Vehicle part mistaken grabbing prevention method, controller, system and equipment

Abstract

The invention relates to a method, a controller, a system and equipment for preventing mistaken grabbing of vehicle parts, and relates to the technical field of automation. The method comprises the steps that in response to a part grabbing robot on a vehicle production line, vehicle parts are grabbed to a part placing clamp, and the on-off state of a photoelectric induction switch arranged on the part placing clamp is determined; based on the on-off state, whether the type of the vehicle part is the vehicle part type specified by the current grabbing task or not is determined; and in response to determining that the type of the vehicle part is not the vehicle part type specified by the current grabbing task, stopping operation of the vehicle production line. Therefore, by means of real-time detection and timely response, the problem that installation cannot be conducted smoothly due to part errors, and then the progress of the whole production line is affected is solved.

Description

Technical Field

[0001] The present application relates to the field of automation technology, in particular to the field of vehicle automated production technology, and specifically to a method, controller, system and equipment for preventing wrong grasping of vehicle parts. Background Art

[0002] Today, consumers are increasingly demanding diverse vehicle models. However, traditional rigid welding production models face significant adaptation challenges when adapting to the diverse body structures of different vehicle models. Due to the significant structural differences between vehicle models, rigid welding production lines are difficult to flexibly adjust. This results in a significant increase in production space requirements, low equipment utilization, and high fixed asset investment costs for production line tooling. Consequently, technologies enabling mixed production of multiple vehicle models on a single production line have emerged.

[0003] However, in actual production, the mixed production of multiple models may result in wrong parts being placed on the production line, causing a series of serious problems. Summary of the Invention

[0004] This application provides a method, controller, system, and device for preventing vehicle parts from being misplaced, to at least address the technical problem of incorrect parts being placed on the production line in related technologies. The technical solution of this application is as follows:

[0005] In a first aspect, the present application provides a method for preventing wrong grasping of vehicle parts, comprising: in response to a grasping robot on a vehicle production line grasping a vehicle part and placing it on a placement fixture, determining the switch state of a photoelectric sensing switch provided on the placement fixture; based on the switch state, determining whether the type of the vehicle part is the type of vehicle part specified for the current grasping task; in response to determining that the type of the vehicle part is not the type of vehicle part specified for the current grasping task, stopping the operation of the vehicle production line.

[0006] Based on the above technical means, this application can ensure that the parts in each link of the production line meet the requirements through real-time detection and timely response, reduce the problem of failure to install smoothly due to part errors, and thus affect the progress of the entire production line. In addition, by quickly identifying part type errors, the production line operation is stopped at the early stage of the problem, avoiding the chain reaction caused by incorrect parts, greatly reducing production downtime, and enabling the production line to resume normal operation as soon as possible.

[0007] In one possible implementation, determining whether the type of vehicle part is the type of vehicle part specified for the current grasping task is based on the switch state, including: determining a target photoelectric sensing switch, wherein the target photoelectric sensing switch is a plurality of photoelectric sensing switches set for the type of vehicle part specified for the current grasping task; in response to determining that there is a target photoelectric sensing switch whose switch state is off, or there is a photoelectric sensing switch other than the target photoelectric sensing switch whose switch state is on, determining that the type of vehicle part is not the type of vehicle part specified for the current grasping task.

[0008] According to the above-mentioned technical means, the present application can pre-set multiple groups of specific photoelectric sensing switches on the placement fixture. The position and quantity of each group of switches are designed according to the shape, size and key features of the vehicle parts corresponding to the group of switches, so as to efficiently and accurately detect whether the vehicle parts grasped by the grasping robot are the type of vehicle parts specified by the current grasping task.

[0009] In one possible implementation, the above method also includes: multiple photoelectric sensing switches set for the vehicle part type specified by the current grasping task are located at different positions of the placement fixture; each photoelectric sensing switch is turned on when the photoelectric sensing signal is consistent with the photoelectric sensing signal when the vehicle part of the vehicle part type is placed in the standard position.

[0010] According to the above technical means, the present application can use photoelectric sensing switches at different positions to correspond to different characteristic points of parts, such as edges, protrusions, etc., so that through these photoelectric sensing switches at different positions, only vehicle parts of the correct type and placed in standard positions can be identified as the vehicle parts specified by the current grasping task, avoiding production hazards caused by the irregular placement of vehicle parts.

[0011] In one possible implementation, a camera device is deployed on the grasping robot, and the method also includes: obtaining an image of the vehicle parts captured by the camera device during the process of the grasping robot grasping the vehicle parts; performing feature point comparison on the image with a template image corresponding to the vehicle part type specified by the current grasping task to obtain a feature point comparison result; in response to the feature point comparison result being inconsistent features, stopping the operation of the vehicle production line.

[0012] Based on the above technical means, the present application can perform real-time image comparison and judgment during the capture process, can quickly respond to the problem of incorrect part type, and immediately stop the production line operation once inconsistent features are found, thereby reducing the problem of unsuccessful installation due to part errors, thereby affecting the progress of the entire production line.

[0013] In one possible implementation, feature points of an image are compared with a template image corresponding to the vehicle part type specified by the current grasping task to obtain a feature point comparison result, including: determining feature similarity between the image and the template image corresponding to the vehicle part type specified by the current grasping task; and when the feature similarity is lower than a preset feature similarity threshold, determining the feature point comparison result as feature inconsistency.

[0014] According to the above technical means, the present application can calculate the feature similarity between the image and the template image in real time during the process of the grasping robot grasping vehicle parts, and compare it with the preset threshold. When the feature similarity is lower than the threshold, the production line is stopped in time to avoid the problem of incorrect parts causing unsuccessful installation, thereby affecting the progress of the entire production line.

[0015] In one possible implementation, after the operation of the vehicle production line is stopped, an alarm is issued for a vehicle part mis-grabbing.

[0016] According to the above technical means, the present application can conduct vehicle parts error detection alarm, so that maintenance personnel can quickly locate the problem parts, analyze the problem parts, reduce the impact of the wrong parts on the production progress, and avoid confusion in the production process caused by wrong parts.

[0017] In one possible implementation, after the operation of the vehicle production line is stopped, the operation of the vehicle production line is started in response to a first instruction from a worker indicating that the vehicle part is not grasped incorrectly.

[0018] According to the above technical means, when the production line stops operating due to suspected wrong parts being grabbed, if the staff checks and confirms that the parts are not grabbed incorrectly, the application can immediately respond to the instruction to start the production line, avoiding unnecessary long-term downtime.

[0019] In one possible implementation, after the vehicle production line is stopped, in response to a second instruction from a worker confirming that a vehicle part has been grasped incorrectly, the grasping robot is controlled to put the vehicle part back to its original position.

[0020] According to the above technical means, when the production line stops operating due to suspected wrong parts being grasped, if the staff checks and confirms that the parts are grasped incorrectly, the grasping robot can be controlled to automatically put the parts back to their original position, thereby improving the automation and efficiency of the production process and reducing the downtime of the production line.

