat insulation pad conforms to the passing dimension condition; in the case where it is determined that the dimension information of the target heat insulation pad does not conform to the passing dimension condition, generating a first adjustment instruction, where the first adjustment instruction is used to control the heat insulation pad grasping device to shrink the size of the target heat insulation pad until the dimension information of the target heat insulation pad conforms to the passing dimension condition; generating an assembly control instruction in response to the dimension information of the target heat insulation pad conforming to the passing dimension condition.

[0012] Optionally, the method further includes: generating a second adjustment instruction in response to the target heat insulation pad moving to the assembly position, where the second adjustment control instruction is used to control the heat insulation pad grasping device to release the target heat insulation pad so that the target heat insulation pad returns to its original size; generating a fastening control instruction in response to the target heat insulation pad returning to its original size.

[0013] According to another aspect of the embodiments of the present invention, a heat insulation pad assembly system is further provided, including: a collecting device, the collecting device is movably arranged at the assembly station, and the collecting device is at least used to collect the initial position and the assembly position of the target heat insulation pad; a heat insulation pad grasping device, the heat insulation pad grasping device is movably arranged at the assembly station, and the heat insulation pad grasping device is used to grasp the target heat insulation pad and move the target heat insulation pad to the assembly position; a fastening device, the fastening device is movably arranged at the assembly station, the fastening device is arranged close to the collecting device, and the fastening device is used to perform a fastening operation on the target heat insulation pad; a control device, the control device is electrically connected to the collecting device, the heat insulation pad grasping device, and the fastening device.

[0014] According to another aspect of the embodiments of the present invention, there is also provided a heat insulation pad assembly device, including: an acquisition module, which is configured to acquire target heat insulation pad information in response to a heat insulation pad in-place signal and a cab in-place signal, and the target heat insulation pad information at least includes the model information, shape information, and size information of the target heat insulation pad; a determination module, which is configured to determine the initial position and the assembly position of the target heat insulation pad based on the target heat insulation pad information; a path generation module, which is configured to generate a target planned path based on the initial position and the assembly position, and the target planned path is used to represent the movement path for moving the target heat insulation pad from the initial position to the assembly position; an assembly execution module, which is configured to generate an assembly control instruction based on the target planned path, and the assembly control instruction is used to control the heat insulation pad grasping device to move the target heat insulation pad from the initial position to the assembly position according to the target planned path.

[0015] According to another aspect of the embodiments of the present invention, there is also provided a non-volatile storage medium storing a computer program, wherein the computer program is configured to execute the above heat insulation pad assembly method when running.

[0016] In the embodiments of the present invention, in response to a heat insulation pad in-place signal and a cab in-place signal, target heat insulation pad information is acquired, and the target heat insulation pad information at least includes the model information, shape information, and size information of the target heat insulation pad; based on the target heat insulation pad information, the initial position and the assembly position of the target heat insulation pad are determined; based on the initial position and the assembly position, a target planned path is generated, and the target planned path is used to represent the movement path for moving the target heat insulation pad from the initial position to the assembly position; based on the target planned path, an assembly control instruction is generated, and the assembly control instruction is used to control the heat insulation pad grasping device to move the target heat insulation pad from the initial position to the assembly position according to the target planned path. The method acquires the information of the target heat insulation pad through the in-place signal of the heat insulation pad system and the in-place signal of the cab, and then determines the size, shape, and model information of the target heat insulation pad for assembly. At the same time, through the intelligent data connection between the system and the workpiece logistics transportation system, the cab hoisting system, etc., the real-time sharing of production data and the seamless integration of business processes are realized. The form of data integration helps to improve the transparency and controllability of the entire production process, providing a solid foundation for realizing intelligent manufacturing. At the same time, the system can be quickly adjusted according to the changes in production requirements, enabling the heat insulation pad assembly method and device to flexibly handle the assembly tasks of heat insulation pads of different models and sizes. In addition, through the intelligent acquisition of the initial position and assembly position of the heat insulation pad, and the intelligent generation of path planning and assembly control based on the position information of the heat insulation pad, the unnecessary waiting and moving time during the assembly process are reduced, and the efficiency of the production line is improved. Thus, the technical problems that the heat insulation pad assembly method cannot meet the working efficiency and has a low degree of intelligence are solved. Description of the Drawings

[0017] The accompanying drawings described herein are used to provide a further understanding of the present invention and form a part of this application. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 is a hardware structure block diagram of a computer terminal for a heat insulation pad assembly method according to one embodiment of the present invention;

[0019] Figure 2 is a flowchart of a heat insulation pad assembly method according to one alternative embodiment of the present invention;

[0020] Figure 3 is a structure block diagram of a heat insulation pad assembly device according to one embodiment of the present invention. Detailed implementation manners

[0021] In order to enable those skilled in the art of the present technology to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0022] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned accompanying drawings are used to distinguish similar objects and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "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 does not necessarily need to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0023] According to one embodiment of the present invention, an embodiment of a heat insulation pad assembly method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0024] This method embodiment can be executed in a computer terminal or a similar computing device including a memory and a processor in a vehicle. Taking running on a computer terminal as an example, such asFigure 1 As shown, the computer terminal may include one or more processors 102 (the processors may include, but are not limited to, processing devices such as a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microprocessor (MCU), a field-programmable gate array (FPGA), a neural network processor (NPU), a tensor processing unit (TPU), an artificial intelligence (AI) type processor, etc.) and a memory 104 for storing data. Optionally, the above computer terminal may further include a transmission device 106 for communication functions, an input / output device 108, and a display 110. Those of ordinary skill in the art can understand that Figure 1 the structure shown is only illustrative and does not limit the structure of the above computer terminal. For example, the computer terminal may further include more or fewer components than those described in the above structure, or have a configuration different from that described in the above structure.

