Production line exception processing method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a production line exception handling method and device, electronic equipment and a storage medium, belongs to the technical field of intelligent production lines, and is applied to control equipment of a production line, the production line comprises at least one AMR and at least one assembly station, the AMRs are arranged in sequence and move according to a set track, and the AMRs move along the set track. Each AMR bears a to-be-assembled part, and when any AMR in the production line moves to any assembly station, the assembly equipment and / or assembly personnel of the assembly station assemble the to-be-assembled part borne by the AMR; sending a to-be-executed task to a second AMR in response to obtaining the to-be-executed task of the first AMR under the condition that the first AMR in the production line is abnormal; and sending a task execution instruction for the to-be-executed task to the second AMR under the condition that the to-be-assembled part carried by the first AMR is transferred to the second AMR. By applying the scheme provided by the embodiment of the invention, the line stopping risk caused by the abnormal production line is reduced.

Description

Technical Field

[0001] The present application relates to the field of intelligent production line technology, and in particular to a production line exception handling method, device, electronic device and storage medium. Background Art

[0002] Current manufacturing plants utilize roller conveyors or friction conveyors to assemble production lines. Roller conveyors use the rotation of rollers to move the components to be assembled, while friction conveyors use the friction of conveyor belts to move the components to be assembled. When the components to be assembled arrive at an assembly station on the production line, a robotic arm at that station assembles the corresponding material onto the components. As the components move along the production line, the material is attached to the components to be assembled, resulting in the assembled product.

[0003] During the assembly process, if an abnormality occurs on the production line, such as equipment failure or assembly quality issues, the entire line needs to be shut down to address the abnormality. This can severely impact production efficiency and reduce factory capacity. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a production line abnormality handling method, device, electronic device, and storage medium to reduce the risk of line stoppage caused by production line abnormalities. The specific technical solution is as follows:

[0005] In a first aspect, an embodiment of the present application provides a production line exception handling method, which is applied to the control equipment of a production line. The production line includes at least one autonomous mobile robot (AMR) and at least one assembly station. The at least one AMR is arranged in sequence and moves according to a set trajectory. Each AMR carries a component to be assembled. When any AMR in the production line moves to any assembly station, the assembly equipment and / or assembly personnel at the assembly station assemble the component to be assembled carried by the AMR. The method includes:

[0006] In the event that a first AMR in the production line is abnormal, in response to obtaining a pending task of the first AMR, sending the pending task to the second AMR, wherein the pending task includes a first station identifier of a target assembly station;

[0007] When the parts to be assembled carried by the first AMR are transferred to the second AMR, a task execution instruction for the task to be performed is sent to the second AMR, so that the second AMR moves to the target assembly station based on the first station identifier, and the assembly equipment and / or assembly personnel set up at the target assembly station assemble the parts to be assembled carried by the second AMR.

[0008] Optionally, before the step of sending a task execution instruction for the to-be-executed task to the second AMR, the method further includes:

[0009] When the first AMR is towed under the lifting equipment, controlling the lifting equipment to lift the component to be assembled carried by the first AMR;

[0010] When the first AMR is pulled away from under the hoisting device, controlling the second AMR to move under the hoisting device;

[0011] The hoisting equipment is controlled to place the hoisted components to be assembled onto the second AMR.

[0012] Optionally, the at least one AMR has a mounting position that matches the trailer;

[0013] The tractor is used to be fixed to a traction rope, so that the traction device pulls the at least one AMR to move through the traction rope.

[0014] Optionally, when a first AMR in the production line is abnormal and before the component to be assembled carried by the first AMR is transferred to the second AMR, the method further includes:

[0015] When the first AMR is towed to a manual assembly station, in response to a first device identifier of the first AMR and a second station identifier of the abnormal assembly station provided by an operator, a matching identifier of a component to be assembled is determined based on the first device identifier, the component to be assembled carried by the first AMR is determined based on the identifier of the component to be assembled, and the material to be assembled is determined based on the second station identifier, wherein the abnormal assembly station is the assembly station where the first AMR was located in the production line when the abnormality occurred;

[0016] Assembly prompt information is displayed on the display device of the manual assembly station, so that the operator can assemble the components to be assembled on the first AMR according to the assembly prompt information, wherein the assembly prompt information is used to prompt the assembly method between the material to be assembled and the components to be assembled.

[0017] Optionally, the target assembly station is the next assembly station of the abnormal assembly station.

[0018] Optionally, when the first AMR in the production line is abnormal, before the step of sending the to-be-executed task to the second AMR in response to acquiring the to-be-executed task of the first AMR, the method further includes:

[0019] Obtaining status information fed back by each AMR in the production line, and determining an abnormality type of a first AMR in the production line that has an abnormality based on the status information;

[0020] When the abnormality type of the first AMR is an equipment abnormality, performing the step of, when the first AMR in the production line is abnormal, in response to obtaining the task to be executed of the first AMR, sending the task to be executed to the second AMR;

[0021] When the abnormality type of the first AMR is abnormal assembly quality or material shortage, the first AMR is controlled to be moved out of the production line.

[0022] Optionally, before the step of sending the to-be-executed task to the second AMR in response to acquiring the to-be-executed task of the first AMR, the method further includes:

[0023] Displaying device information of the standby AMR on a display interface of the control device, wherein the device information includes a device identifier of the standby AMR;

[0024] Obtaining a target backup AMR selected by an operator based on the device information, and using the target backup AMR as a second AMR;

[0025] The step of sending the task to be executed to the second AMR includes:

[0026] The task to be executed is sent to the second AMR based on the second device identifier included in the device information of the second AMR.

[0027] In a second aspect, an embodiment of the present application provides a production line exception handling device, which is applied to the control equipment of a production line. The production line includes at least one autonomous mobile robot (AMR) and at least one assembly station. The at least one AMR is arranged in sequence and moves according to a set trajectory. Each AMR carries a component to be assembled. When any AMR in the production line moves to any assembly station, the assembly equipment and / or assembly personnel at the assembly station assemble the component to be assembled carried by the AMR. The device includes:

[0028] a first sending module configured to, in a case where a first AMR in the production line is abnormal, send the to-be-executed task to the second AMR in response to obtaining the to-be-executed task of the first AMR, wherein the to-be-executed task includes a first station identifier of a target assembly station;

[0029] The second sending module is used to send a task execution instruction for the task to be performed to the second AMR when the component to be assembled carried by the first AMR is transferred to the second AMR, so that the second AMR moves to the target assembly station based on the first station identifier, and the assembly equipment and / or assembly personnel set up at the target assembly station assemble the component to be assembled carried by the second AMR.