[0021] In a second aspect, the present application provides a controller comprising: a determination unit and a control unit; the determination unit is configured to determine the switch state of a photoelectric sensing switch provided on a placement fixture in response to a grasping robot on a vehicle production line grasping a vehicle part to a placement fixture; the determination unit is further configured to determine, based on the switch state, whether the type of the vehicle part is the type of vehicle part specified for the current grasping task; the control unit is configured to stop the operation of the vehicle production line in response to determining that the type of the vehicle part is not the type of vehicle part specified for the current grasping task.

[0022] In one possible implementation, the determination unit is specifically used to: determine a target photoelectric sensing switch, wherein the target photoelectric sensing switch is a plurality of photoelectric sensing switches set for the type of vehicle parts specified by the current grasping task; in response to determining that there is a target photoelectric sensing switch whose switch state is off, or there is a photoelectric sensing switch other than the target photoelectric sensing switch whose switch state is on, determine that the type of the vehicle part is not the type of vehicle part specified by the current grasping task.

[0023] In one possible implementation, the device also includes: an acquisition unit; the acquisition unit is used to acquire images of vehicle parts captured by a camera device during the process of the grasping robot grasping vehicle parts; the determination unit is also used to perform feature point comparison between the image and a template image corresponding to the vehicle part type specified by the current grasping task to obtain a feature point comparison result; the control unit is also used to stop the operation of the vehicle production line in response to the feature point comparison result being inconsistent features.

[0024] In one possible implementation, the determination unit is specifically used to: determine the feature similarity between the image and the template image corresponding to the vehicle part type specified by the current grasping task; when the feature similarity is lower than a preset feature similarity threshold, determine that the feature point comparison result is feature inconsistency.

[0025] In one possible implementation, the control unit is further configured to issue an alarm for vehicle part errors after stopping the operation of the vehicle production line.

[0026] In one possible implementation, the control unit is further configured to, after stopping the operation of the vehicle production line, start the operation of the vehicle production line in response to a first instruction from a worker indicating that the vehicle part is not grasped incorrectly.

[0027] In one possible implementation, the control unit is further configured to control the grasping robot to put the vehicle part back to its original position in response to a second instruction from a staff member confirming that the vehicle part was grasped incorrectly after the vehicle production line is stopped.

[0028] In the third aspect, the present application provides a vehicle parts anti-wrong-grabbing system, comprising: a controller, a grasping robot and a placing fixture; the placing fixture is provided with a photoelectric sensing switch; the grasping robot is used to respond to grasping instructions, grasp vehicle parts from the storage location of the vehicle part type specified by the current grasping task, and grasp the vehicle parts to the placing fixture; the controller is used to execute the method as in the first aspect.

[0029] In a fourth aspect, the present application provides an electronic device comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute instructions to implement the method of the above-mentioned first aspect and any possible implementation method thereof.

[0030] In a fifth aspect, the present application provides a computer-readable storage medium, which, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, enables the electronic device to execute the method in the above-mentioned first aspect and any possible implementation method thereof.

[0031] In a sixth aspect, the present application provides a computer program product, which includes computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the method of the above-mentioned first aspect and any possible implementation method thereof.

[0032] It should be noted that the technical effects brought about by any implementation method in the second to sixth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here.

[0033] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0035] Figure 1 1 is a schematic structural diagram of a vehicle parts mis-grabbing prevention system according to an exemplary embodiment;

[0036] Figure 2 is a flow chart showing a method for preventing wrong grasping of vehicle parts according to an exemplary embodiment;

[0037] Figure 3 is a structural schematic diagram of a vehicle production line according to an exemplary embodiment;

[0038] Figure 41 is a schematic structural diagram of a double-layer storage system for multiple vehicle types according to an exemplary embodiment;

[0039] Figure 5 According to an exemplary embodiment, Figure 4 Structural schematic diagram of the fixed structure A;

[0040] Figure 6 According to an exemplary embodiment, Figure 4 Structural schematic diagram of the fixed structure B;

[0041] Figure 7 is a schematic structural diagram of a container frame according to an exemplary embodiment;

[0042] Figure 8 is a schematic structural diagram of another container frame according to an exemplary embodiment;

[0043] Figure 9 is a schematic structural diagram of a robot walking axis according to an exemplary embodiment;

[0044] Figure 10 is a structural diagram of a servo gripper system according to an exemplary embodiment;

[0045] Figure 11 is a structural schematic diagram of another servo gripper system according to an exemplary embodiment;

[0046] Figure 12 is a structural schematic diagram of another servo gripper system according to an exemplary embodiment;

[0047] Figure 13 is a structural diagram of a camera system according to an exemplary embodiment;

[0048] Figure 14 is a structural schematic diagram of a component placement fixture according to an exemplary embodiment;

[0049] Figure 15 is a schematic diagram showing a vehicle production process according to an exemplary embodiment;

[0050] Figure 16 is a block diagram of a controller according to an exemplary embodiment;

[0051] Figure 17 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0052] In order to enable ordinary people in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0053] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0054] In the embodiments of this application, words such as "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary," "for example," or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[0055] First, the relevant technologies involved in this application are explained to facilitate understanding by those skilled in the art.

[0056] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0057] The vehicle parts anti-grabbing method provided in the embodiments of the present application can be applied to a production line for producing vehicles. A vehicle may also be referred to as a transportation tool (vehicle), mobile carrier, electric vehicle (EV), hybrid electric vehicle (HEV), plug-in hybrid electric vehicle (PHEV), fuel cell vehicle (FCV), autonomous vehicle, intelligent and connected vehicle (ICV), driverless vehicle, etc.

[0058] In the embodiments of this application, the vehicle may be a sedan, a sport utility vehicle (SUV), a truck, an electric vehicle, a motorcycle, a tricycle, a special vehicle (such as an ambulance, fire truck, police car, etc.), a driverless taxi, an intelligent network-connected bus, an autonomous logistics vehicle, an electric truck, etc. Furthermore, this method is also applicable to various special-purpose vehicles, such as agricultural vehicles, mining vehicles, forestry vehicles, airport vehicles, and port vehicles. This application does not impose any specific restrictions on this.

[0059] In one possible implementation, a production line for producing vehicles may include an automatic incoming material calling system, a double-layer storage system for multiple vehicle models, a storage location parts information system, a controller, a grasping robot system, a servo gripper system, a camera system, and a vehicle parts anti-wrong grasping system.

[0060] The automatic incoming material call system uses a programmable logic controller (PLC) to store and manage parts information at each storage location. When the controller sends production queue information, the automatic incoming material call system determines the number of parts in the storage location. If the number of parts falls below a preset threshold, the PLC sends a signal to the logistics management system. The logistics management system then sends a shortage notification to the parts storage warehouse and issues delivery instructions to ensure the timely supply of materials needed for production.