[0025] The memory 104 can be used to store computer programs. For example, software programs and modules of application software, such as the computer program corresponding to the heat insulation pad assembly method in the embodiments of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, implements the above heat insulation pad assembly method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memories. In some instances, the memory 104 may further include a memory remotely disposed relative to the processor 102, and these remote memories can be connected to the mobile terminal through a network. Examples of the above network include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0026] The transmission device 106 is used to receive or send data via a network. Specific examples of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one instance, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices through a base station and thus communicate with the Internet. In one instance, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0027] The display 110 can be, for example, a touch-screen liquid crystal display (LCD). The liquid crystal display enables a user to interact with the user interface of the mobile terminal. In some embodiments, the above-mentioned mobile terminal has a graphical user interface (GUI), and the user can perform human-computer interaction with the GUI through finger contacts and / or gestures on the touch-sensitive surface. The human-computer interaction function may optionally include the following interactions: creating web pages, drawing, word processing, creating electronic documents, games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital videos, playing digital music, and / or web browsing, etc. The executable instructions for performing the above human-computer interaction functions are configured / stored in a computer program product or a readable storage medium executable by one or more processors.

[0028] In this embodiment, a method for assembling a heat insulation pad running on the above computer terminal is provided. Figure 2 It is a flowchart of a heat insulation pad assembly method according to an embodiment of the present invention, as Figure 2 shown. The process includes the following steps:

[0029] Step S20, in response to the heat insulation pad in-place signal and the cab in-place signal, obtain target heat insulation pad information, where the target heat insulation pad information at least includes the model information, shape information, and size information of the target heat insulation pad;

[0030] Specifically, when the heat insulation pad is loaded to reach the in-line side of the material rack near the working station, and at the same time the cab on the production line is hoisted and moved to the assembly station, the system automatically obtains the target heat insulation pad information to confirm information such as the model, size, shape, and quantity of the target heat insulation pad to be assembled.

[0031] It should be noted that the heat insulation pad in-place signal is determined by the system receiving the heat insulation pad arrival information of the workpiece logistics transportation system; the cab in-place signal is determined by the cab arrival information of the cab EMS (Electro-Mechanical System for Cab Transfer, cab conveyor line system); the target heat insulation pad point information is determined by the system automatically obtaining the MOM (Manufacturing Operations Management) production plan.

[0032] In step S22, by the system performing data acquisition and exchange with the workpiece logistics transportation system and the cab EMS, intelligent and automated acquisition of the target heat insulation pad information can be achieved, realizing real-time sharing of production data and seamless integration of business processes.

[0033] Step S22, based on the target heat insulation pad information, determine the initial position and assembly position of the target heat insulation pad;

[0034] Specifically, the initial position of the target heat insulation pad is the position when the target heat insulation pad is loaded onto the production line side. For example, it is the position when the target heat insulation pad is on the material rack; the assembly position of the target heat insulation pad is the specific position where the target heat insulation pad needs to be assembled to the bottom end of the cab. For example, when the target heat insulation pad is the front heat insulation pad or the rear heat insulation pad, it needs to be assembled to the front and rear parts of the bottom end of the cab respectively.

[0035] It should be noted that in step S22, multiple models and sizes of heat insulation pads can be stored on the material rack inside the production line side. After determining the target heat insulation pad to be assembled based on the MOM production plan, the model of the target heat insulation pad can be determined (such as the type confirmation of the front heat insulation pad and the rear heat insulation pad). At the same time, the initial position of the target heat insulation pad can be confirmed among the multiple heat insulation pads on the material rack, and then based on the type of the target heat insulation pad, its assembly position on the bottom end of the cab can be confirmed.

[0036] Step S24, generate a target planning path based on the initial position and the assembly position. The target planning path is used to represent the movement path for moving the target heat insulation pad from the initial position to the assembly position;

[0037] Specifically, after determining the initial position and the assembly position of the target heat insulation pad, combined with the actual working environment, determine the positions of obstacles in the working environment, etc., to avoid collisions with them, and generate a planning path for moving the target heat insulation pad to the assembly position, which is convenient for subsequent assembly of the target heat insulation pad.

[0038] In an embodiment of the present application, after obtaining the initial position and the assembly position of the target heat insulation pad, an intelligent path generation algorithm is used to generate a target planning path with the shortest distance between the initial position and the assembly position, while ensuring that other components on the production line are avoided from collision and the heat insulation pad can be assembled quickly and efficiently.