[0030] Optionally, the device further includes: a first control module;

[0031] The first control module is used to, before the step of sending the task execution instruction for the task to be executed to the second AMR, control the lifting equipment to lift the component to be assembled carried by the first AMR when the first AMR is towed under the lifting equipment; control the second AMR to move under the lifting equipment when the first AMR is towed away from under the lifting equipment; and control the lifting equipment to place the lifted component to be assembled on the second AMR.

[0032] Optionally, the at least one AMR has a mounting position that matches the trailer;

[0033] The tractor is used to be fixed to a traction rope, so that the traction device pulls the at least one AMR to move through the traction rope.

[0034] Optionally, the device further comprises: a determination module and a display module;

[0035] The determination module is configured to, when a first AMR in the production line is abnormal and before the component to be assembled carried by the first AMR is transferred to the second AMR, when the first AMR is towed to a manual assembly station, respond to a first device identification of the first AMR and a second station identification of the abnormal assembly station provided by an operator, determine a matching component to be assembled identification based on the first device identification, determine the component to be assembled carried by the first AMR based on the component identification, and determine a material to be assembled based on the second station identification, wherein the abnormal assembly station is the assembly station where the first AMR in the production line was located when the abnormality occurred;

[0036] The display module is used to display assembly prompt information in the display device of the manual assembly station, so that the operator can assemble the parts to be assembled on the first AMR according to the assembly prompt information, wherein the assembly prompt information is used to prompt the assembly method between the material to be assembled and the parts to be assembled.

[0037] Optionally, the target assembly station is the next assembly station of the abnormal assembly station.

[0038] Optionally, the device further includes: a first acquisition module and a second control module;

[0039] The first acquisition module is configured to, in a case where the first AMR in the production line is abnormal, obtain status information fed back by each AMR in the production line in response to obtaining a pending task of the first AMR and before sending the pending task to the second AMR, and determine the abnormality type of the first AMR in the production line based on the status information;

[0040] The first sending module is further configured to, when the abnormality type of the first AMR is an equipment abnormality, execute the step of, in response to obtaining the task to be executed of the first AMR in the production line being abnormal, sending the task to be executed to the second AMR;

[0041] The second control module is configured to control the first AMR to move out of the production line when the abnormality type of the first AMR is abnormal assembly quality or material shortage.

[0042] Optionally, the device further includes: a display module and a second acquisition module;

[0043] The display module is configured to display device information of the standby AMR on the display interface of the control device before the step of sending the task to be executed to the second AMR in response to obtaining the task to be executed of the first AMR, wherein the device information includes a device identifier of the standby AMR;

[0044] The second acquisition module is configured to acquire a target standby AMR selected by an operator based on the device information, and use the target standby AMR as a second AMR;

[0045] The first sending module is specifically configured to send the to-be-executed task to the second AMR based on the second device identifier included in the device information of the second AMR.

[0046] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0047] Memory for storing computer programs;

[0048] The processor is configured to implement any of the methods described in the first aspect above when executing a program stored in the memory.

[0049] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements any of the methods described in the first aspect above.

[0050] Beneficial effects of the embodiments of the present application:

[0051] In the technical solution provided by the embodiments of this application, a production line consists of multiple mobile AMRs. When a first AMR in the production line experiences an abnormality, the first AMR can be replaced with a second spare AMR, and the first AMR's pending tasks are transferred to the second spare AMR for execution. Because the AMRs in the production line do not require mechanical connection and instead operate independently, other AMRs in the production line that have not experienced an abnormality can continue to operate normally during the AMR replacement process, eliminating the need to stop the line to wait for the first AMR to be replaced, thereby reducing the risk of line downtime caused by abnormalities.

[0052] Of course, it is not necessary to achieve all the advantages described above at the same time when implementing any product or method of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0054] Figure 1 An exemplary schematic diagram of a production line provided in an embodiment of the present application;

[0055] Figure 2 A first flow chart of the production line abnormality handling method provided in an embodiment of the present application;

[0056] Figure 3 This is a schematic diagram of an interaction in which an operator uses a PDA (personal digital assistant) to report work according to an embodiment of the present application;

[0057] Figure 4 A schematic diagram of a display interface of a PDA provided in an embodiment of the present application;

[0058] Figure 5 A schematic diagram of a process for transferring components to be assembled provided in an embodiment of the present application;

[0059] Figure 6 Based on Figure 5 A schematic diagram of a scenario in which components to be assembled are transferred according to the embodiment shown;

[0060] Figure 7 A schematic diagram of a scenario of a method of towing an AMR provided in an embodiment of the present application;

[0061] Figure 8 A second flow chart of the production line abnormality handling method provided in an embodiment of the present application;

[0062] Figure 9 A third flow chart of the production line abnormality handling method provided in an embodiment of the present application;

[0063] Figure 10 A fourth flow chart of the production line abnormality handling method provided in an embodiment of the present application;

[0064] Figure 11 A schematic diagram of the structure of a production line abnormality handling device provided in an embodiment of the present application;

[0065] Figure 12 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of this application.

[0067] To reduce the risk of line stoppages caused by production line anomalies, embodiments of the present application provide a production line anomaly handling method, apparatus, electronic device, computer-readable storage medium, and computer program product. The following first introduces a production line anomaly handling method provided by embodiments of the present application.

[0068] The production line exception handling method provided in the embodiments of the present application can be applied to the control equipment of the production line, which can be any electronic device, such as a computer or server. The above-mentioned production line includes at least one AMR (Autonomous Mobile Robot) and at least one assembly station. The at least one AMR is arranged in sequence and moves according to a set trajectory. Each AMR carries a component to be assembled. When any AMR in the production line moves to any assembly station, the assembly equipment and / or assembly personnel at the assembly station assemble the component to be assembled carried by the AMR.

[0069] The part to be assembled can be any product to be assembled, such as a car, a computer, or a robot. The assembly equipment can be any equipment that can perform assembly operations, such as a robotic arm or a robot. The assembly equipment can assemble the materials required for assembly at the assembly station to the part to be assembled according to a preset program; the assembler can also manually operate the assembly equipment to assemble the materials required for assembly at the assembly station to the part to be assembled; or the assembler can also manually assemble the materials required for assembly at the assembly station to the part to be assembled. The materials assembled at different assembly stations can be different. For example, the materials assembled at two different assembly stations on a car production line can be tires and steering wheels, respectively.