[0061] Optionally, the preset quantity threshold can be set according to actual needs. For example, the preset quantity threshold can be 2 or 3. This application does not impose specific restrictions on this.

[0062] The multi-model double-layer storage system consists of key components such as the double-layer storage main frame, storage positioning system, storage location information identification (QR code) and photoelectric sensors, which are used to realize material supply when switching between multiple models in a high-speed production environment.

[0063] The main frame of the double-layer storage space adopts steel structure to build a double-layer storage platform. The four corners of the bottom are firmly connected to the ground through multiple chemical bolts to ensure the stability of the storage space structure.

[0064] The location positioning system ensures that after a forklift operator delivers materials to the warehouse, the container's physical position within the warehouse is accurate and precise, preventing significant deviation. Excessive deviation in the container's position can affect the posture and position of the parts within the container. This can cause the industrial camera to fail to recognize feature points when capturing the part, or cause the part to be outside the camera's search range, ultimately leading to a failed capture.

[0065] The storage location information identification (QR code) can be bound to the QR code information on the container, which can lock the vehicle model information of the parts stored in the corresponding storage location and realize accurate traceability of material information.

[0066] Photoelectric sensors are used to detect in real time whether parts are stored in the warehouse, providing accurate data support for the system's material management.

[0067] In one possible implementation, each time a forklift operator delivers a material to a storage location, they can use a tablet or barcode scanner to sequentially scan the QR code of the container (which corresponds to the vehicle model of the part in the container) and the QR code of the storage location where the container will be stored. After scanning, the two pieces of information are bound and stored in a logistics management system. The logistics management system can then transmit the relevant information to the controller, which in turn sends the information to the PLC for further storage and management.

[0068] The controller is used to send production queue information to the PLC. After receiving the information, the PLC sends the relevant vehicle model information to the robot, providing instructions for the robot's production operations.

[0069] The robotic system includes a gripper robot and seven axes. After receiving production vehicle model information and instructions from the PLC, the gripper robot proceeds to the corresponding vehicle's location on a first-in, first-out basis, ensuring accurate and efficient material handling at designated locations.

[0070] The servo gripper system includes a servo system and a servo gripper. The servo system can change the position of the gripping point, making the servo gripper compatible with different vehicle models and different gripping points. This improves production efficiency and equipment utilization, and solves the problems of dedicated grippers only being suitable for a single vehicle model, the time-consuming switching between multiple models, and the space occupied by gripper storage.

[0071] The camera system may include a camera device, a bracket, an industrial computer, and a display. The camera device is installed on the bracket and is installed on the grasping robot through the bracket. When the grasping robot receives the vehicle model instruction, the controller can retrieve the part template image of the corresponding vehicle model. When the grasping robot moves to the working distance of the camera device (detection is achieved by the distance sensor), the camera device can take pictures. The industrial computer can process the captured image, calculate the difference between the current part position, posture and template state, and output correction information for position deviation and angle deviation. The controller can correct the grasping position of the grasping robot based on the correction information to ensure that the robot can accurately reach the corrected grasping position. When the induction switch senses the part, the controller can issue a grasping instruction and the robot executes the grasping action.

[0072] like Figure 1 As shown, Figure 1 The vehicle parts error-prevention system includes a controller 101, a grasping robot 102 and a placing fixture 103.

[0073] Optionally, Figure 1 A communication connection can be established between the controller 101 and the grasping robot 102, and a communication connection can be established between the controller 101 and the placing fixture 103.

[0074] In practical applications, the controller 101 may establish a communication connection with one or more grasping robots 102 . The controller 101 may establish a communication connection with one or more placing fixtures 103 .

[0075] For ease of understanding, this application uses the communication connection between a controller 101 and a grasping robot 102, and the communication connection between a controller 101 and a placing fixture 103 as examples for explanation.

[0076] Figure 1 The grasping robot 102 grasps the vehicle part and places it on the placing fixture 103. The controller 101 can determine the switch state of the photoelectric sensor switch provided on the placing fixture 103 in response to the grasping robot 102 grasping the vehicle part and placing it on the placing fixture 103.

[0077] In one possible implementation, after the gripping robot 102 grabs the vehicle part and places it on the placement fixture 103, the gripping robot 102 may send a placement success message to the controller 101. In response to the placement success message, the controller 101 may detect the switch state of a photoelectric sensor switch provided on the placement fixture 103.

[0078] In another possible implementation, after the grasping robot 102 grasps the vehicle part and places it on the placing fixture 103 , the placing fixture 103 may send the switching state of the photoelectric sensor switch to the controller 101 .

[0079] Optionally, Figure 1 The controller 101 in the embodiment may be a terminal, a server, or other types of electronic devices. Figure 1 What is shown in the figure is only an example of the device form of the controller 101 and does not constitute a limitation thereto.

[0080] In the case where the controller 101 is a terminal, the terminal can be a device that provides voice and / or data connectivity to a user, a handheld device with wireless connection capabilities, or other processing devices connected to a wireless modem. The terminal can communicate with one or more core networks via a radio access network (RAN). The terminal can be a mobile terminal, such as a computer with a mobile terminal, which exchanges language and / or data with a radio access network, for example, a mobile phone, a tablet computer, a laptop computer, a netbook, a personal digital assistant (PDA). This application does not impose any restrictions on this.

[0081] In the case where the controller 101 is a server, the server can be a single server, or a server cluster composed of multiple servers. In some implementations, the server cluster can also be a distributed cluster. This application does not impose any restrictions on this.

[0082] It should be noted that the structure illustrated in the embodiments of this application does not limit the vehicle parts mis-grab prevention system. It may include more or fewer components than shown, or some components may be combined or separated, or arranged differently. The illustrated components may be implemented in hardware, software, or a combination of both.

[0083] For ease of understanding, the vehicle parts anti-wrong-grabbing method provided in this application is specifically introduced below with reference to the accompanying drawings.

[0084] Figure 2 FIG. 1 is a flow chart of a method for preventing wrong grasping of vehicle parts according to an exemplary embodiment. Figure 2 As shown, the method for preventing wrong grasping of vehicle parts includes the following steps: S201-S203.

[0085] S201: In response to a grasping robot on a vehicle production line grasping a vehicle part and placing it on a placing fixture, determine the switch state of a photoelectric sensor switch provided on the placing fixture.

[0086] In one possible implementation, the controller may control the grasping robot to grasp parts based on the production queue information.

[0087] The production queue information refers to the scheduling and order of production tasks for each process on the vehicle production line. The controller uses this information to determine the type, quantity, and placement of the parts currently required.

[0088] Specifically, a camera device can be deployed on the grasping robot. The controller can control the grasping robot to move to the vicinity of the placement location of the vehicle parts, and control the grasping robot to stop moving after reaching the working distance of the camera device. The controller can control the camera device to capture images of vehicle parts. The controller can compare the image with the vehicle model grasping template to determine correction information for correcting the robot gripper's posture based on the image and the vehicle model grasping template. The controller can correct the posture of the grasping robot's gripper based on the correction information. After the posture of the gripper is corrected, the controller can send a grasping instruction to the gripper to control it to grasp the part.