[0039] Step S26, generate an assembly control instruction based on the target planning path. The assembly control instruction is used to control the heat insulation pad grasping device to move the target heat insulation pad from the initial position to the assembly position according to the target planning path.

[0040] Specifically, the target planning path is analyzed in detail and decomposed into a series of specific motion instructions, including parameters such as the moving direction, speed, and acceleration of the clamping device, as well as the timing and force of grasping and releasing the heat insulation pad. According to the result of the path decomposition, the control parameters of the clamping device are set to generate specific motion control instructions to control the heat insulation pad grasping device to perform precise actions according to the planning path.

[0041] Through the above steps, in response to the heat insulation pad in-place signal and the cab in-place signal, obtain the target heat insulation pad information, where the target heat insulation pad information at least includes the model information, shape information, and size information of the target heat insulation pad; based on the target heat insulation pad information, determine the initial position and assembly position of the target heat insulation pad; based on the initial position and the assembly position, generate a target planning path, where the target planning path is used to represent the movement path for moving the target heat insulation pad from the initial position to the assembly position; based on the target planning path, generate an assembly control instruction, where the assembly control instruction is used to control the heat insulation pad gripping device to move the target heat insulation pad from the initial position to the assembly position according to the target planning path. The method obtains the information of the target heat insulation pad through the in-place signal of the heat insulation pad of the system and the in-place signal of the cab, and then determines the size, shape, and model information of the target heat insulation pad for assembly during the operation. At the same time, through the intelligent data connection between the system and the workpiece logistics transportation system, the cab hoisting system, etc., the real-time sharing of production data and the seamless integration of business processes are realized. The form of data integration helps to improve the transparency and controllability of the entire production process, providing a solid foundation for realizing intelligent manufacturing. At the same time, the system can be quickly adjusted according to the changes in production requirements, enabling the heat insulation pad assembly method and device to flexibly handle the assembly tasks of heat insulation pads of different models and sizes. In addition, through the intelligent acquisition of the initial position and assembly position of the heat insulation pad, and based on the position information of the heat insulation pad, the path planning is automatically generated and the assembly control is performed, reducing the unnecessary waiting and movement time during the assembly process and improving the efficiency of the production line. Furthermore, the technical problems that the heat insulation pad assembly method cannot meet the working efficiency and has a low degree of intelligence are solved.

[0042] Optionally, the method further includes the following execution steps:

[0043] Step S28, in response to the target heat insulation pad moving to the assembly position, generate a fastening control instruction, where the fastening control instruction is used to control the fastening device to perform a fastening operation on the target heat insulation pad.

[0044] Specifically, after the heat insulation pad is successfully positioned at the assembly position, the system automatically triggers the fastening control instruction to activate the fastening device to precisely fasten the heat insulation pad, ensuring its stable installation in the cab. The automatic execution of the fastening process not only speeds up the assembly speed but also effectively avoids assembly quality problems caused by uneven fastening force or position deviation. Through the coordinated work of the fastening device and the gripping device, the entire assembly process forms a closed-loop control, achieving high-precision and high-efficiency heat insulation pad assembly, and at the same time reflecting the intelligence and automation of system control.

[0045] In step S28, it is confirmed by a sensor or a collecting device that the heat insulation pad has reached its predetermined assembly position, the fastening device is accurately aligned with the fastening point of the heat insulation pad, and then based on specific fastening control instructions, the fastening operation is performed. The full name is to perform the fastening and installation operation of the target heat insulation pad through mechanical automation, which solves the inevitable human errors and technical problems in traditional manual assembly.

[0046] Optionally, in step S22, based on the target heat insulation pad information, determining the initial position and the assembly position of the target heat insulation pad includes:

[0047] Step S221, collecting the cab position information and the heat insulation pad loading position information;

[0048] Specifically, after the cab EMS and the workpiece logistics transportation system send signals to confirm that the cab and the heat insulation pad have reached their positions, the system controls the collecting device to collect the image information of the cab and the heat insulation pad, and then transmits the collected image information to the control system for image analysis and processing to determine the three-dimensional spatial positions of the cab and the heat insulation pad.

[0049] In step S221, the position of the cab is directly above the assembly station, and the heat insulation pad loading position is inside the line side of the assembly station, in the material rack near the assembly station. The collecting device obtains the depth image information of the cab and the heat insulation pad through devices such as 3D (Three-Dimensional) cameras or vision sensors. The control system confirms the positions and poses of the heat insulation pad and the cab in the three-dimensional space through point cloud data algorithms or pose estimation methods, so as to calculate the grasping path and the assembly path and perform the grasping and assembly work on the heat insulation pad.

[0050] Step S222, based on the heat insulation pad loading position information and the target heat insulation pad information, determining the initial position of the target heat insulation pad;

[0051] Specifically, the collecting device is used to collect the specific position and attitude information of the heat insulation pad in the loading area in real time, and combined with the information such as the heat insulation pad signal, size, and material in the target heat insulation pad information, the pose of the target heat insulation pad is analyzed and confirmed.

[0052] Step S223, based on the cab position information and the target heat insulation pad information, determining the assembly position of the target heat insulation pad.