[0070] Figure 1 An example schematic diagram of a production line provided in an embodiment of the present application. Figure 1 The production line includes multiple AMRs, each AMR moves along Figure 1 The central main line is arranged sequentially and moves along the main line's flow and trajectory. Each AMR carries a component to be assembled. One AMR is currently located at assembly station s. The assembly equipment and / or assemblers at assembly station s assemble the component carried by this AMR. After the component is assembled at assembly station s, the AMR moves to assembly station s-1. The assembly equipment and / or assemblers at assembly station s-1 assemble the component carried by this AMR, and this continues until the components carried by the AMR are assembled on the production line, resulting in the assembled product.

[0071] also, Figure 1 The upper and lower sides of the center are material storage areas, where handling robots can move materials from these storage areas to the various assembly stations. Next to the main line are subassembly lines. The main line can be used to uniformly assemble the same parts of the components to be assembled, while the subassembly lines can be used to assemble different parts of the components to be assembled. For example, for cars, the main line can be used to uniformly assemble the steering wheel, tires, and vehicle controls, while the subassembly lines can be used to assemble different parts of the car, such as seats and paint.

[0072] like Figure 2 As shown, a production line abnormality processing method includes:

[0073] S201, when a first AMR in a production line is abnormal, in response to obtaining a task to be executed of the first AMR, sending the task to be executed to a second AMR;

[0074] The task to be executed includes the first workstation identifier of the target assembly workstation.

[0075] S202, when the parts to be assembled carried by the first AMR are transferred to the second AMR, a task execution instruction for the task to be executed is sent to the second AMR, so that the second AMR moves to the target assembly station based on the first station identifier, and the assembly equipment and / or assembly personnel set up at the target assembly station assemble the parts to be assembled carried by the second AMR.

[0076] As can be seen, in the embodiment of the present application, the production line is composed of multiple movable AMRs. When an abnormality occurs in the first AMR in the production line, the first AMR can be replaced with a second spare AMR, and the first AMR's pending tasks can be transferred to the second spare AMR for execution. Because the AMRs in the production line do not require mechanical connection and operate independently, the other AMRs in the production line that have not experienced abnormalities can continue to operate normally during the AMR replacement process, without stopping the line to wait for the first AMR to be replaced, thus reducing the risk of line stoppage caused by abnormalities.

[0077] In step S201, the target assembly station may be the assembly station where the first AMR is located when the abnormality occurs, and the components to be assembled carried by the first AMR need to be assembled at the target assembly station. The first station identifier may be a number, a letter, a combination of numbers and letters, etc.

[0078] The operator can report the abnormal information of the AMR in the production line to the control device. In one example, the operator can enter the abnormal information of the AMR in a PDA installed with customized software. Figure 3 As shown in FIG, the operator reports the abnormal information of the AMR to the control device through the PDA, that is, reports the work. After the control device receives the abnormal information reported by the PDA, it can reply to the PDA with a message that the abnormal information has been received.

[0079] The AMR exception information reported by the operator can include the AMR's device ID and the assembly station ID of the AMR currently located where the abnormal AMR occurred. The device ID can be a number, a letter, or a combination of numbers and letters, and the station ID can also be a number, a letter, or a combination of numbers and letters. For example, the operator reports the AMR's device ID as A0001 to the control device, and the assembly station ID of the AMR currently located where the abnormal AMR occurred is 17000.

[0080] The control device can obtain AMR abnormality information reported by the operator to determine that the first AMR in the production line has experienced an abnormality. The control device can determine the first AMR that has experienced an abnormality based on the AMR device identifier in the obtained AMR abnormality information, and can also determine the current location of the first AMR based on the station identifier of the assembly station currently located by the first AMR in the AMR abnormality information.

[0081] After reporting the abnormal information of the AMR, the operator can also report the task identifier of the task to be executed by the first AMR. Figure 4 A display interface of the PDA shown in the figure. After the operator reports the abnormal information of the AMR, the PDA can jump to Figure 4 The interface shown prompts the operator to enter information such as the task number of the task to be performed (i.e., the task identifier), the number of the second AMR that replaces the first AMR, i.e., the intelligent AMR (i.e., the equipment identifier), and the station number of the target assembly station (i.e., the station identifier). In addition, the operator can also enter points in the PDA. Points refer to the locations where different assembly steps are performed in the assembly station. An assembly station can include multiple points. For example, an assembly station is a station for assembling tires for cars. The assembly station can include two points: the location for installing the tire on the bearing and the location for assembling the screws on the tire. Among them, installing the tire on the bearing and assembling the screws on the tire are two different assembly steps.

[0082] The control device can obtain the task identifier (i.e., the target task identifier, also known as the execution task number) of the first AMR's pending task reported by the operator. After obtaining the target task identifier, the control device can determine the pending task corresponding to the target task identifier from the pre-stored pending tasks of each AMR, i.e., the pending task of the first AMR. The control device then sends the determined pending task to the second AMR.

[0083] After the control device sends the acquired task to be executed to the second AMR, before the second AMR enters the production line to replace the first AMR to execute the task to be executed, the control device needs to first detect whether the components to be assembled carried by the first AMR have been transferred to the second AMR.

[0084] The operator can manually control the lifting equipment to transfer the components to be assembled carried by the first AMR to the second AMR. In one example, the lifting equipment can be an automatic gantry crane. Specifically, the operator can operate the lifting equipment to lift the components to be assembled carried by the first AMR, and then start the tractor to tow the first AMR away. The operator can tow the first AMR to the maintenance area. Afterwards, the operator can also use the AMR's manual remote control to remotely control the second AMR to move it under the lifting equipment, and use the manual remote control to control the lifting equipment to slowly lower the lifted components to be assembled and place them on the second AMR. During the process of placing the components to be assembled, the operator can also use the AMR's manual remote control to fine-tune the position of the second AMR so that the components to be assembled are accurately placed on the second AMR.

[0085] After the transfer of the assembly component is completed, the operator can also report the transfer completion message to the control device. After the control device receives the transfer completion message reported by the operator, it can determine that the assembly component carried by the first AMR has been transferred to the second AMR.

[0086] When the parts to be assembled carried by the first AMR are transferred to the second AMR, the control device sends a task execution instruction for the task to be executed to the second AMR, so that the second AMR moves to the target assembly station based on the first station identifier, and the assembly equipment and / or assembly personnel set up at the target assembly station assemble the parts to be assembled carried by the second AMR, that is, execute step S202.