[0089] The correction information may include position deviation and angular deviation. Position deviation may include longitudinal deviation, lateral deviation, and vertical deviation of the gripper. Angular deviation may include horizontal rotation deviation, pitch deviation, and yaw deviation.

[0090] In one possible implementation, during the process of the grasping robot grasping vehicle parts, the controller can obtain an image of the vehicle parts captured by the camera device, and perform feature point comparison between the image and a template image corresponding to the vehicle part type specified by the current grasping task to obtain a feature point comparison result.

[0091] In one example, the controller may perform feature extraction on the captured image and the template image to obtain a feature vector of the image and a feature vector of the template image. The controller may compare the feature vector of the image and the feature vector of the template image. If the degree of match is greater than a preset feature similarity threshold, the controller determines that the feature point comparison result is feature consistent; otherwise, the controller determines that the feature point comparison result is feature inconsistent.

[0092] Optionally, the preset feature similarity threshold can be set according to actual needs. For example, the preset feature similarity threshold can be 99% or 98%. This application does not impose specific restrictions on this.

[0093] In one possible implementation, a controller can halt the vehicle production line in response to a feature point comparison result indicating a mismatch, preventing the incorrect part from being processed or assembled. Simultaneously, the controller can trigger an alarm, notifying a human operator to intervene and inspect the vehicle part grasped by the grasping robot. Based on the inspection results, the operator can then send a first instruction to the controller indicating that the vehicle part was correctly grasped, or a second instruction indicating that the vehicle part was grasped incorrectly.

[0094] In one possible implementation, the controller may start the operation of the vehicle production line in response to a first instruction from a worker indicating that the vehicle part is not grasped incorrectly, and control the grasping robot to grasp the vehicle part and place it on the placement fixture.

[0095] Alternatively, the controller may control the grasping robot to put the vehicle part back to its original position in response to a second instruction from the staff confirming that the vehicle part was grasped incorrectly.

[0096] In a possible implementation, after the vehicle parts are placed on the component placement fixture, a photoelectric sensor switch on the component placement fixture starts to operate.

[0097] If the vehicle parts are correctly placed and block the light of the photoelectric sensor switch, the receiver of the photoelectric sensor switch can receive the signal change, triggering the switch action and turning the photoelectric sensor switch on.

[0098] Alternatively, if a vehicle part is not positioned correctly or does not block the light from the photoelectric sensor switch, the receiver of the photoelectric sensor switch will not receive the signal change, causing the photoelectric sensor switch to remain in the closed state.

[0099] S202: Based on the switch state, determine whether the type of the vehicle part is the type of vehicle part specified by the current grasping task.

[0100] Multiple photoelectric sensors, specifically designed for the vehicle part type specified for the current grasping task, are located at different locations on the placement fixture. Each switch turns on when its photoelectric sensing signal matches the photoelectric sensing signal when a vehicle part of that type is placed in the standard position. Each part type corresponds to a specific set of photoelectric sensors, and the status of these switches (on or off) is used to determine whether the currently grasped part meets the task requirements.

[0101] In other words, if the states of all target photoelectric sensor switches are consistent with the standard state—that is, all switches that should be on are on, and all switches that should be off are off—the controller determines that the type of vehicle part currently placed is consistent with the type specified for the current grasping task. If the state of any target photoelectric sensor switch is inconsistent with the standard state, for example, a switch that should be on is not on, or a switch that should be off is on, the controller determines that the type of vehicle part currently placed is not the type specified for the current grasping task.

[0102] In one possible implementation, a mapping table of correspondences between parts and photoelectric sensors can be configured in the controller. The mapping table can include information such as part model, size, shape, material, and the corresponding photoelectric sensors.

[0103] In one possible implementation, the controller can determine the target photoelectric sensing switch based on the vehicle part type specified by the current grasping task and the corresponding mapping table. The controller can determine that the type of vehicle part is not the type of vehicle part specified by the current grasping task in response to determining that there is a target photoelectric sensing switch whose switch state is off, or there is a photoelectric sensing switch other than the target photoelectric sensing switch whose switch state is on.

[0104] The target photoelectric sensing switches may be multiple photoelectric sensing switches set for the vehicle part type specified by the current grasping task.

[0105] For example, the current grasping task is to grasp vehicle part A. The target photoelectric sensor switches corresponding to vehicle part A are switch 1, switch 2, and switch 3. If switch 1 is on and switches 2 and 3 are off, the type of vehicle part is determined to be different from the type specified for the current grasping task. If switches 1, 2, and 3 are all on, and switch 4 is off, the type of vehicle part is also determined to be different from the type specified for the current grasping task.

[0106] S203 : In response to determining that the type of the vehicle part is not the type of the vehicle part specified by the current grasping task, stop the operation of the vehicle production line.

[0107] In one possible implementation, the controller can halt the vehicle production line in response to determining that the vehicle part type is not specified for the current grasping task, preventing the incorrect part from being processed or assembled. Simultaneously, the controller can trigger an incorrect part grasping alarm, notifying a human operator to intervene and inspect the vehicle part placed on the placement fixture by the grasping robot. Based on the inspection results, the operator can then send a first instruction to the controller indicating that the vehicle part was correctly grasped, or a second instruction indicating that the vehicle part was incorrectly grasped.

[0108] In one possible implementation, the controller may start the operation of the vehicle production line in response to a first instruction from a worker indicating that the vehicle part is not grasped incorrectly.

[0109] Alternatively, the controller may control the grasping robot to put the vehicle part back to its original position in response to a second instruction from the staff confirming that the vehicle part was grasped incorrectly.

[0110] Based on the above technical solution, this application can ensure that the parts in each link of the production line meet the requirements through real-time detection and timely response, reduce the problem of failure to install smoothly due to part errors, and thus affect the progress of the entire production line. In addition, by quickly identifying part type errors, the production line operation is stopped at the early stage of the problem, avoiding the chain reaction caused by incorrect parts, greatly reducing production downtime, and enabling the production line to resume normal operation as soon as possible.

[0111] In some embodiments, as Figure 3 As shown, Figure 3 The vehicle production line may include a multi-model double-layer storage system 31, a container frame 32, a robot walking axis 33, a grasping robot system 34, a servo gripper system 35, a camera system 36, and a placing fixture 37.

[0112] The multi-vehicle double-layer storage system 31 can be used to store the container material frames 32 corresponding to the different vehicle models required for production, and the container material frames 32 can store relevant vehicle parts.

[0113] Furthermore, to ensure production quality and efficiency, the multi-model, dual-tiered storage system 31 utilizes advanced positioning technology and equipment to ensure that the material holders 32 maintain their precise positions within the storage locations, keeping parts within a reasonable detectable and graspable range. This reduces production failures and quality issues caused by part position deviations. The multi-model, dual-tiered storage system 31 can record the model information of the parts in each storage location. The multi-model, dual-tiered storage system 31 can be equipped with photoelectric sensors to determine in real time whether material holders 32 and parts are stored in each storage location, preventing the grasping robot from misoperating when the material holders 32 and parts are not present.

