Multi-vehicle type automobile production line filling device and method

Abstract

The application provides a multi-vehicle type automobile production line filling device and method, wherein the device comprises: an oil product providing assembly and an oil product working assembly; the oil product providing assembly comprises: a track of a mobile filling machine moving in the same direction as a vehicle conveying belt and a mobile filling machine unit; the oil product working assembly comprises: a mechanical arm; the mobile filling machine unit is provided with a plurality of filling guns for filling different oil products respectively, the mobile filling machine unit is arranged on the track of the mobile filling machine and is used for moving along with the vehicle conveying belt under the driving of the track of the mobile filling machine; the mechanical arm is arranged on the mobile filling machine unit and is used for moving along with the vehicle conveying belt under the condition that the mobile filling machine unit moves along with the vehicle conveying belt; and the mechanical arm fills oil products into vehicles on the vehicle conveying belt by cooperating with different filling guns. The application can solve the technical problem of low efficiency of a mobile filling production line in the related art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle manufacturing, in particular to a multi-model automobile production line filling device and method. BACKGROUND

[0002] At present, in the vehicle filling system, manual filling still occupies the market mainstream, but because its essence is that a worker manually judges the oil in the corresponding oil canister of the corresponding vehicle, and then selects a filling assembly of the corresponding oil product to fill, which causes the filling speed to be unable to meet the high efficiency demand of the modern production line, especially in large-scale production, which becomes the main production bottleneck, and the manual filling is easily affected by various factors, or causes the filling accuracy to be insufficient, the oil filling to be wrong, and the like, and even affects the subsequent processing procedures of vehicle production, and the manual filling is difficult to realize real-time recording and tracing of filling data, which is not conducive to quality control and problem troubleshooting.

[0003] The vehicle filling system in the related art can only fill the vehicle by the filling robot after the vehicle to be filled is driven to the specified position and stopped by the automatic driving trolley, and then the trolley drives the vehicle to the next production process after the filling is completed. Because the filling robot is fixed in position and only one type of oil product can be filled by one type of filling robot, the production line has low self-adaptation and flexibility, and is suitable for single-model filling production line, and the scheme requires that the vehicle must reach the specified filling position and stop before filling, which cannot match the current mobile filling production line on the market, and reduces the production line work efficiency.

[0004] Therefore, the related art has the technical problem of low efficiency of the mobile filling production line. SUMMARY

[0005] The present application provides a multi-model automobile production line filling device and method to at least solve the technical problem of low efficiency of the mobile filling production line in the related art.

[0006] According to an aspect of an embodiment of the present application, a multi-model automobile production line filling device is provided, comprising: an oil product providing assembly and an oil product working assembly; the oil product providing assembly comprises: a following filling machine track moving in the same direction as a vehicle conveying belt, a following filling machine unit, and a filling gun lifting rack; the oil product working assembly comprises: a mechanical arm;

[0007] The following filling machine unit is provided with a plurality of filling guns for filling different oil products, respectively, and is arranged on the following filling machine track, and is used to move with the vehicle conveying belt under the driving of the following filling machine track;

[0008] The mechanical arm is arranged on the refueling machine unit, and moves along the vehicle conveyor belt when the refueling machine unit moves along the vehicle conveyor belt;

[0009] The mechanical arm fills oil into vehicles on the vehicle conveyor belt by cooperating with different refueling guns;

[0010] The refueling machine unit is provided with a liftable refueling gun lifting rack, and the refueling gun is detachably installed on the refueling gun lifting rack. The refueling gun moves downward in working and moves upward in non-working to be stored.

[0011] Optionally, the device as described above, the oil supply assembly further comprises an electrical cabinet and an oil basic unit;

[0012] The electrical cabinet and the oil basic unit are located on one side of the vehicle conveyor belt;

[0013] The electrical cabinet is in communication connection with the refueling machine unit and the mechanical arm, and is used for controlling the movement of the refueling machine unit and the mechanical arm;

[0014] The oil basic unit is used for supplying the oil to the refueling machine unit.