[0053] Specifically, the collected heat insulation pad loading position information is algorithmically matched with the cab coordinate system to ensure that the initial position information of the heat insulation pad can be accurately corresponded in the cab assembly environment.

[0054] Through steps S221 - S223, by accurately collecting the real - time position information of the cab and the heat insulation pad, the system can dynamically adjust the assembly strategy to ensure that the assembly position of the heat insulation pad perfectly matches the actual requirements of the cab. The intelligent positioning method based on information overcomes the limitations of position preset in traditional assembly, can flexibly meet the assembly requirements of different vehicle models and different heat insulation pads, and greatly improves the versatility and adaptability of the assembly.

[0055] Optionally, the method further includes:

[0056] Step S224, generating a target grasping path based on the initial position of the target heat insulation pad, where the target grasping path is used to represent the movement path for moving the heat insulation pad grasping device from the current position to the grasping position;

[0057] Specifically, based on the initial position information of the heat insulation pad and the target heat insulation pad information, the feature parts on the target heat insulation pad are identified by the acquisition device. Combining the specific structure of the heat insulation pad grasping device, the grasping part of the heat insulation pad grasping device is corresponded to the feature parts on the target heat insulation pad to ensure that the heat insulation pad grasping device can achieve stable and accurate grasping of the target heat insulation pad, meeting the requirements of high - efficiency, safety, and precision in the automated assembly process.

[0058] It should be noted that by dividing the target planning path into two parts: the target grasping path and the subsequent assembly path, the target grasping path is used to plan the shortest path for the heat insulation pad grasping device to grasp the target heat insulation pad, and also to plan to avoid collisions and interferences between the heat insulation pad grasping device and obstacles, ensuring the smoothness of the entire heat insulation pad grasping process.

[0059] Step S225, generating a grasping instruction based on the target grasping path, where the grasping instruction is used to control the heat insulation pad grasping device to move to the grasping position according to the target grasping path and control the heat insulation pad grasping device to grasp the target heat insulation pad;

[0060] Specifically, according to the grasping instruction, path parsing is performed to decompose the target grasping path into a series of specific motion instructions, including parameters such as the moving direction, speed, and acceleration of the heat insulation pad grasping device. The specific actions of the heat insulation pad grasping device when reaching the grasping position are planned to ensure that the actions are synchronized with the movement of the path and the correct actions are executed at the appropriate positions. Based on the target grasping path, accurate grasping instructions are generated to control the heat insulation pad grasping device to safely and efficiently complete the grasping task of the heat insulation pad.

[0061] Step S226, generating an assembly control instruction in response to the heat insulation pad grasping device grasping the target heat insulation pad.

[0062] Specifically, after the heat insulation pad grasping device has stably grasped the target heat insulation pad, the relative position relationship between the target heat insulation pad and the heat insulation pad grasping device is collected through the sensor on the heat insulation pad grasping device or through the acquisition device. After confirming the successful grasping of the target heat insulation pad, the next step of heat insulation pad assembly planning can be carried out.

[0063] In step S226, based on the target assembly position, the optimal path of the heat insulation pad grasping device from the current grasping position to the target assembly position is planned, and an assembly control instruction is generated. The assembly control instruction is used to control the heat insulation pad grasping device to move the target heat insulation pad from the current grasping position to the assembly position. This ensures that the entire process from grasping to assembling the heat insulation pad is refined and intelligent, not only improving the assembly efficiency and accuracy, but also achieving seamless coordination between different systems on the production line.

[0064] Through steps S224 - S226, by generating an accurate target grasping path, it guides the heat insulation pad grasping device to grasp the heat insulation pad efficiently and accurately, avoiding resource waste and time delay caused by blind movement. The intelligent generation of the grasping instruction ensures the precise execution of the grasping action, and the subsequent assembly control instruction seamlessly connects with the grasping process, guiding the heat insulation pad to smoothly enter the assembly position. This series of automated operations not only greatly improves the assembly speed, but also reduces energy consumption and production costs by reducing unnecessary movement and adjustment.

[0065] Optionally, the method further includes:

[0066] Step S261, obtaining the passing size condition of the target planned path;

[0067] Specifically, the passing size condition includes the width allowable passing size and the height allowable passing size of the target planned path, that is, the allowable passing cross-sectional area of the target planned path.

[0068] In step S261, after the acquisition device collects the current position and the assembly position of the heat insulation pad grasping device, and the control system generates the target planned path through an intelligent algorithm, the heat insulation pad grasping device needs to move the target heat insulation pad to the assembly position according to the target planned path, but the size allowing the target heat insulation pad to pass through the target planned path needs to be considered.

[0069] Step S262, judging whether the size information of the target heat insulation pad conforms to the passing size condition;

[0070] Specifically, the distances extended in the length direction, width direction, and height direction of the target heat insulation pad are compared with the passing size condition to judge whether the target heat insulation pad meets the passing size condition.

[0071] It should be noted that since the bottom end of the cab is directly above the assembly station, the heat insulation pad grasping device needs to align the assembly surface of the target heat insulation pad with the bottom end of the cab. To ensure that the target heat insulation pad does not interfere with obstacles on the path during movement and smoothly moves to the assembly position, it is necessary to judge the size of the target heat insulation pad based on the passing size conditions, so as to take measures to avoid the target heat insulation pad not meeting the passing size conditions.