[0114] Combine Figure 3 ,like Figure 4 、 Figure 5 、 Figure 6As shown, the multi-vehicle double-layer storage system 31 includes a double-layer storage top cover 3101, a double-layer storage frame column 3102, a double-layer storage first frame cross bar 3103, a first connecting plate 3104, a first Y-direction limit baffle 3105 of the container material frame, a Z-direction support unit block 3106 of the container material frame, a main positioning pin 3107 of the container material frame, an auxiliary positioning pin 3108 of the container material frame (to assist the forklift driver in placing the container), a second Y-direction limit baffle 3109 of the container material frame, a secondary positioning pin 3110 of the container material frame, a first photoelectric sensor switch 3111 (with a bracket), and an X-direction limit baffle 3111 of the container material frame. 2. Second photoelectric sensor switch 3113 (with bracket), middle partition 3114 for the double-deck material storage, U-shaped base plate integral outer frame 3115, fixed structure A (second connecting plate 3116, foot 3117, foot plate 3118, chemical bolt 3119, third connecting plate 3120, leveling bolt 3121), first-floor storage location QR code 3122, second-floor storage location QR code 3123, fixed structure B (square gasket (Z direction) 3124, L-shaped connecting block 3125, adjustment gasket (Y direction) 3126, adjustment gasket (X direction) 3127), connecting rod 3128.

[0115] The framework installation process of the multi-model double-layer storage system 31 is as follows:

[0116] (1) Production of bottom mounting plate.

[0117] The plurality of connecting rods 3128 are welded to the outer peripheral frame 3115 of the U-shaped base plate to form a storage location bottom mounting plate. The storage location bottom mounting plate is connected to a plurality of footings 3117.

[0118] For example, four anchors 3117 are set on one side of the bottom mounting plate of a single double-layer storage location, and are symmetrically distributed on the front and back sides, for a total of eight anchors 3117.

[0119] (2) Production of the bottom mounting plate of the upper storage location.

[0120] The U-shaped base plate overall peripheral frame 3115 is connected to the first frame cross bar 3103 of the double-layer storage position by welding, thereby forming the bottom mounting plate of the upper storage position.

[0121] (3) Production of side installation frame for single storage location.

[0122] The two double-layer storage location first frame cross bars 3103 are connected to the two double-layer storage location frame columns 3102 by welding to form a single storage location side installation frame.

[0123] For example, the welding positions of the two double-layer storage location first frame cross bars 3103 are respectively located at 1 / 3 and 2 / 3 of the length direction of the double-layer storage location frame column 3102.

[0124] (4) Assembly of double-layer storage frame.

[0125] The double-layer storage location is connected to 16 first connecting plates 3104 through four side mounting frames to form four side mounting frame assemblies.

[0126] Bolt one end of each of the two side mounting frame assemblies to the storage location bottom mounting plate (with anchors 3117) and the other end to the lower portion of the upper storage location bottom mounting plate. Bolt one end of each of the two side mounting frame assemblies to the lower portion of the upper storage location bottom mounting plate and the other end to the double-layer storage location top cover 3101. This completes the assembly of a single double-layer storage location frame (with anchors).

[0127] (5) The double-layer storage frame is installed to the ground.

[0128] Pre-install the floor at the storage location and install eight anchor plates 3118 using chemical bolts 3119. Specific installation requirements include: the distance between two anchor plates 3118 on one side should be 1 / 3 of the length of the double-layer storage location, and the front-to-back width should be consistent with that of the double-layer storage location.

[0129] Next, the double-layer storage frame is hoisted onto the anchor plate 3118, and the three-dimensional coordinates of the storage location are measured using a laser tracker. Based on the measurement results, the height of the double-layer storage frame is leveled using bolts 3121. After leveling, the double-layer storage frame is installed on the storage floor by connecting the second connecting plate 3116 and the third connecting plate 3120 to the storage frame (with anchors) and the anchor plate 3118.

[0130] 2. Installation of container positioning system in storage location.

[0131] (1) Installation of main positioning pin.

[0132] First, install and secure the L-shaped connecting block 3125 with bolts and pins. Then, pre-install the main positioning pin 3107 of the container frame with bolts, and install the adjustment gasket (Y direction) 3126 and the adjustment gasket (X direction) 3127 between the L-shaped connecting block 3125 and the main positioning pin 3107 of the container frame.

[0133] Then, using the laser tracker to detect deviations in the position of the container frame's main locating pin 3107, the positions of the adjustment shims (Y-direction) 3126 and (X-direction) 3127 are adjusted. Once the main locating pin 3107 reaches the required positional accuracy, the adjustment shims (Y-direction) 3126 and (X-direction) 3127 are bolted to the L-shaped connecting block 3125.

[0134] (2) Installation of auxiliary locating pins and secondary locating pins.

[0135] The installation steps of the auxiliary positioning pin 3108 of the container frame and the secondary positioning pin 3110 of the container frame are the same as those of the main positioning pin 3107 of the container frame, and will not be repeated here.

[0136] (3) Installation of Z-axis support unit block.

[0137] Install the container frame Z-direction support unit blocks 3106 at the four corners of the storage location, and use four bolts to install the container frame Z-direction support unit blocks 3106 and the square gasket (Z direction) 3124 to the storage location frame base plate.

[0138] The thickness of each corner square gasket (Z direction) 3124 is determined based on the deviation of the result of the laser tracker (three-coordinate) detecting the Z-direction support unit block 3106 .

[0139] (4) Installation of limit baffle.

[0140] Install the first Y-direction limit baffle 3105, the second Y-direction limit baffle 3109 and the X-direction limit baffle 3112 of the container material frame. Each baffle is provided with multiple mounting holes (strip holes) to ensure that the limit direction position can be adjusted.

[0141] The Y-axis baffles are approximately 200 mm away from the container's outer contour, with a 10 mm margin in the X-axis. Each baffle is mounted to the base plate of the storage location frame with four bolts. The baffles and container's outer contour dimensions are subsequently optimized and adjusted based on actual on-site conditions. The baffles primarily serve to initially limit and guide the container's position, preventing excessive deflection during forklift transport, potentially preventing it from accurately landing in the designated container placement area within the storage location. This completes the installation of the single-layer bottom storage location positioning system.

[0142] 3. Installation of photoelectric sensor switch.

[0143] The first photoelectric sensor switch 3111 and the second photoelectric sensor switch 3113 are respectively mounted on the base plate of the storage frame through four bolts.

[0144] 4. Installation of the second-floor platform for double-layer storage.

[0145] The installation of the container positioning system and photoelectric sensor switch on the second-layer platform of the double-layer storage location can refer to the operation of the single-layer bottom storage location mentioned above. This application does not impose specific restrictions on this.