[0087] Specifically, the second AMR can determine the location of the target assembly station based on the first station identifier, and based on the determined location, plan a route from the second AMR's current location to the target assembly station, and then move to the target assembly station based on the planned route. In one embodiment, the second AMR can plan the route from the second AMR's current location to the target assembly station based on a conventional path planning algorithm, such as a heuristic search algorithm, an ant colony algorithm, or a dynamic programming algorithm.

[0088] After the second AMR moves to the target assembly station, the assembly equipment and / or assemblers at the target assembly station assemble the components carried by the second AMR. After completing assembly at the target assembly station, the second AMR continues to move to the next assembly station in the production line until the components are assembled to form a finished product.

[0089] As an implementation method of the embodiment of the present application, before the step of sending the task execution instruction for the task to be executed to the second AMR, as shown in FIG. Figure 5 As shown, the components to be assembled carried by the first AMR can be transferred to the second AMR in the manner provided in the following steps S501-S503. The area for transferring the components to be assembled can be a separately divided fault handling area.

[0090] S501 : When the first AMR is towed under the lifting equipment, the lifting equipment is controlled to lift the component to be assembled carried by the first AMR.

[0091] Lifting equipment is equipment that can lift and lower cargo, such as gantry cranes, tower cranes, cranes, etc. Figure 6 As shown, Figure 6 The figure includes a car 601, a gantry crane 602, and an AMR 603. The car 601 in the middle is the component to be assembled. The brackets above, to the left, and to the right of the car 601 form the gantry crane 602, which is used to lift and lower the car 601. The AMR 603 is located below the car 601 and is used to support the car 601.

[0092] Before transferring a component to be assembled, the operator can tow the first AMR under the hoisting device. After the first AMR reaches the hoisting device, the operator sends a first transfer command to the control device, instructing the control device to transfer the component to be assembled. After receiving the first transfer command from the operator, the control device determines that the first AMR has been towed under the hoisting device and controls the hoisting device to lift the component to be assembled carried by the first AMR.

[0093] S502 : When the first AMR is pulled away from under the hoisting device, the second AMR is controlled to move to under the hoisting device.

[0094] After the hoisting equipment lifts the component being assembled from the first AMR, the operator can tow the first AMR away from under the hoisting equipment to place the lifted component onto the second AMR. After towing is complete, the operator sends a second transfer command to the control device, instructing the control device to continue transferring the component. Upon receiving the second transfer command, the control device determines that the first AMR has been towed away from under the hoisting equipment and controls the second AMR to move back under the hoisting equipment.

[0095] Specifically, the control device can send a movement instruction containing the location of the hoisting device to the second AMR. The second AMR then plans a path based on the location of the hoisting device contained in the received movement instruction and moves under the hoisting device according to the planned path. The control device can also directly send the planned path to the second AMR, which then moves under the hoisting device according to the received path. Either the second AMR or the control device can plan the route from the second AMR's current location to the location of the hoisting device based on a conventional path planning algorithm, such as a heuristic search algorithm, an ant colony algorithm, or a dynamic programming algorithm.

[0096] S503: Control the hoisting equipment to place the hoisted components to be assembled onto the second AMR.

[0097] After the control device detects that the second AMR arrives below the lifting device and stops moving, it can control the lifting device to place the lifted components to be assembled onto the second AMR.

[0098] It can be seen that in the embodiment of the present application, the control device controls the lifting device to lift the components to be assembled and then place them on the second AMR. There is no need to drag the components to be assembled, which can greatly reduce the damage to the components to be assembled during the transfer process.

[0099] As an implementation of an embodiment of the present application, in order to facilitate the operator to tow the AMR, at least one AMR in the production line has an installation position matching the trailer; the trailer is used to be fixed with the towing rope so that the towing equipment can tow at least one AMR to move through the towing rope.

[0100] In this way, the operator can use the following steps ad to tow the first AMR that has an abnormality:

[0101] Step a: Use a jack to lift the first AMR.

[0102] Step b: Install a matching trailer on the first AMR at a mounting position that matches the trailer.

[0103] Step c: fixing a towing rope on the front trailer of the first AMR.

[0104] In one embodiment, a locking ring may be provided on the trailer, and the operator may fix the towing rope to the locking ring of the trailer.

[0105] Step d: Fix the traction rope to the rear traction of the traction device, and start the traction device to move slowly to drive the first AMR.

[0106] In one embodiment, the towing device may be a towing vehicle, such as a towing forklift.

[0107] In an example, Figure 7 As shown, Figure 7 The AMR 701 includes a tractor 702, a towing rope 703, and a towing forklift 704. Matching tractors 702 are installed on both sides of the AMR 701. Two towing ropes 703 are fixed to the right side of the tractor 702. The other ends of the two towing ropes 703 are connected to the towing forklift 704. The operator can start the towing forklift 704 to drive the tractor 702, which in turn drives the AMR 701.

[0108] As can be seen, in the embodiment of the present application, the AMR has a mounting position that matches the trailer. When towing the first AMR that has an abnormality, the operator only needs to connect the AMR to the trailer and then connect the trailer to the towing equipment to tow the first AMR. This can quickly remove the first AMR that has an abnormality from the production line, reducing the processing time of the abnormal AMR. In this way, since the other AMRs can still operate normally after the abnormal AMR is removed from the production line, the impact of transferring the abnormal AMR on other normally operating AMRs in the production line is reduced, further reducing the risk of line stoppage caused by production line abnormalities.

[0109] As an implementation method of the embodiment of the present application, the embodiment of the present application also provides a production line abnormality processing method, such as Figure 8As shown, the method includes the following steps S801-S804.

[0110] S801, when the first AMR in the production line is abnormal and the first AMR is towed to a manual assembly station, in response to the first equipment identification of the first AMR provided by the operator and the second station identification of the abnormal assembly station, the matching identification of the component to be assembled is determined based on the first equipment identification, the component to be assembled carried by the first AMR is determined based on the identification of the component to be assembled, and the material to be assembled is determined according to the second station identification.

[0111] Among them, the abnormal assembly station is the assembly station where the first AMR in the production line is located when the abnormality occurs.

[0112] Since it takes a certain amount of time to replace the first AMR that has an abnormality in the production line with the second AMR, when the second AMR enters the production line, the parts to be assembled carried by the AMR in an assembly station before the abnormal assembly station may have completed the assembly task of the assembly station and will be moved to the abnormal assembly station. Figure 1 In this example, the first AMR at assembly station s experiences an error and is removed. By the time the second AMR, which replaced it, moves to station s, the third AMR at station s+1 has already completed its assembly task and is about to move to the abnormal assembly station. If the second AMR moves to the abnormal assembly station, it will affect the assembly of the components to be assembled by the third AMR, causing it to be stranded at station s+1. This, in turn, will prevent other AMRs from entering station s+1 for assembly, affecting the production efficiency of the entire production line.