[0072] Step S263, in the case where it is determined that the size information of the target heat insulation pad does not meet the passing size conditions, generate a first adjustment instruction, which is used to control the heat insulation pad grasping device to shrink the size of the target heat insulation pad until the size information of the target heat insulation pad meets the passing size conditions;

[0073] Specifically, in the case where it is determined that the size information of the target heat insulation pad does not meet the passing size conditions, further determine the gap between the current size of the target heat insulation pad and the passing size conditions, including the gap sizes in the length, height, and width directions of the target heat insulation pad and the passing size conditions; based on the material properties of the heat insulation pad (such as elasticity and plasticity), design a shrinking strategy that can shrink it to the allowable size in the width direction; according to the shrinking strategy, generate a first adjustment instruction, which sets the specific parameters of the shrinking unit of the heat insulation pad grasping device, such as the magnitude of the shrinking force, the shrinking direction, the shrinking speed, and the target size to be achieved; finally, the heat insulation pad grasping device executes the first adjustment instruction to shrink the target heat insulation pad to the passing size conditions that allow it to pass.

[0074] In this embodiment, a shrinking unit or a shrinking assembly is provided on the heat insulation pad grasping device. The shrinking unit abuts against the edge of the target heat insulation pad, and the target heat insulation pad can be compressed in all directions through shrinking, so as to temporarily pass through the target planned path.

[0075] Step S264, in response to the size information of the target heat insulation pad meeting the passing size conditions, generate an assembly control instruction.

[0076] Specifically, after confirming the path of the grasping device from the current position to the target assembly position, according to the specific requirements of the target assembly position, generate an attitude adjustment instruction to adjust the assembly direction and pose of the target heat insulation pad. After ensuring that the target heat insulation pad is completely aligned with the assembly position, generate an assembly control instruction to facilitate subsequent assembly operations on the target heat insulation pad.

[0077] Through steps S261 to S264, taking into account the space limitations that the thermal insulation pad may encounter during assembly, a size adjustment mechanism is introduced to ensure that the thermal insulation pad can smoothly pass through narrow or complex assembly paths. When it is detected that the thermal insulation pad is too large and cannot meet the passing size conditions, the system will automatically send a first adjustment instruction to drive the thermal insulation pad gripping device to shrink and adjust the thermal insulation pad. This solves the common size matching problem in the assembly of thermal insulation pads, effectively avoids assembly failures caused by inappropriate thermal insulation pad size, and ensures the continuity and success rate of the assembly process.

[0078] Optionally, the method further comprises:

[0079] Step S265: In response to the target thermal insulation pad being moved to the assembly position, a second adjustment control instruction is generated, wherein the second adjustment control instruction is used to control the thermal insulation pad gripping device to release the target thermal insulation pad so that the target thermal insulation pad is restored to its original size;

[0080] Specifically, after the target thermal insulation pad moves to the assembly position according to the preset target planning path, based on the position confirmation, the control system generates a second adjustment instruction. The second adjustment instruction commands the contraction unit to release pressure in the height direction, release the constraint on the width direction of the thermal insulation pad, and restore the target thermal insulation pad to its original state, thereby achieving the final positioning of the target thermal insulation pad at the assembly position.

[0081] Step S266: In response to the target thermal insulation pad being restored to its original size, a tightening control instruction is generated.

[0082] Specifically, after the target thermal insulation pad is released and restored to its original size, a sensor (such as a contact sensor or a visual sensor) is used to detect whether the thermal insulation pad has completely returned to its original state and whether it is accurately placed in the assembly position. A tightening control instruction is then generated to control the tightening device to tighten the target thermal insulation pad at the assembly position.

[0083] Through steps S265 and S266, the integrity and functionality of the thermal insulation pad in its final assembly position are ensured, preventing long-term deformation under stress from affecting the thermal insulation effect. Subsequently, the execution of the tightening control command further consolidates the position of the thermal insulation pad, improving the stability and thermal insulation performance of the assembly structure.

[0084] Optionally, the method further comprises:

[0085] Step S281: in response to the target thermal insulation pad moving to the assembly position, generating a fastening device movement instruction, the fastening device movement instruction being used to control the fastening device to move to the fastening working position;

[0086] Specifically, based on the assembly position of the target heat insulation pad, the control system will identify the fastening working position, that is, the fastening point on the target heat insulation pad or the fixed point (the position of the mounting stud) for fastening the heat insulation pad in the cab. According to the fastening working position, before generating the moving instruction for the fastening device, the control system will plan the optimal path of the fastening device from the current position to the fastening working position. After the path planning is completed, the control system generates the moving instruction for the fastening device, including the speed, direction, angle, and position information of the movement of the fastening device, ensuring that the fastening device can move to the fastening working position accurately without error.

[0087] In step S281, the moving instruction for the fastening device should be able to perform data fusion and sharing with systems such as the workpiece logistics transportation system, the cab conveyor line system (EMS), and the manufacturing operations management system (MOM), ensuring that the fastening device can receive and process real-time information from other systems during the movement. After receiving the moving instruction, the fastening device (such as a tightening gun) will start to execute the moving instruction and move along the planned path towards the fastening working position.