[0146] In one possible implementation, the hardware for a single double-layer storage location is installed by pasting a first-layer storage location QR code 3122 and a second-layer storage location QR code 3123 on a lower-layer storage location column.

[0147] In addition, multiple double-layer storage locations arranged in parallel can be set up on site based on actual production design requirements and simulation results.

[0148] 5. Explanation of the middle partition of the double-layer material warehouse.

[0149] The middle partition 3114 of the double-layer material warehouse can be installed inside the double-layer warehouse according to actual needs to separate different storage areas, thereby improving the flexibility and management efficiency of warehouse storage.

[0150] Combine Figure 2 ,like Figure 7 and Figure 8 As shown, the installation process of the container frame 32 is as follows:

[0151] 1. Install the mounting plate with the positioning holes in the material frame 32.

[0152] The main positioning hole mounting plate 3201 of the container material frame 32, the auxiliary positioning hole mounting plate 3202 of the container material frame 32 (to assist the forklift driver in positioning the container) and the secondary positioning hole mounting plate 3203 of the container material frame are installed in sequence by welding.

[0153] Among them, during the installation process, the specific position of the positioning holes of each mounting plate is consistent with the main positioning pin 3107 of the container material frame, the auxiliary positioning pin 3108 of the container material frame (to assist the forklift driver to place the container), and the secondary positioning pin 3110 of the container material frame in the corresponding storage location to ensure the precise positioning of the container material frame in the storage location.

[0154] 2. Forklift fork leg design.

[0155] The container frame 32 is designed with two forklift fork openings, namely a first forklift fork angle opening 3213 and a second forklift fork angle opening 3214 .

[0156] The first forklift fork angle opening 3213 and the second fork angle opening 3214 are designed so that the forklift forks can be normally inserted during subsequent material feeding, thereby smoothly transporting the container rack and parts, ensuring the efficiency and accuracy of material handling.

[0157] 3. Part posture limit design.

[0158] The Y-direction and height-direction postures of the four cantilever limiting parts in the container are determined.

[0159] The four cantilever beams are the first cantilever beam 3209 (with a trapezoidal groove), the second cantilever beam 3210 (with a trapezoidal groove), the third cantilever beam 3211 (with a trapezoidal groove), and the fourth cantilever beam 3212 (with a trapezoidal groove). The trapezoidal grooves on the cantilever beams effectively limit the position of the parts, ensuring the stability of the parts in the Y and height directions, and preventing displacement during transportation and storage.

[0160] The X-axis posture of the part in the container is limited by the coarse limiting baffle 3208.

[0161] Optionally, the distance between the component and the coarse limit baffle 3208 may be 20 mm, which is not specifically limited in this application.

[0162] Combine Figure 2 ,like Figure 9 As shown, the robot walking axis 33 can be composed of a walking axis slide rail 3301 and a tank chain 3302.

[0163] During the installation process, the robot walking axis 33 can be firmly connected to the ground through a bolt connection block, and the leveling operation can be completed through leveling tools and methods to ensure the stability of the walking axis installation and the accuracy of operation.

[0164] like Figure 9 As shown, the grasping robot system 34 can be composed of a robot mounting base 341 and a robot body 342. The lower portion of the robot mounting base 3401 is mechanically connected to the travel axis slide rail 3301 via a slider, while the upper portion is reliably connected to the robot body 3402 via bolts, thereby firmly mounting the robot 3402 on the mounting base and providing a basic guarantee for the normal operation of the robot.

[0165] Combine Figure 2 ,like Figure 10 、 Figure 11 as well as Figure 12 As shown, the servo gripper system 35 can be composed of a servo module mechanism 3501, a servo mechanism control box 3502, a first clamping point unit 3503 (with a cylinder), a sensor 3504 (bracket), a second clamping point unit 3505 (with a cylinder), a third clamping point unit 3506 (with a cylinder), a gripper frame 3507, a fourth clamping point unit 3508 (with a cylinder), a gripper bracket flange 3509 and a distance sensor 3510 (with a bracket), and a gripper bracket flange adapter bracket 3511.

[0166] The clamping point at the fourth clamping point unit 3508 (with a pneumatic cylinder) is a fixed-position clamping point, while the first clamping point unit 3503 (with a pneumatic cylinder), the second clamping point unit 3505 (with a pneumatic cylinder), and the third clamping point unit 3506 (with a pneumatic cylinder) are movable clamping points, which are variable in pitch via the servo module mechanism 3501. When designing the gripping clamping points for each vehicle model, the position of the fixed clamping point (i.e., the fourth clamping point unit 3508 (with a pneumatic cylinder)) is used as a reference to determine the positions of the other three movable clamping points. The servo mechanism control box 3502 is responsible for controlling the variable pitch of the servo module mechanism 3501 to ensure that the movable clamping points reach the desired position.

[0167] Combine Figure 10 ,like Figure 13 As shown, the camera system 36 consists of a camera equipment industrial computer 361, a camera equipment grabbing system display 362, a camera equipment control box 3601, a first camera equipment 3602, a second camera equipment 3603, a third camera equipment 3604, a camera equipment mounting bracket 3605 and a camera equipment mounting bracket flange 3606.

[0168] The first camera device 3602 , the second camera device 3603 and the third camera device 3604 are each securely mounted on the camera device mounting bracket 3605 by four bolts and two pins.

[0169] The camera control box 3601 can establish a communication connection with the camera industrial computer 361. The camera control box 3601 can realize the interaction between vehicle model signal information and visual signals, and can quickly retrieve the template corresponding to the current vehicle model from the camera industrial computer 361 to ensure the accuracy of subsequent operations.

[0170] The camera system 36 is mounted on the robot's six-axis 343 via the camera mounting bracket flange 3606. The servo gripper system 35 is connected to the camera mounting bracket flange 3606 via the gripper bracket flange 3509 and the gripper bracket flange adapter bracket 3511.

[0171] Reference Figure 14 As shown, the placing fixture 37 includes: a first part positioning pin unit 3701 (with a servo mechanism, the position can be moved in the X direction and Z direction according to the vehicle model), a second part positioning pin unit 3702 (with a servo mechanism, the position can be moved in the X direction and Z direction according to the vehicle model), a first photoelectric sensor switch 3703, a first part upper support unit 3704 (with a servo mechanism, the position can be moved in the Y direction and Z direction according to the vehicle model), a second part upper support unit 3705 (with a servo mechanism, the position can be moved in the Y direction and Z direction according to the vehicle model), a second photoelectric sensor switch 3706 (with a bracket for identifying the part The parts are as follows: the first part has a Z-axis limit unit 3708 at the bottom (with a bracket), the first part has a Y-axis clamping unit 3709 at the bottom (with a cylinder, which can be turned over), the second part has a Z-axis limit unit 3710 at the bottom (with a bracket), the second part has a Y-axis clamping unit 3711 at the bottom (with a cylinder, which can be turned over), the third part has a Y-axis clamping unit 3712 at the bottom (with a cylinder, which can be turned over), and the third photoelectric sensor switch 3713 (with a bracket, installed on the first part locating pin unit 3701, which can change with the vehicle servo and can synchronously identify the vehicle type).