[0113] To minimize the impact of the second AMR entering the production line on other AMRs, the assembly task at the assembly station where the first AMR was operating when the problem occurred can be manually performed. The manually assembled components can then be transferred to the second AMR, which can then re-enter the production line. In this case, the control device can display assembly prompts to the operator, allowing them to manually assemble the components on the first AMR.

[0114] The operator can first tow the first AMR to the manual assembly station according to the method provided in steps ad above. After the first AMR arrives at the manual assembly station, the operator can use a PDA to scan the device label on the first AMR. For example, the device label can be a QR code, barcode, or number affixed or printed on the first AMR. After the operator uses the PDA to scan the device label, they can obtain the first device identification of the first AMR. The first device identification can be a number consisting of letters and numbers, such as A0001. After obtaining the first device identification, the operator then uses the PDA to report the obtained first device identification and the second station identification of the abnormal assembly station to the control device to report the station to work.

[0115] The control device can determine the identifier of the component to be assembled that matches the first device identifier based on the first device identifier reported by the PDA, and then determine the component to be assembled carried by the first AMR based on the identifier of the component to be assembled. Specifically, the control device can pre-store a first correspondence between the device identifier and the identifier of the component to be assembled. The control device can determine the identifier of the component to be assembled corresponding to the first device identifier based on the pre-stored first correspondence between the device identifier and the identifier of the component to be assembled, and then determine the component to be assembled carried by the first AMR based on the identifier of the component to be assembled. For example, the control device pre-stores a first correspondence between the device identifier A0001 and the car. After obtaining the first device identifier as A0001, the control device can determine that the identifier of the component to be assembled is a car based on the above-mentioned first correspondence, and then the control device can determine that the component to be assembled carried by the first AMR is a car.

[0116] The control device may determine the material to be assembled based on the second workstation identifier. Specifically, the control device may pre-store a second correspondence between workstation identifiers and materials. Based on the pre-stored second correspondence between workstation identifiers and materials, the control device may determine that the material corresponding to the second workstation identifier is the material to be assembled. For example, the control device may pre-store a second correspondence between workstation identifier 1700 and a tire. After obtaining the second workstation identifier 1700, the control device may determine that the tire corresponding to the second workstation identifier is the material to be assembled based on the second correspondence.

[0117] S802: Display assembly prompt information on a display device at the manual assembly station, so that the operator assembles the components to be assembled on the first AMR according to the assembly prompt information.

[0118] The assembly prompt information is used to indicate the assembly method between the material to be assembled and the component to be assembled. Specifically, the assembly prompt information can be a structural diagram of how the material to be assembled and the component to be assembled are assembled, or it can be a textual description, without limitation. The control device may pre-store assembly prompt information indicating the assembly method between the material to be assembled and the component to be assembled. After determining the material to be assembled and the component to be assembled, the control device may determine the assembly prompt information for the material to be assembled and the object to be assembled from the pre-stored assembly prompt information.

[0119] After determining the assembly prompt information, the control device may also determine a display device at the manual assembly station based on the second workstation identifier for displaying the assembly prompt information to the operator. Specifically, the control device may pre-store a third correspondence between workstation identifiers and display devices, and the control device may determine the display device corresponding to the second workstation identifier based on the pre-stored third correspondence between workstation identifiers and display devices.

[0120] The control device may then display assembly prompt information on the display interface of the determined display device. The operator may assemble the material to be assembled onto the component to be assembled carried by the first AMR according to the assembly prompt information displayed on the display device.

[0121] Still Figure 3 As shown, after the operator uses the PDA to report the work to the control device, the control device can also display the assembly prompt information on the workstation display screen of the manual assembly station.

[0122] S803: When the first AMR in the production line is abnormal, in response to obtaining the task to be executed of the first AMR, the task to be executed is sent to the second AMR, which is the same as the above step S201.

[0123] S804: When the component to be assembled carried by the first AMR is transferred to the second AMR, a task execution instruction for the task to be executed is sent to the second AMR, causing the second AMR to move to the target assembly station based on the first station identifier. The assembly equipment and / or assembly personnel at the target assembly station assemble the component to be assembled carried by the second AMR. This is the same as step S202 above.

[0124] As an implementation, the target assembly station can also be the next assembly station after the abnormal assembly station. That is, after completing manual assembly, the second AMR can move directly to the next assembly station after the abnormal assembly station. If the next assembly station after the abnormal assembly station has not yet completed the assembly task of the previous AMR, the second AMR can wait next to the production line until the previous AMR completes its assembly task before moving to the target assembly station.

[0125] In this way, it can avoid the abnormal assembly station being occupied, which causes the second AMR to be unable to enter the production line for a long time, so that the second AMR can enter the production line faster, thereby improving the production efficiency of the production line.

[0126] Due to the description requirements of the specification, there is a sequence between the above steps S801-S802 and step S803, but in the actual implementation process, the sequence between the above steps S801-S802 and step S803 is not specifically limited.

[0127] Using the above Figure 8 The provided technical solution can reduce the impact of the second AMR entering the production line on other AMRs, and prevent the second AMR from occupying an abnormal assembly station for a long time, which will cause other AMRs in the production line to be unable to move forward.

[0128] As an implementation method of the embodiment of the present application, the embodiment of the present application also provides a production line abnormality processing method, such as Figure 9As shown, the method includes the following steps S901-S904.

[0129] S901, obtain the status information fed back by each AMR in the production line, and determine the abnormality type of the first AMR that has an abnormality in the production line based on the status information; if the abnormality type of the first AMR is equipment abnormality, execute step S903; if the abnormality type of the first AMR is assembly quality abnormality or material shortage, execute step S902.

[0130] Because AMR status information can reflect the state of the production line to a certain extent, the control device can determine whether an abnormality has occurred in the production line and the type of abnormality based on the status information provided by each AMR. Each AMR in the production line can report its own status information to the control device. This reported status information may include the AMR's operating status, such as remaining battery power, operating trajectory, and dwell time at each assembly station. It may also include the assembly status of the components to be assembled by the AMR and the assembly status of the assembly station the AMR is currently located.