[0088] Step S282, in response to the fastening device moving to the fastening working position, generate a fastening control instruction.

[0089] Specifically, the fastening control instruction includes the specific parameter settings for the fastening operation, such as the fastening torque, fastening speed, fastening depth, and fastening sequence. After the position confirmation and parameter setting of the fastening device are completed, the fastening control instruction will start the fastening device to perform the fastening operation according to the parameters in the instruction.

[0090] Through steps S281 - S282, in order to achieve the precise alignment of the fastening device, immediately after the heat insulation pad is assembled, start the moving instruction for the fastening device to guide the fastening device to move to the fastening working position accurately without error. Through precise movement control, it is ensured that the fastening device can fasten the heat insulation pad at the optimal position, avoiding problems such as insufficient fastening or over-fastening caused by position deviation. The execution of the fastening control instruction marks the last step of the entire assembly process, not only completing the fixation of the heat insulation pad but also enhancing the overall strength and durability of the assembly structure through the precise operation of the fastening device.

[0091] This application also provides a preferred embodiment of a heat insulation pad assembly method. The clamping device in the clamping process of heat insulation pad installation shares business data intelligently with the logistics transportation system, the tightening system, the cab EMS, and the MOM system, contributing to the completion of the intelligent assembly scenario of the automotive heat insulation pad.

[0092] The heat insulation pad assembly method is mainly used for clamping the heat insulation pad during the assembly of automotive heat insulation pads, and can automatically obtain the workpiece type, placement location, time, and quantity of the workpiece logistics transportation system in the logistics transportation system. It sends the information such as the workpiece type and position that has been clamped to the tightening system, the cab conveyor line system (EMS), and the manufacturing operations management system (MOM), realizing cross-business data sharing for intelligent manufacturing while clamping the heat insulation pad.

[0093] The clamping system for heat insulation pad assembly first receives the arrival information of the heat insulation pad from the workpiece logistics transportation system, combines the in-place information of the heat insulation pad from the cab EMS and the production plan information of MOM, clamps the heat insulation pad model required by the production plan at the corresponding placement position of the heat insulation pad. After the heat insulation pad works through the clamping device, it sends the heat insulation pad to the designated installation position and transfers the heat insulation pad clamping information data to the heat insulation pad tightening system to carry out the heat insulation pad tightening operation.

[0094] From the above description, it can be seen that the heat insulation pad assembly method in this embodiment has the following beneficial effects: Through intelligent path planning and control, the accuracy and efficiency of heat insulation pad assembly are significantly improved. The automated grasping and fastening process reduces manual operations, lowers production costs, and at the same time avoids human errors and improves the assembly quality. The size adjustment function ensures the adaptability of the heat insulation pad during the assembly process, and even for non-standard sized heat insulation pads, the assembly can be successfully completed. In addition, through the precise control of the fastening device, the fastening effect of the heat insulation pad is guaranteed, further enhancing the stability and heat insulation performance after assembly.

[0095] According to another specific embodiment of the present application, a heat insulation pad assembly system is provided.

[0096] Specifically, the heat insulation pad assembly system includes a collection device, a heat insulation pad grasping device, a fastening device, and a control device. The collection device is movably arranged at the assembly station and is at least used to collect the initial position and assembly position of the target heat insulation pad. The heat insulation pad grasping device is movably arranged at the assembly station and is used to grasp the target heat insulation pad and move the target heat insulation pad to the assembly position. The fastening device is movably arranged at the assembly station and is arranged close to the collection device, and the fastening device is used to carry out the fastening operation on the target heat insulation pad. The control device is electrically connected to the collection device, the heat insulation pad grasping device, and the fastening device.

[0097] Applying the technical solution of this embodiment, the system realizes the automation and intelligence of heat insulation pad assembly by integrating a collection device, a heat insulation pad grasping device, a fastening device, and an intelligent control device. The flexible deployment of the collection device ensures the accurate acquisition of the target heat insulation pad and cab position information, providing reliable data support for subsequent assembly. The movable design of the heat insulation pad grasping device and the fastening device enables them to flexibly adjust their positions and postures according to different assembly requirements, improving the adaptability and efficiency of assembly. As the central nerve of the system, the control device not only coordinates the work of each component but also optimizes the assembly process through intelligent algorithms, achieving the maximum utilization of resources. It solves the problems of low efficiency, insufficient accuracy, and poor adaptability in traditional heat insulation pad assembly.

[0098] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it 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 invention, in essence, or the part that contributes 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) and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0099] In this embodiment, a heat insulation pad assembly device is also provided. This device is used to implement the above embodiments and preferred implementation manners, and those that have been described will not be repeated. As used hereinafter, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0100] Figure 3 is a structural block diagram of a heat insulation pad assembly device according to one embodiment of the present invention, as Figure 3As shown in the figure, the device includes: an acquisition module 32, a determination module 34, a path generation module 36, and an assembly execution module 38. The acquisition module 32 is configured to acquire target heat insulation pad information in response to a heat insulation pad in-place signal and a cab in-place signal. The target heat insulation pad information includes at least the model information, shape information, and size information of the target heat insulation pad. The determination module 34 is configured to determine the initial position and the assembly position of the target heat insulation pad based on the target heat insulation pad information. The path generation module 36 is configured to generate a target planned path based on the initial position and the assembly position. The target planned path is used to represent the movement path for moving the target heat insulation pad from the initial position to the assembly position. The assembly execution module 38 is configured to generate an assembly control instruction based on the target planned path. The assembly control instruction is used to control the heat insulation pad gripping device to move the target heat insulation pad from the initial position to the assembly position according to the target planned path.