[0172] In one possible implementation, the controller can control the placement fixture 37 to drive the first part positioning pin unit 3701, the second part positioning pin unit 3702, the first part upper support unit 3704 and the second part upper support unit 3705 to move so that they reach positions that match the corresponding vehicle model.

[0173] At the same time, the first part lower Y-clamping unit 3709, the second part lower Y-clamping unit 3711, and the third part lower Y-clamping unit 3712 can be switched according to the specific needs of each project. These clamping units can be in the working position or flipped into a avoidance state to adapt to different working scenarios.

[0174] When the grasping robot grasps the part and transports it to the placement fixture and starts to fall, the first part lower Z-direction limit unit 3708 and the second part lower Z-direction limit unit 3710 can initially limit the part to prevent the part from deflecting too much during the falling process.

[0175] It should be noted that when subsequent parts reach the locating pins, the design of the locating pins can avoid the occurrence of deformed parts and accurately guide the parts to the correct position.

[0176] Once the part successfully descends and passes through the locating pins to reach the positioning portion, and contact sensor switch 3707 detects the part, the controller activates first photoelectric sensor switch 3703, second photoelectric sensor switch 3706, and third photoelectric sensor switch 3713. First photoelectric sensor switch 3703 assists in determining the left and right part information, second photoelectric sensor switch 3706 confirms the presence of the part, and third photoelectric sensor switch 3713 simultaneously identifies the vehicle model. After confirming the presence of the part, the correct left and right parts, and the correct vehicle model, the relevant signals are simultaneously transmitted to the lower-level robot, ensuring smooth execution of subsequent processes.

[0177] In some embodiments, as Figure 15 The figure shows a schematic diagram of a vehicle production process provided by this application.

[0178] In one possible implementation, the controller can send production queue information. The grasping robot can receive vehicle part information in the production queue information. The grasping robot can move to the storage location where the vehicle part is located. The gripper on the grasping robot can move toward the vehicle part and detect the distance to the vehicle part in real time, stopping movement after reaching the working distance of the camera device. The controller can obtain an image of the vehicle part captured by the camera device during the process of the grasping robot grasping the vehicle part, and determine correction information based on the template image. The controller can output the correction information. The grasping robot can correct the gripper posture based on the correction information. The gripper on the grasping robot can sense the part using a contact sensor switch. The gripper on the grasping robot can grasp the part after sensing the part. After grasping the part, the grasping robot can move to the placement position. The grasping robot can place the vehicle part on a placement fixture. The controller can control the placement fixture to perform the clamping action when the photoelectric sensor switch on the placement fixture is in the correct on / off state.

[0179] In one possible implementation, the position of the gripper on the gripping robot can be changed according to the type of vehicle part. The positioning pins and movable units of the placing fixture can also be changed according to the type of vehicle part.

[0180] In one possible implementation, an incoming parts automated call system can determine the number of parts in a warehouse. If the number of parts falls below a preset threshold, the PLC can send a signal to the logistics management system. The logistics management system can then send a shortage notification to the parts warehouse and issue delivery instructions.

[0181] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of method. In order to realize the above functions, the controller or electronic device includes a hardware structure and / or software module corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0182] In the embodiment of the present application, the controller or electronic device can be divided into functional modules according to the above method. For example, the controller or electronic device can include various functional modules corresponding to the functional divisions, or two or more functions can be integrated into one processing module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0183] Figure 16 FIG. 1 is a block diagram of a controller according to an exemplary embodiment. Figure 16 The controller includes: a determining unit 1601, a controlling unit 1602 and an acquiring unit 1603.

[0184] In one possible implementation, the determining unit 1601 is configured to determine a switch state of a photoelectric sensor switch provided on a placement fixture in response to a grasping robot on a vehicle production line grasping a vehicle part onto a placement fixture.

[0185] In a possible implementation, the determining unit 1601 is further configured to determine, based on the switch state, whether the type of the vehicle part is the type of vehicle part specified by the current grasping task.

[0186] In one possible implementation, the control unit 1602 is configured to stop the operation of the vehicle production line in response to determining that the type of the vehicle part is not the type of the vehicle part specified by the current grasping task.

[0187] In one possible implementation, the determining unit 1601 is specifically configured to: determine a target photoelectric sensor switch. In response to determining that a target photoelectric sensor switch is in an off state, or a photoelectric sensor switch other than the target photoelectric sensor switch is in an on state, determine that the type of the vehicle part is not the type of the vehicle part specified for the current grasping task.

[0188] In a possible implementation, the acquisition unit 1603 is configured to acquire an image of the vehicle part captured by a camera device during the process of the grasping robot grasping the vehicle part.

[0189] In a possible implementation, the determining unit 1601 is further configured to perform feature point comparison between the image and a template image corresponding to the vehicle part type specified by the current grasping task to obtain a feature point comparison result.

[0190] In one possible implementation, the control unit 1602 is further configured to stop the operation of the vehicle production line in response to a feature point comparison result indicating inconsistent features.

[0191] In one possible implementation, the determining unit 1601 is specifically configured to determine feature similarity between the image and a template image corresponding to the vehicle part type specified in the current grasping task, and determine that the feature point comparison result is feature inconsistency if the feature similarity is lower than a preset feature similarity threshold.

[0192] In one possible implementation, the control unit 1602 is further configured to issue an alarm for vehicle part error after stopping the operation of the vehicle production line.

[0193] In one possible implementation, the control unit 1602 is further configured to, after stopping the operation of the vehicle production line, start the operation of the vehicle production line in response to a first instruction from a staff member indicating that the vehicle part was not grasped incorrectly.

[0194] In one possible implementation, the control unit 1602 is further configured to control the grasping robot to put the vehicle part back to its original position in response to a second instruction from a staff member confirming that the vehicle part was grasped incorrectly after the vehicle production line is stopped.

[0195] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0196] Figure 17 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Figure 17 As shown, the electronic device includes but is not limited to: a processor 1701 and a memory 1702 .

[0197] The memory 1702 is used to store executable instructions of the processor 1701. It is understood that the processor 1701 is configured to execute instructions to implement the vehicle parts anti-wrong grasping method in the above embodiment.

[0198] It should be noted that those skilled in the art can understand that Figure 17 The electronic device structure shown in the figure does not limit the electronic device, and the electronic device may include Figure 17 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0199] The processor 1701 is the control center of the electronic device. It uses various interfaces and lines to connect the various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 1702 and calling data stored in the memory 1702, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 1701 may include one or more processing units. Optionally, the processor 1701 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly handles wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1701.