[0015] Optionally, the device as described above, the oil supply assembly further comprises a refueling gun lifting rack;

[0016] The refueling machine unit is provided with a liftable refueling gun lifting rack, and the refueling gun is detachably installed on the refueling gun lifting rack. The refueling gun moves downward in working and moves upward in non-working to be stored.

[0017] Optionally, the device as described above, the refueling gun lifting rack comprises a lifting rack track, a mechanical arm bearing frame and a mechanical arm fixing seat;

[0018] The mechanical arm fixing seat is arranged on the mechanical arm bearing frame, and is used for fixing the mechanical arm on the mechanical arm bearing frame;

[0019] The mechanical arm bearing frame is arranged on the lifting rack track, and is used for providing a support plane for the mechanical arm fixing seat;

[0020] The lifting rack track is connected with the refueling machine unit, and is used for lifting the refueling gun and the mechanical arm bearing frame.

[0021] Optionally, the device as described above, the refueling gun lifting rack further comprises a refueling gun rack;

[0022] The filling gun rack is fixed on the fixing frame inside the mechanical arm load-bearing frame, and is used to place three filling guns for filling three different oil products, wherein the three filling guns include a brake fluid filling gun, a cooling fluid filling gun and a refrigerant filling gun.

[0023] Optionally, the device as described above, the mechanical arm further comprises: a counterpart assembly; the counterpart assembly comprises: a camera support and an end connector;

[0024] The first end of the end connector is fixed on the mechanical arm, and the camera support is sleeved outside the end connector;

[0025] The camera support is used to fix an industrial camera, and is used to keep the shooting angle of the industrial camera always perpendicular to the object being shot;

[0026] The end of the end connector is used to be connected with the filling gun.

[0027] Optionally, the device as described above:

[0028] The end connector is in a cylindrical shape;

[0029] The end of the end connector is provided with a positioning pin and a positioning hole for positioning the filling gun, and a main connector for connecting with the end auxiliary connector of the filling gun;

[0030] The main connector is in a layered structure, and a pair of steel balls in telescopic cooperation are placed inside the main connector.

[0031] According to another aspect of the embodiments of the present application, a multi-vehicle-type automobile production line filling method is also provided, comprising:

[0032] Identifying a vehicle identity code of a target vehicle to be filled;

[0033] Based on the vehicle identity code, determining a first oil product to be filled by the target vehicle and a first oil pot opening corresponding to the first oil product, and determining a moving speed of a vehicle conveying belt where the target vehicle is located; based on the first oil pot opening, determining a target mechanical arm for filling, and based on the first oil product, determining a first filling gun to be matched by the target mechanical arm, and generating a first filling gun installation instruction; controlling the target mechanical arm to install the first filling gun according to the first filling gun installation instruction; based on the first oil pot opening corresponding to the first oil product and the moving speed, determining a first oil product filling instruction corresponding to the target mechanical arm; and controlling the target mechanical arm to fill the first oil product into the first oil pot opening through the first filling gun according to the moving speed and the first oil product filling instruction;