[0101] Through the above device, in response to the heat insulation pad in-place signal and the cab in-place signal, the target heat insulation pad information is acquired. The target heat insulation pad information includes at least the model information, shape information, and size information of the target heat insulation pad. Based on the target heat insulation pad information, the initial position and the assembly position of the target heat insulation pad are determined. Based on the initial position and the assembly position, a target planned path is generated. The target planned path is used to represent the movement path for moving the target heat insulation pad from the initial position to the assembly position. Based on the target planned path, an assembly control instruction is generated. The assembly control instruction is used to control the heat insulation pad gripping device to move the target heat insulation pad from the initial position to the assembly position according to the target planned path. The method acquires the information of the target heat insulation pad through the system's heat insulation pad in-place signal and the cab in-place signal, and then determines the size, shape, and model information of the target heat insulation pad for assembly operations. At the same time, through the intelligent data connection between the system and the workpiece logistics transportation system, the cab hoisting system, etc., the real-time sharing of production data and the seamless integration of business processes are realized. The form of data integration helps to improve the transparency and controllability of the entire production process, providing a solid foundation for realizing intelligent manufacturing. At the same time, the system can be quickly adjusted according to the changes in production requirements, enabling the heat insulation pad assembly method and device to flexibly handle the assembly tasks of heat insulation pads of different models and sizes. In addition, through the intelligent acquisition of the initial position and the assembly position of the heat insulation pad, and the intelligent generation of path planning and assembly control based on the position information of the heat insulation pad, the unnecessary waiting and movement time during the assembly process are reduced, and the efficiency of the production line is improved. Thus, the technical problems that the heat insulation pad assembly method cannot meet the working efficiency and has a low degree of intelligence are solved.

[0102] Optionally, the heat insulation pad assembly device provided in this application may further include other modules. For example, the heat insulation pad assembly device may include a communication module, which is used to communicate with other systems (such as logistics transportation systems, cab conveyor line systems EMS, manufacturing operations management systems MOM) to achieve cross-business information sharing and improve the collaborative efficiency of the overall production line. The heat insulation pad assembly device may also include a safety monitoring module. The safety monitoring module (such as lidar) is used to continuously monitor the surrounding environment and the status of the device during the assembly process to ensure operation safety. Once potential risks are detected, the operation is immediately paused or preventive measures are taken.

[0103] It should be noted that the above-mentioned various modules can be implemented by software or hardware. For the latter, it can be achieved in the following ways, but not limited to this: the above-mentioned modules are all located in the same processor; or, the above-mentioned various modules are respectively located in different processors in any combination form.

[0104] An embodiment of the present invention also provides a storage medium, in which a computer program is stored. Among them, the computer program is set to execute the steps in any one of the above method embodiments when running.

[0105] Optionally, in this embodiment, the above storage medium may be set to store a computer program for executing the following steps:

[0106] Step S1, in response to the heat insulation pad in-place signal and the cab in-place signal, obtain target heat insulation pad information, where the target heat insulation pad information at least includes the model information, shape information, and size information of the target heat insulation pad;

[0107] Step S2, based on the target heat insulation pad information, determine the initial position and assembly position of the target heat insulation pad;

[0108] Step S3, based on the initial position and the assembly position, generate a target planning path, where the target planning path is used to represent the movement path for moving the target heat insulation pad from the initial position to the assembly position;

[0109] Step S4, based on the target planning path, generate an assembly control instruction, where the assembly control instruction is used to control the heat insulation pad gripping device to move the target heat insulation pad from the initial position to the assembly position according to the target planning path.

[0110] Optionally, in this embodiment, the above storage medium may include but is not limited to: various media that can store computer programs such as USB flash drives, read-only memories (ROM for short), random access memories (RAM for short), mobile hard disks, magnetic disks, or optical discs.

[0111] An embodiment of the present invention further provides a processor, which is configured to run a computer program to execute the steps in any of the above method embodiments.

[0112] Optionally, in this embodiment, the processor may be configured to execute the following steps through a computer program:

[0113] Step S1, in response to the thermal insulation pad arrival signal and the cab arrival signal, obtaining target thermal insulation pad information, the target thermal insulation pad information at least including the model information, shape information, and size information of the target thermal insulation pad;

[0114] Step S2, determining the initial position and assembly position of the target thermal insulation pad based on the target thermal insulation pad information;

[0115] Step S3, generating a target planning path based on the initial position and the assembly position, where the target planning path is used to represent a moving path for moving the target thermal insulation pad from the initial position to the assembly position;

[0116] Step S4: Based on the target planning path, an assembly control instruction is generated. The assembly control instruction is used to control the thermal insulation pad grabbing device to move the target thermal insulation pad from the initial position to the assembly position according to the target planning path.