[0131] The control device can determine whether an AMR itself has experienced an abnormality based on the operating status of the AMR itself, as included in the status information. If an AMR itself has experienced an abnormality, the control device can determine that the abnormal AMR is the first AMR and that the abnormality type is an equipment abnormality. The control device can also determine whether any assembly quality abnormalities or material shortages have occurred based on the assembly status of the components to be assembled carried by the AMR and the assembly status of the assembly station currently located by the AMR, as included in the status information.

[0132] If the first AMR itself is not experiencing any abnormalities, but only assembly quality or material shortages, it can still move autonomously. The control device can then execute step S902 to control the first AMR to move off the production line. If the first AMR itself experiences an abnormality and cannot move autonomously, it must wait for an operator to tow the first AMR off the production line and execute step S903 to send the first AMR's pending tasks to the second AMR.

[0133] In addition, if the operator proactively discovers that the assembly quality of the first AMR in the production line is abnormal or there is a shortage of materials, the operator can also use a hand-operated remote control to manually control the first AMR to move out of the production line.

[0134] S902, controlling the first AMR to move out of the production line.

[0135] S903: When the first AMR in the production line is abnormal, in response to obtaining the task to be executed of the first AMR, the task to be executed is sent to the second AMR, which is the same as the above step S201.

[0136] S904: When the component to be assembled carried by the first AMR is transferred to the second AMR, a task execution instruction for the task to be executed is sent to the second AMR, causing the second AMR to move to the target assembly station based on the first station identifier. The assembly equipment and / or assembly personnel at the target assembly station assemble the component to be assembled carried by the second AMR. This is the same as step S202 above.

[0137] It can be seen that in the embodiment of the present application, the AMR feeds back status information to the control device, and then the control device can more accurately determine whether an abnormality has occurred and the type of abnormality based on the acquired status information, and perform corresponding processing in a timely manner according to the determined abnormality type, thereby further reducing the risk of line stoppage caused by production line abnormalities.

[0138] As an implementation method of the embodiment of the present application, the embodiment of the present application also provides a production line abnormality processing method, such as Figure 10 As shown, the method includes the following steps S1001-S1004.

[0139] S1001: When the first AMR in the production line is abnormal, the device information of the standby AMR is displayed on the display interface of the control device.

[0140] The device information includes the device identification of the standby AMR.

[0141] The control device can obtain AMR abnormality information reported by the operator to determine that the first AMR in the production line has an abnormality. If the first AMR in the production line has an abnormality, the control device can display the device information of the backup AMR on the display interface so that the operator can select a second AMR to replace the first AMR.

[0142] As an implementation, the device information may also include the AMR type. For example, the AMR type may be a vehicle-carrying AMR, a computer-carrying AMR, or a robot-carrying AMR. The control device displays the backup AMR type on its display interface, allowing operators to select an AMR of the same type as the abnormal first AMR based on the backup AMR type displayed on the display interface.

[0143] S1002: Obtain the target backup AMR selected by the operator based on the equipment information, and use the target backup AMR as the second AMR.

[0144] The operator can select a target backup AMR on the control device's display interface based on the device information. After detecting the operator's selection on the display interface, the control device can obtain the target backup AMR selected by the operator and use it as the second AMR. For example, the operator can click on the display interface to select a target backup AMR. The control device detects the click, obtains the clicked target backup AMR, and uses it as the second AMR.

[0145] S1003 : In response to obtaining the to-be-executed task of the first AMR, the to-be-executed task is sent to the second AMR based on the second device identifier included in the device information of the second AMR.

[0146] The control device may obtain the target task identifier of the pending task of the first AMR reported by the operator, and then obtain the pending task corresponding to the target task identifier from the pre-stored pending tasks of each AMR, that is, the pending task of the first AMR. After obtaining the pending task of the first AMR, the control device may determine the second AMR based on the second device identifier included in the device information of the second AMR, and send the obtained pending task to the second AMR.

[0147] S1004: When the component to be assembled carried by the first AMR is transferred to the second AMR, a task execution instruction for the task to be executed is sent to the second AMR, causing the second AMR to move to the target assembly station based on the first station identifier. The assembly equipment and / or assembly personnel at the target assembly station assemble the component to be assembled carried by the second AMR. This is the same as step S202 above.

[0148] It can be seen that in the embodiment of the present application, when the first AMR in the production line is abnormal, the control device can recommend a spare AMR to the operator on the display interface and display the spare device information to the operator, so that the operator can more accurately select a spare AMR suitable for replacing the first AMR, thereby improving the replacement efficiency of the first AMR in the production line with the second AMR, and allowing the second AMR to enter the production line more quickly to execute the pending tasks that the first AMR needs to execute, reducing the impact of the abnormality of the first AMR on the production efficiency of the production line.

[0149] In the technical solution provided in the embodiment of the present application, AMR is used to replace traditional production lines such as roller lines and friction lines. When an abnormality occurs in the production line, the abnormal AMR can be eliminated more quickly, greatly reducing the waiting time of the production line. When production line abnormalities such as material shortages and abnormal assembly quality occur, the AMR and the parts to be assembled it carries can be flexibly moved out of the production line without affecting the assembly of the parts to be assembled on the subsequent AMR. When an abnormality occurs in the production line equipment, that is, the AMR, and it cannot be repaired in a short time, auxiliary equipment such as traction equipment and lifting equipment can be used to replace the intelligent production line AMR equipment. In addition, the embodiment of the present application can transfer the task on the first AMR where the abnormality occurs to the second AMR through automated reporting and task transfer, without affecting the manufacturing assembly queue, assembly display prompts and interaction between automated equipment of the entire production line, greatly reducing the impact on the entire production line.

[0150] The technical solution provided in the embodiments of the present application can greatly reduce the risk of factory shutdowns due to local abnormalities in the production line during the production process of manufacturing enterprises, and greatly improve the flexibility of manufacturing enterprises in dealing with production line abnormalities.

[0151] like Figure 11 As shown, a production line exception handling device is applied to the control equipment of the production line. The production line includes at least one autonomous mobile robot (AMR) and at least one assembly station. The at least one AMR is arranged in sequence and moves along a set trajectory. Each AMR carries a component to be assembled. When any AMR in the production line moves to any assembly station, the assembly equipment and / or assembler at the assembly station assembles the component to be assembled carried by the AMR. The device includes:

[0152] A first sending module 1101 is configured to send a to-be-executed task to a second AMR in response to obtaining a to-be-executed task of the first AMR when a first AMR in the production line is abnormal, wherein the to-be-executed task includes a first station identifier of a target assembly station;

[0153] The second sending module 1102 is used to send a task execution instruction for the task to be executed to the second AMR when the component to be assembled carried by the first AMR is transferred to the second AMR, so that the second AMR moves to the target assembly station based on the first station identifier, and the assembly equipment and / or assembly personnel set up at the target assembly station assemble the component to be assembled carried by the second AMR.