[0034] and / or determining, based on the vehicle identity code, a second oil product, a third oil product, a second oil filler opening corresponding to the second oil product, and a third oil filler opening corresponding to the third oil product, wherein the second oil filler opening and the third oil filler opening are located on the same side of the target vehicle; determining a specified oil product with a longer refueling time from among the second oil product and the third oil product; determining, based on the second oil filler opening and the third oil filler opening, a specified mechanical arm for refueling, and determining, based on the specified oil product, a second refueling gun to be matched by the specified mechanical arm, and generating a second refueling gun mounting instruction; controlling the specified mechanical arm to mount the second refueling gun according to the second refueling gun mounting instruction; determining, based on a specified oil filler opening corresponding to the specified oil product and the moving speed, a second oil product refueling instruction corresponding to the specified mechanical arm; controlling the specified mechanical arm to move at the moving speed and match the second refueling gun to the specified oil filler opening according to the second oil product refueling instruction, disconnecting the specified mechanical arm from the second refueling gun, and enabling the second refueling gun to start a refueling task; generating a third refueling gun mounting instruction for controlling the specified mechanical arm to mount a third refueling gun, wherein the third refueling gun is used to refuel a remaining oil product other than the specified oil product from among the second oil product and the third oil product; controlling the specified mechanical arm to mount the third refueling gun according to the third refueling gun mounting instruction; determining, based on a remaining oil filler opening corresponding to the remaining oil product and the moving speed, a third oil product refueling instruction corresponding to the specified mechanical arm; and controlling the specified mechanical arm to refuel the remaining oil product in the remaining oil filler opening through the third refueling gun at the moving speed according to the third oil product refueling instruction.

[0035] Optionally, in the method as described above, the determining, based on the first oil filler opening, a target mechanical arm for refueling, and determining, based on the first oil product, a first refueling gun to be matched by the target mechanical arm, and generating a first refueling gun mounting instruction, comprises:

[0036] determining, based on the first oil product and a first oil filler opening corresponding to the first oil product, that the target mechanical arm is located on the same side as the first oil filler opening;

[0037] determining, based on the first oil product, a first refueling gun suitable for the first oil filler opening;

[0038] generating a first refueling gun mounting instruction for controlling the target mechanical arm to mount the first refueling gun.

[0039] Optionally, in the method as described above, the controlling, according to the first refueling gun mounting instruction, the target mechanical arm to mount the first refueling gun, comprises:

[0040] obtaining image information by means of an industrial camera on the target robot arm, the industrial camera visually capturing the filling gun on the filling gun lifting rack corresponding to the target robot arm;

[0041] installing the first filling gun indicated by the first filling gun installation instruction on the target robot arm based on the image information and the first filling gun installation instruction.

[0042] Optionally, in the method described above, the first filling gun installation instruction is generated based on the first oil filler and the target robot arm corresponding to the first oil product, and the first filling gun installation instruction comprises:

[0043] obtaining a visual photograph of the filling gun lifting rack corresponding to the target robot arm by means of an industrial camera on the target robot arm, to obtain a photograph image;

[0044] determining the first filling gun on the filling gun lifting rack based on the first oil product and the photograph image, and generating the first filling gun installation instruction.

[0045] Optionally, in the method described above, the first oil product filling instruction corresponding to the target robot arm is determined based on the first oil filler corresponding to the first oil product and the moving speed, and the first oil product filling instruction comprises:

[0046] obtaining a target image by means of an industrial camera on the target robot arm, the target image visually capturing the first filling gun and the first oil filler;

[0047] judging a target relative position between the first oil filler and the first filling gun based on the target image;

[0048] determining the first oil product filling instruction based on the target relative position and the moving speed.

[0049] In the embodiment of the present application, the multi-vehicle type automobile production line filling device is provided, which comprises: an oil product providing assembly and an oil product working assembly; the oil product providing assembly comprises: a following filling machine track moving in the same direction with a vehicle conveying belt and a following filling machine unit; the oil product working assembly comprises: a mechanical arm; the following filling machine unit is provided with a plurality of filling guns for filling different oil products respectively, and the following filling machine unit is arranged on the following filling machine track and moves along with the vehicle conveying belt under the driving of the following filling machine track; the mechanical arm is arranged on the following filling machine unit and moves along with the vehicle conveying belt when the following filling machine unit moves along with the vehicle conveying belt; and the mechanical arm fills oil products into vehicles on the vehicle conveying belt by cooperating with different filling guns. Since the mechanical arm fills oil products into vehicles on the vehicle conveying belt by cooperating with different filling guns, the mechanical arm can be used for filling different oil products, and the mechanical arm can fill oil products into vehicles on the vehicle conveying belt during movement, so that the technical effect of effectively improving the oil product filling efficiency of vehicles on the vehicle conveying belt during movement is achieved, and the technical problem of low efficiency of the moving filling production line in the related art is solved. BRIEF DESCRIPTION OF DRAWINGS

[0050] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and serve to explain the principles of the present application together with the specification.