[0117] Optionally, specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0118] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0119] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0120] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0121] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0122] In addition, each functional unit in various embodiments of the present invention may be integrated into a processing unit, may exist physically alone for each unit, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0123] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: USB flash drive, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disc and other various media that can store program codes.

[0124] The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A method for assembling a heat insulation pad, characterized in that, The method includes the following steps: In response to the heat insulation pad in-place signal and the cab in-place signal, obtain target heat insulation pad information, where the target heat insulation pad information at least includes the model information, shape information, and size information of the target heat insulation pad; Based on the target heat insulation pad information, determine the initial position and the assembly position of the target heat insulation pad; Based on the initial position and the assembly position, generate a target planning path, where the target planning path is used to represent the movement path for moving the target heat insulation pad from the initial position to the assembly position; Based on the target planning path, generate an assembly control instruction, where the assembly control instruction is used to control the heat insulation pad gripping device to move the target heat insulation pad from the initial position to the assembly position according to the target planning path.

2. The method according to claim 1, characterized in that, The method further includes: In response to the target heat insulation pad moving to the assembly position, generate a fastening control instruction, where the fastening control instruction is used to control the fastening device to perform a fastening operation on the target heat insulation pad.

3. The method according to claim 1, characterized in that, Based on the target heat insulation pad information, determining the initial position and the assembly position of the target heat insulation pad includes: Collect cab position information and heat insulation pad loading position information; Based on the heat insulation pad loading position information and the target heat insulation pad information, determine the initial position of the target heat insulation pad; Based on the cab position information and the target heat insulation pad information, determine the assembly position of the target heat insulation pad.

4. The method according to claim 1, characterized in that, The method further includes: Based on the initial position of the target heat insulation pad, generate a target gripping path, where the target gripping path is used to represent the movement path for moving the heat insulation pad gripping device from the current position to the gripping position; Based on the target gripping path, generate a gripping instruction, where the gripping instruction is used to control the heat insulation pad gripping device to move to the gripping position according to the target gripping path and control the heat insulation pad gripping device to grip the target heat insulation pad; In response to the heat insulation pad gripping device gripping the target heat insulation pad, generate the assembly control instruction.

5. The method according to claim 3, characterized in that, The method further includes: Obtain the passing size condition of the target planning path; Judge whether the size information of the target heat insulation pad conforms to the passing size condition; In the case where it is determined that the size information of the target heat insulation pad does not conform to the passing size condition, generate a first adjustment instruction, where the first adjustment instruction is used to control the heat insulation pad gripping device to shrink the size of the target heat insulation pad until the size information of the target heat insulation pad conforms to the passing size condition; In response to the size information of the target heat insulation pad conforming to the passing size condition, generate the assembly control instruction.

6. The method according to claim 5, characterized in that, The method further includes: In response to the target heat insulation pad moving to the assembly position, generate a second adjustment instruction, where the second adjustment control instruction is used to control the heat insulation pad gripping device to release the target heat insulation pad so that the target heat insulation pad returns to its original size; In response to the target heat insulation pad returning to its original size, generate a fastening control instruction.

7. The method according to claim 2, wherein The method further includes: In response to the target heat insulation pad moving to the assembly position, generate a fastening device movement instruction, where the fastening device movement instruction is used to control the fastening device to move to the fastening working position; Generate the fastening control instruction in response to the movement of the fastening device to the fastening working position.

8. A heat insulation pad assembly system, characterized in that, Comprising: A collecting device, which is movably arranged at the assembly station, and the collecting device is at least used for collecting the initial position and the assembly position of the target heat insulation pad; A heat insulation pad gripping device, which is movably arranged at the assembly station, and the heat insulation pad gripping device is used for gripping the target heat insulation pad and moving the target heat insulation pad to the assembly position; A fastening device, which is movably arranged at the assembly station, and the fastening device is arranged close to the collecting device, and the fastening device is used for performing a fastening operation on the target heat insulation pad; A control device, which is electrically connected to the collecting device, the heat insulation pad gripping device, and the fastening device.

9. A heat insulation pad assembling device, characterized in that, Comprising: An obtaining module, which is used for obtaining target heat insulation pad information in response to a heat insulation pad in-place signal and a cab in-place signal, and the target heat insulation pad information at least includes model information, shape information, and size information of the target heat insulation pad; A determining module, which is used for determining the initial position and the assembly position of the target heat insulation pad based on the target heat insulation pad information; A path generation module, which is used for generating a target planning path based on the initial position and the assembly position, and the target planning path is used for representing the movement path of moving the target heat insulation pad from the initial position to the assembly position; An assembly execution module, which is used for generating an assembly control instruction based on the target planning path, and the assembly control instruction is used for controlling the heat insulation pad gripping device to move the target heat insulation pad from the initial position to the assembly position according to the target planning path.

10. A non-volatile storage medium, characterized in that A computer program is stored in the storage medium, wherein the computer program is set to execute the heat insulation pad assembly method described in any one of claims 1 to 7 when running.

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