[0154] As can be seen, in the embodiment of the present application, the production line is composed of multiple movable AMRs. When an abnormality occurs in the first AMR in the production line, the first AMR can be replaced with a second spare AMR, and the first AMR's pending tasks can be transferred to the second spare AMR for execution. Because the AMRs in the production line do not require mechanical connection and operate independently, the other AMRs in the production line that have not experienced abnormalities can continue to operate normally during the AMR replacement process, without stopping the line to wait for the first AMR to be replaced, thus reducing the risk of line stoppage caused by abnormalities.

[0155] As an implementation method of the embodiment of the present application, the above-mentioned production line abnormality processing device may further include: a first control module;

[0156] The first control module is used to control the lifting equipment to lift the components to be assembled carried by the first AMR when the first AMR is towed under the lifting equipment before sending the task execution instruction for the task to be executed to the second AMR; control the second AMR to move to the bottom of the lifting equipment when the first AMR is towed away from under the lifting equipment; and control the lifting equipment to place the lifted components to be assembled on the second AMR.

[0157] As an implementation of an embodiment of the present application, at least one AMR may have an installation position that matches the trailer;

[0158] The towing device can be used to be fixed with a traction rope so that the towing device can tow at least one AMR to move via the traction rope.

[0159] As an implementation method of the embodiment of the present application, the above-mentioned production line abnormality processing device may further include: a determination module and a display module;

[0160] a determination module for, when a first AMR in a production line is abnormal and before the component to be assembled carried by the first AMR is transferred to a second AMR, when the first AMR is towed to a manual assembly station, responding to a first device identifier of the first AMR and a second station identifier of the abnormal assembly station provided by an operator, determining a matching component to be assembled identifier based on the first device identifier, determining the component to be assembled carried by the first AMR based on the component identifier, and determining the material to be assembled based on the second station identifier, wherein the abnormal assembly station is the assembly station where the first AMR in the production line was located when the abnormality occurred;

[0161] The display module is used to display assembly prompt information on the display device of the manual assembly station so that the operator can assemble the components to be assembled on the first AMR according to the assembly prompt information, wherein the assembly prompt information is used to prompt the assembly method between the materials to be assembled and the components to be assembled.

[0162] As an implementation of the embodiment of the present application, the target assembly station may be the next assembly station of the abnormal assembly station.

[0163] As an implementation method of the embodiment of the present application, the above-mentioned production line abnormality processing device may further include: a first acquisition module and a second control module;

[0164] a first acquiring module configured to, in the event that a first AMR in the production line is abnormal, acquire status information fed back by each AMR in the production line in response to acquiring a pending task of the first AMR and before sending the pending task to a second AMR, acquire status information fed back by each AMR in the production line and determine the abnormality type of the first AMR in the production line based on the status information;

[0165] The first sending module 1101 may also be configured to, when the abnormality type of the first AMR is an equipment abnormality, execute the step of sending the to-be-executed task to the second AMR in response to obtaining the to-be-executed task of the first AMR in the production line when the first AMR in the production line is abnormal;

[0166] The second control module is configured to control the first AMR to move out of the production line when the abnormality type of the first AMR is abnormal assembly quality or material shortage.

[0167] As an implementation method of the embodiment of the present application, the above-mentioned production line abnormality processing device may further include: a display module and a second acquisition module;

[0168] A display module is configured to display device information of the standby AMR on a display interface of the control device before sending the task to be executed to the second AMR in response to obtaining the task to be executed of the first AMR, wherein the device information includes a device identifier of the standby AMR;

[0169] The second acquisition module is used to acquire the target spare AMR selected by the operator based on the equipment information, and use the target spare AMR as the second AMR;

[0170] The first sending module 1101 is specifically configured to send the to-be-executed task to the second AMR based on the second device identifier included in the device information of the second AMR.

[0171] The present application also provides an electronic device, such as Figure 12 Shown, including:

[0172] Memory 1201, used for storing computer programs;

[0173] The processor 1202 is configured to implement the production line exception handling method described in any of the above embodiments when executing the program stored in the memory 1201.

[0174] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 1202, the communication interface, and the memory 1201 communicate with each other via the communication bus.

[0175] As can be seen, in the embodiment of the present application, the production line is composed of multiple movable AMRs. When an abnormality occurs in the first AMR in the production line, the first AMR can be replaced with a second spare AMR, and the first AMR's pending tasks can be transferred to the second spare AMR for execution. Because the AMRs in the production line do not require mechanical connection and operate independently, the other AMRs in the production line that have not experienced abnormalities can continue to operate normally during the AMR replacement process, without stopping the line to wait for the first AMR to be replaced, thus reducing the risk of line stoppage caused by abnormalities.

[0176] The communication bus mentioned in the electronic device mentioned above may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0177] The communication interface is used for communication between the above electronic device and other devices.

[0178] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0179] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0180] In another embodiment provided in the present application, a computer-readable storage medium is further provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned production line exception handling methods are implemented.

[0181] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any one of the production line exception handling methods in the above embodiments.

[0182] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state drive (SSD).

[0183] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0184] Each embodiment in this specification is described in a related manner. Similar portions between embodiments can be referenced to each other. Each embodiment focuses on the differences between other embodiments. In particular, the device, electronic device, computer-readable storage medium, and computer program product embodiments are generally similar to the method embodiments, so their descriptions are relatively simple. For related portions, reference can be made to the descriptions of the method embodiments.

[0185] The above description is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application are included in the scope of protection of the present application.

Claims

1. A production line abnormality handling method, characterized in that: A control device is applied to a production line, wherein the production line includes at least one autonomous mobile robot (AMR) and at least one assembly station. The at least one AMR is arranged sequentially and moves along a set trajectory. Each AMR carries a component to be assembled. When any AMR in the production line moves to any assembly station, the assembly equipment and / or assembler at the assembly station assembles the component to be assembled carried by the AMR. The method includes: In the event that a first AMR in the production line is abnormal, in response to obtaining a task to be executed of the first AMR, sending the task to be executed to a second AMR, wherein the task to be executed includes a first station identifier of a target assembly station; When the parts to be assembled carried by the first AMR are transferred to the second AMR, a task execution instruction for the task to be performed is sent to the second AMR, so that the second AMR moves to the target assembly station based on the first station identifier, and the assembly equipment and / or assembly personnel set up at the target assembly station assemble the parts to be assembled carried by the second AMR.