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0052] Figure 1 is a whole structure front view of an optional multi-vehicle type automobile production line filling device according to an embodiment of the present application;

[0053] Figure 2 is a whole structure front view of an optional multi-vehicle type automobile production line filling device according to an embodiment of the present application;

[0054] Figure 3 is a whole structure side view of an optional multi-vehicle type automobile production line filling device according to an embodiment of the present application;

[0055] Figure 4 is a structure schematic view of another optional gun body lifting and placing rack according to an embodiment of the present application;

[0056] Figure 5is an optional mechanical arm and filling gun cooperation to complete the explosion schematic diagram according to the embodiment of the application;

[0057] Figure 6 is an optional end connector structure schematic diagram according to the embodiment of the application;

[0058] Figure 7 is an optional multi-vehicle type automobile production line filling method method flow schematic diagram according to the embodiment of the application. DETAILED DESCRIPTION

[0059] In order to make the person skilled in the art better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor should be within the scope of protection of the present application.

[0060] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0061] As Figures 1 to 3 and Figure 5 shown, the multi-vehicle type automobile production line filling device provided by the embodiment of the present application comprises: an oil product providing assembly and an oil product working assembly; the oil product providing assembly comprises: a follow-up filling machine track 11 moving in the same direction as the vehicle conveying belt and a follow-up filling machine unit 6; the oil product working assembly comprises: a mechanical arm 10;

[0062] The follow-up filling machine unit 6 is provided with a plurality of filling guns 21 respectively used for filling different oil products, and the follow-up filling machine unit 6 is arranged on the follow-up filling machine track 11 and used for moving along with the vehicle conveying belt 8 under the driving of the follow-up filling machine track 11;

[0063] The mechanical arm 10 is arranged on the follow-up filling machine unit 6 and used for moving along with the vehicle conveying belt 8 under the condition that the follow-up filling machine unit 6 moves along with the vehicle conveying belt 8.

[0064] The mechanical arm 10 cooperates with different filling guns 21 to fill oil products into the vehicles 7 on the vehicle conveying belt 8.

[0065] Specifically, the oil product providing assembly and the oil product working assembly can be arranged on one side or both sides of the vehicle conveying belt 8, and the number of the oil product providing assembly and the oil product working assembly can be set according to the number of the oil filler openings on the vehicles 7. Alternatively, the number of the oil product working assembly can be greater than or equal to the number of the oil filler openings on the vehicles 7, so that multiple oil filler openings can be filled at the same time. The number of the oil product working assembly can also be two, which are arranged on the left and right sides of the vehicle conveying belt 8, respectively, to fill oil products into the oil filler openings on the left and right sides of the vehicles 7, respectively. The number of the oil product providing assembly can be set in the following ways: one oil product providing assembly corresponds to one oil product working assembly; or one oil product providing assembly corresponds to multiple oil product working assemblies, as long as the multiple oil product working assemblies can obtain the required filling guns 21 from the same oil product providing assembly.

[0066] The mechanical arm 10 is arranged on the mobile filling machine unit 6, which can move synchronously with the vehicle conveying belt 8, so that the mechanical arm 10 can move with the vehicle conveying belt 8 under the drive of the mobile filling machine unit 6.

[0067] The mobile filling machine unit 6 is arranged on the mobile filling machine track 11 and is used to move with the vehicle conveying belt 8 under the drive of the mobile filling machine track 11, so that the mechanical arm 10 can obtain the filling guns 21 from the mobile filling machine unit 6 during movement.