[0200] Memory 1702 can be used to store software programs and various data. Memory 1702 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and application programs required by at least one functional module (e.g., a determination unit, a processing unit, etc.). Furthermore, memory 1702 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0201] In an exemplary embodiment, a computer-readable storage medium including instructions is further provided, such as a memory 1702 including instructions. The above instructions can be executed by a processor 1701 of an electronic device to implement the method in the above embodiment.

[0202] In actual implementation, Figure 16 The functions of the determination unit 1601, the control unit 1602, and the acquisition unit 1603 can all be Figure 17 The processor 1701 in the embodiment calls the computer program stored in the memory 1702. The specific execution process can be referred to the description of the method part in the above embodiment, which will not be repeated here.

[0203] Alternatively, the computer-readable storage medium may be a non-transitory computer-readable storage medium, for example, the non-transitory computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc. In an exemplary embodiment, the present application also provides a computer program product comprising one or more instructions, which may be executed by the processor 1701 of the electronic device to perform the method in the above embodiment.

[0204] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device, the various processes of the above-mentioned method embodiment are implemented and the same technical effect as the above-mentioned method can be achieved. To avoid repetition, they will not be repeated here.

[0205] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0206] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only 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 device, 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 devices or units, which can be electrical, mechanical or other forms.

[0207] Units described as separate components may or may not be physically separate, and components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0208] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0209] If the 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 readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0210] An embodiment of the present application provides a computer program product comprising instructions. When the computer program product is run on a computer, the computer is caused to execute the vehicle parts anti-mis-grabbing method in the above method embodiment.

[0211] An embodiment of the present application also provides a computer-readable storage medium, which stores instructions. When the instructions are executed on a computer, the computer executes the vehicle parts anti-misgrabbing method in the method flow shown in the above method embodiment.

[0212] Wherein, computer readable storage medium, for example, can be but not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or components, or any combination thereof. More specific examples (non-exhaustive list) of computer readable storage medium include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, a register, a hard disk, an optical fiber, a portable compact disk read-only memory, an optical storage device, a magnetic storage device, or any suitable combination thereof, or any other form of computer readable storage medium well known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and can write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application-specific integrated circuit (ASIC). In an embodiment of the present application, the computer readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0213] Since the controller, computer-readable storage medium, and computer program product in the embodiments of the present application can be applied to the above-mentioned method, the technical effects that can be obtained can also refer to the above-mentioned method embodiments, and the embodiments of the present application will not be repeated here.

[0214] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any changes or replacements within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for preventing wrong grasping of vehicle parts, characterized in that: The method comprises: In response to a grasping robot on a vehicle production line grasping a vehicle part onto a placing fixture, determining a switch state of a photoelectric sensor switch provided on the placing fixture; determining, based on the switch state, whether the type of the vehicle part is the type of vehicle part specified by the current grasping task; In response to determining that the type of the vehicle part is not the type of vehicle part specified by the current grasping task, the operation of the vehicle production line is stopped.

2. The method for preventing wrong grasping of vehicle parts according to claim 2, characterized in that: The determining, based on the switch state, whether the type of the vehicle part is the type of vehicle part specified by the current grasping task includes: Determining target photoelectric sensor switches, wherein the target photoelectric sensor switches are multiple photoelectric sensor switches set for the vehicle part type specified by the current grasping task; In response to determining that there is a photoelectric sensor switch of the target photoelectric sensor switch whose switch state is off, or there is a photoelectric sensor switch other than the target photoelectric sensor switch whose switch state is on, it is determined that the type of the vehicle part is not the type of vehicle part specified by the current grasping task.

3. The method for preventing wrong grasping of vehicle parts according to claim 2, characterized in that: A plurality of photoelectric sensor switches provided for the vehicle part type specified in the current grasping task are located at different positions of the placing fixture; Each of the photoelectric sensing switches is turned on when the photoelectric sensing signal is consistent with the photoelectric sensing signal when a vehicle part of the vehicle part type is placed in a standard position.

4. The method for preventing wrong grasping of vehicle parts according to claim 1, characterized in that: A camera device is deployed on the grasping robot, and the method further includes: During the process of the grasping robot grasping the vehicle part, acquiring an image of the vehicle part captured by the camera device; Comparing feature points of the image with a template image corresponding to the vehicle part type specified by the current grasping task to obtain a feature point comparison result; In response to the feature point comparison result being inconsistent features, the operation of the vehicle production line is stopped.

5. The method for preventing wrong grasping of vehicle parts according to claim 4, characterized in that: The step of performing feature point comparison on the image and a template image corresponding to the vehicle part type specified by the current grasping task to obtain a feature point comparison result includes: determining feature similarity between the image and a template image corresponding to a vehicle part type specified by a current grasping task; When the feature similarity is lower than a preset feature similarity threshold, the feature point comparison result is determined to be feature inconsistency.

6. The method for preventing wrong grasping of vehicle parts according to claim 1, characterized in that: The method further comprises: After the operation of the vehicle production line is stopped, an alarm is issued for incorrectly picking up vehicle parts.

7. The method for preventing wrong grasping of vehicle parts according to claim 1, characterized in that: The method further comprises: After stopping the operation of the vehicle production line, in response to a first instruction from a worker indicating that the vehicle part is not grasped incorrectly, the operation of the vehicle production line is restarted.

8. The method for preventing wrong grasping of vehicle parts according to claim 1, characterized in that: The method further comprises: After stopping the operation of the vehicle production line, in response to a second instruction from a worker confirming that the vehicle part is grasped incorrectly, the grasping robot is controlled to put the vehicle part back to its original position.

9. A controller, characterized in that: The controller includes: a determination unit and a control unit; The determining unit is configured to determine a switch state of a photoelectric sensor switch provided on a placing fixture in response to a grasping robot on a vehicle production line grasping a vehicle part onto the placing fixture; The determining unit is further configured to determine, based on the switch state, whether the type of the vehicle part is the type of vehicle part specified by the current grasping task; The control unit is configured to stop the operation of the vehicle production line in response to determining that the type of the vehicle part is not the type of vehicle part specified by the current grasping task.

10. The controller according to claim 9, characterized in that The determining unit is specifically configured to: Determining target photoelectric sensor switches, wherein the target photoelectric sensor switches are multiple photoelectric sensor switches set for the vehicle part type specified by the current grasping task; In response to determining that there is a photoelectric sensor switch of the target photoelectric sensor switch whose switch state is off, or there is a photoelectric sensor switch other than the target photoelectric sensor switch whose switch state is on, it is determined that the type of the vehicle part is not the type of vehicle part specified by the current grasping task.

11. A vehicle parts anti-grabbing system, characterized in that: include: Controller, grabbing robot and placing fixture; the placing fixture is provided with a photoelectric sensor switch; The grasping robot is configured to grasp a vehicle part from a storage location of a vehicle part type specified by a current grasping task in response to a grasping instruction, and grasp the vehicle part onto the placing fixture; The controller is configured to execute the method according to any one of claims 1 to 8.

12. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to any one of claims 1 to 8.

Images