2. The method according to claim 1, characterized in that Before the step of sending the task execution instruction for the to-be-executed task to the second AMR, the method further includes: When the first AMR is towed under the lifting equipment, controlling the lifting equipment to lift the component to be assembled carried by the first AMR; When the first AMR is pulled away from under the hoisting device, controlling the second AMR to move under the hoisting device; The hoisting equipment is controlled to place the hoisted components to be assembled onto the second AMR.

3. The method according to claim 2, characterized in that The at least one AMR has a mounting position that matches the trailer; The tractor is used to be fixed to a traction rope, so that the traction device pulls the at least one AMR to move through the traction rope.

4. The method according to claim 1, wherein In the event that a first AMR in the production line is abnormal, and before the component to be assembled carried by the first AMR is transferred to the second AMR, the method further includes: When the first AMR is towed to a manual assembly station, in response to a first device identifier of the first AMR and a second station identifier of the abnormal assembly station provided by an operator, a matching identifier of a component to be assembled is determined based on the first device identifier, the component to be assembled carried by the first AMR is determined based on the identifier of the component to be assembled, and the material to be assembled is determined based on the second station identifier, wherein the abnormal assembly station is the assembly station where the first AMR was located in the production line when the abnormality occurred; Assembly prompt information is displayed on the display device of the manual assembly station, so that the operator can assemble the components to be assembled on the first AMR according to the assembly prompt information, wherein the assembly prompt information is used to prompt the assembly method between the material to be assembled and the components to be assembled.

5. The method according to claim 4, characterized in that The target assembly station is the next assembly station of the abnormal assembly station.

6. The method according to any one of claims 1 to 5, characterized in that In the case where the first AMR in the production line is abnormal, before the step of sending the to-be-executed task to the second AMR in response to acquiring the to-be-executed task of the first AMR, the method further includes: Obtaining status information fed back by each AMR in the production line, and determining an abnormality type of a first AMR in the production line that has an abnormality based on the status information; When the abnormality type of the first AMR is an equipment abnormality, performing the step of, when the first AMR in the production line is abnormal, in response to obtaining the task to be executed of the first AMR, sending the task to be executed to the second AMR; When the abnormality type of the first AMR is abnormal assembly quality or material shortage, the first AMR is controlled to be moved out of the production line.

7. The method according to any one of claims 1 to 5, characterized in that Before the step of sending the to-be-executed task to the second AMR in response to acquiring the to-be-executed task of the first AMR, the method further includes: Displaying device information of the standby AMR on a display interface of the control device, wherein the device information includes a device identifier of the standby AMR; Obtaining a target backup AMR selected by an operator based on the device information, and using the target backup AMR as a second AMR; The step of sending the task to be executed to the second AMR includes: The task to be executed is sent to the second AMR based on the second device identifier included in the device information of the second AMR.

8. A production line abnormality handling device, characterized in that: A control device for a production line comprising at least one autonomous mobile robot (AMR) and at least one assembly station. The at least one AMR is arranged sequentially and moves along a set trajectory. Each AMR carries a component to be assembled. When any AMR in the production line moves to any assembly station, the assembly equipment and / or assembler at that assembly station assembles the component to be assembled carried by the AMR. The device comprises: a first sending module configured to send, in response to obtaining a pending task of the first AMR in a case where the first AMR in the production line is abnormal, the pending task to a second AMR, wherein the pending task includes a first station identifier of a target assembly station; The second sending module is used to send a task execution instruction for the task to be performed to the second AMR when the component to be assembled carried by the first AMR is transferred to the second AMR, so that the second AMR moves to the target assembly station based on the first station identifier, and the assembly equipment and / or assembly personnel set up at the target assembly station assemble the component to be assembled carried by the second AMR.

9. The device according to claim 8, characterized in that The device further includes: a first control module; The first control module is configured to, before the step of sending the task execution instruction for the task to be executed to the second AMR, control the hoisting device to lift the component to be assembled carried by the first AMR when the first AMR is towed under the hoisting device; control the second AMR to move under the hoisting device when the first AMR is towed away from under the hoisting device; and control the hoisting device to place the lifted component to be assembled on the second AMR; and / or, The at least one AMR has a mounting position that matches the trailer; The tractor is used to be fixed to a traction rope, so that the traction device pulls the at least one AMR to move through the traction rope; and / or, The device further comprises: a determination module and a display module; The determination module is configured to, in the case where a first AMR in the production line is abnormal and before the component to be assembled carried by the first AMR is transferred to the second AMR, when the first AMR is towed to a manual assembly station, respond to a first device identification of the first AMR and a second station identification of the abnormal assembly station provided by an operator, determine a matching component to be assembled identification based on the first device identification, determine the component to be assembled carried by the first AMR based on the component identification, and determine a material to be assembled based on the second station identification, wherein the abnormal assembly station is the assembly station where the first AMR in the production line was located when the abnormality occurred; The display module is used to display assembly prompt information on the display device of the manual assembly station, so that the operator assembles the components to be assembled on the first AMR according to the assembly prompt information, wherein the assembly prompt information is used to indicate the assembly method between the material to be assembled and the components to be assembled; and / or, The target assembly station is the next assembly station of the abnormal assembly station; and / or, The device further includes: a first acquisition module and a second control module; The first acquisition module is configured to, in a case where the first AMR in the production line is abnormal, obtain status information fed back by each AMR in the production line in response to obtaining a pending task of the first AMR and before sending the pending task to the second AMR, and determine the abnormality type of the first AMR in the production line based on the status information; The first sending module is further configured to, when the abnormality type of the first AMR is an equipment abnormality, execute the step of, in response to obtaining the task to be executed of the first AMR in the production line being abnormal, sending the task to be executed to the second AMR; The second control module is configured to control the first AMR to move out of the production line when the abnormality type of the first AMR is abnormal assembly quality or material shortage; and / or The device further includes: a display module and a second acquisition module; The display module is configured to display device information of the standby AMR on the display interface of the control device before the step of sending the task to be executed to the second AMR in response to obtaining the task to be executed of the first AMR, wherein the device information includes a device identifier of the standby AMR; The second acquisition module is configured to acquire a target standby AMR selected by an operator based on the device information, and use the target standby AMR as a second AMR; The first sending module is specifically configured to send the to-be-executed task to the second AMR based on the second device identifier included in the device information of the second AMR.

10. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the method according to any one of claims 1 to 7 when executing a program stored in a memory.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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