[0068] The mechanical arm 10 cooperates with different filling guns 21 obtained from the mobile filling machine unit 6, so as to fill different oil products into the vehicles 7 on the vehicle conveying belt 8.

[0069] Further, the load-bearing I-beam 9 is arranged above the vehicle conveying belt 8 by being fixed on the main girder 1, and the mobile filling machine track 11 is arranged on the side of the load-bearing I-beam 9 facing the main girder 1, so that the mobile filling machine unit 6 can move above the vehicle conveying belt 8. Preferably, one mobile filling machine unit 6 is arranged on each of the left and right sides above the vehicle conveying belt 8, so as to fill the oil filler openings on the left and right sides of the vehicles 7 at the same time.

[0070] In this embodiment, the provided multi-model automobile production line refueling device includes: an oil supply component and an oil working component; the oil supply component includes: a traveling refueling machine track 11 that moves in the same direction as the vehicle conveyor belt and a traveling refueling machine unit 6; the oil working component includes: a robotic arm 10; the traveling refueling machine unit 6 is provided with multiple refueling guns 21 for refueling different types of oil, the traveling refueling machine unit 6 is disposed on the traveling refueling machine track 11, and is used to move along with the vehicle conveyor belt 8 under the drive of the traveling refueling machine track 11; the robotic arm 10 is disposed on the traveling refueling machine unit 6, and is used to move along with the vehicle conveyor belt 8 when the traveling refueling machine unit 6 moves along with the vehicle conveyor belt; the robotic arm 10 refuels the vehicles 7 on the vehicle conveyor belt 8 by cooperating with different refueling guns 21. Since the robotic arm 10 cooperates with different filling guns 21 to fill oil into vehicles 7 on the vehicle conveyor belt 8, it can be used for filling different types of oil and can fill oil into vehicles 7 on the vehicle conveyor belt 8 while they are moving. This achieves the technical effect of effectively improving the oil filling efficiency of vehicles 7 on the vehicle conveyor belt 8, and thus solves the technical problem of low efficiency of mobile filling production lines in related technologies.

[0071] like Figures 1 to 3 As shown, as an optional implementation, the oil supply component of the aforementioned device further includes an electrical cabinet 3 and an oil basic unit 2.

[0072] Electrical cabinet 3 and oil basic unit 2 are located on one side of vehicle conveyor belt 8;

[0073] The electrical cabinet 3 is communicatively connected to the accompanying refueling unit 6 and the robotic arm 10, and is used to control the movement of the accompanying refueling unit 6 and the robotic arm 10;

[0074] The basic oil supply unit 2 is used to supply oil to the accompanying refueling unit 6.

[0075] Furthermore, the basic oil supply unit 2 and the electrical cabinet 3 are also mounted on a second-floor platform 4 constructed from the main beam 1 on one side of the vehicle conveyor belt 8. This allows for communication between the electrical cabinet 3 and the accompanying refueling unit 6 and the robotic arm 10, enabling control of their movement. The basic oil supply unit 2 also supplies / replenishes oil to the accompanying refueling unit 6.

[0076] like Figure 4 As shown, as an optional implementation, the oil supply component further includes, as described above, a filling gun lifting and placement rack 5;

[0077] The accompanying refueling unit 6 is equipped with a height-adjustable refueling gun lifting and placement frame 5. A refueling gun 21 is detachably mounted on the refueling gun lifting and placement frame 5. The refueling gun 21 moves downward during operation and moves upward when not in operation for storage, driven by the refueling gun lifting and placement frame 5. When in operation, the refueling gun lifting and placement frame 5 will lower to a suitable height, thereby facilitating the coordination and placement of the refueling gun 21 by the robotic arm 10.

[0078] Furthermore, each accompanying refueling unit 6 moves synchronously with the vehicle 7 to be refueled on the accompanying refueling machine track 11. Each accompanying refueling unit 6 can be equipped with a refueling gun lifting and placement frame 5. Each refueling gun lifting and placement frame 5 can be equipped with three types of refueling guns 21 for refueling different types of oil. When working, the refueling gun lifting and placement frame 5 is lowered to cooperate with the robotic arm 10 so that the robotic arm 10 can pick up and put down the refueling guns 21. When not working, it is raised to store and protect the gun body of the refueling gun 21 from being bumped by the robotic arm 10 or the vehicle 7.

[0079] like Figure 4 As shown, as an optional implementation, the device described above includes: a lifting frame 5 for the filling gun, a lifting frame 12, a robotic arm load-bearing frame 14, and a robotic arm mounting base 15.

[0080] The robotic arm mounting base 15 is provided on the robotic arm load-bearing frame 14 and is used to fix the robotic arm 10 on the robotic arm load-bearing frame 14.

[0081] The robotic arm load-bearing frame 14 is mounted on the lifting frame track 12 to provide a support plane for the robotic arm fixed seat 15;

[0082] The lifting frame track 12 is connected to the accompanying dispensing machine unit 6 and is used to lift the dispensing gun 21 and the mechanical arm load-bearing frame 14.

[0083] like Figure 4 As shown, as an optional implementation, the device described above, the refueling gun lifting and placing rack 5 further includes: a refueling gun holder 17;

[0084] The gun holder 17 is fixed on a fixed frame inside the mechanical arm load-bearing frame 14, and is used to hold three guns 21 for dispensing three different types of oil. The three guns 21 include: brake fluid gun 13, coolant gun 20 and refrigerant gun 19.

[0085] A collision-resistant connecting frame 18 can be provided below the dispensing gun holder 17, and the collision-resistant connecting frame 18 is fixed to a fixed frame located inside the robotic arm load-bearing frame 14. The robotic arm load-bearing frame 14 can be interconnected with the internal fixed frame through frame connectors 16, and the internal fixed frame is interconnected with the lifting frame track 12, thereby achieving the purpose of fixing the robotic arm load-bearing frame 14 on the lifting frame track 12, and forming a platform extending horizontally towards the vehicle conveyor belt 8. That is to say, the robotic arm load-bearing frame 14 is used to provide a support plane for the robotic arm mounting base 15, and preferably, the structure of the robotic arm load-bearing frame 14 is sufficient to support the weight of the entire robotic arm 10 and the impact caused by its movement. The robotic arm mounting base 15 is fixedly mounted on the robotic arm load-bearing frame 14. The lifting frame track 12 is connected to the accompanying dispensing machine unit 6, so that when the accompanying dispensing machine unit 6 moves in parallel with the vehicle conveyor belt 8, the lifting frame track 12 also moves accordingly, and the dispensing gun 21 and the robotic arm 10 to be connected can also move with the vehicle conveyor belt 8.

[0086] like Figure 5 and Figure 6 As shown, as an optional implementation, the robotic arm further includes a mating assembly; the mating assembly includes a camera bracket 23 and an end connector 24; the head end of the end connector 24 is fixed to the robotic arm 10, and the camera bracket 23 is sleeved on the outside of the end connector 24; the camera bracket 23 is used to fix the industrial camera 22 and to keep the downward shooting angle of the industrial camera 22 always perpendicular to the object being photographed; the end of the end connector 24 is used to connect with the dispensing gun 21. The end connector 24 is cylindrical; the end of the end connector 24 is provided with a positioning pin 26 and a positioning hole 25 for positioning with the dispensing gun 21, and a main connector 28 for connecting and mating with the end sub-interface of the dispensing gun 21; the main connector 28 has a layered structure, and a telescopic mating steel ball 27 is placed inside. That is to say, the camera bracket 23 can be sleeved on the end connector 24, so that after the dispensing gun 21 is connected to the robotic arm 10, the camera bracket 23 is located between the dispensing gun 21 and the end connector 24.

[0087] According to another aspect of the embodiments of this application, such as Figure 7 As shown, a method for filling multiple vehicle models in an automotive production line, applied to the aforementioned electrical cabinet, is provided. The provided method includes the following steps:

[0088] Step S701: Identify the vehicle identification code of the target vehicle to be refueled.

[0089] Specifically, vehicle identification codes can be obtained by visually recognizing vehicle information or manually scanning the vehicle identification code.

[0090] Step S702: Based on the vehicle identification code, determine the first type of oil to be added to the target vehicle and the first oil can opening corresponding to the first type of oil, and determine the speed of the vehicle conveyor belt where the target vehicle is located.

[0091] Specifically, steps S702 to S706 involve a robotic arm filling an oil can. After obtaining the vehicle identification code, it can be determined whether the target vehicle has been registered. If so, the subsequent steps are executed; otherwise, the target vehicle can enter the production line where oil is manually filled.

[0092] In this embodiment, the type of oil that the target vehicle needs to be filled and the information of the oil can opening corresponding to the oil (including the type and location of the oil can opening) can be determined based on the vehicle identification code, and the speed of the vehicle conveyor belt can be determined in real time.

[0093] Step S703: Based on the first oil can opening, determine the target robotic arm for refueling, and based on the first oil type, determine the first refueling gun that the target robotic arm needs to cooperate with, and generate the first refueling gun installation command.

[0094] After determining the type of oil, since different types of oil require different filling guns and different oil can openings are located on different sides of the vehicle, the target robotic arm for filling can be determined based on the first oil can opening, and the first filling gun that the target robotic arm needs to cooperate with can be determined based on the type of oil. Then, a first filling gun installation command is generated to control the target robotic arm to install the first filling gun.

[0095] Step S704: Control the target robotic arm to install the first refueling gun according to the first refueling gun installation command.

[0096] After generating the first refueling gun installation command, the target robotic arm can be controlled in real time according to the first refueling gun installation command so that it can install the first refueling gun.

[0097] Step S705: Based on the first oil can opening corresponding to the first oil product and the moving speed, determine the first oil product filling command corresponding to the target robotic arm.

[0098] After the first refueling gun is installed on the target robotic arm, the first type of oil can be refueled through the target robotic arm. Then, it is necessary to determine the refueling position corresponding to the first refueling gun based on the first oil can opening corresponding to the first type of oil, and determine the robotic arm movement speed corresponding to the target robotic arm based on the movement speed (the robotic arm movement speed is the same as the vehicle conveyor belt movement speed). Thus, the first type of oil refueling command can be obtained based on the refueling position and the target robotic arm movement speed.

[0099] Step S706: According to the first oil filling command, control the target robotic arm to fill the first oil can with the first oil by moving at a certain speed and through the first filling gun.

[0100] After receiving the first oil filling command, the target robotic arm can be controlled to move at the speed indicated by the first oil filling command and to fill the first oil can with the first oil through the first filling gun.

[0101] As an optional implementation, the method described above further includes the following steps:

[0102] Step S707: Based on the vehicle identification code, determine the second type of fuel to be added to the target vehicle, the third type of fuel, the second fuel nozzle corresponding to the second type of fuel, and the third fuel nozzle corresponding to the third type of fuel, wherein the second fuel nozzle and the third fuel nozzle are located on the same side of the target vehicle.

[0103] Specifically, steps S707 to S716 are implemented by using a robotic arm to fill the two oil cans.

[0104] Step S708: Identify the designated oil product with a longer filling time among the second and third oil products.

[0105] Step S709: Based on the second and third oil can openings, determine the designated robotic arm for refueling, and based on the designated oil type, determine the second refueling gun that the designated robotic arm needs to cooperate with, and generate a second refueling gun installation command. The designated robotic arm can be a robotic arm on the other side of the target robotic arm.

[0106] Step S710: Control the designated robotic arm to install the second refueling gun according to the second refueling gun installation command.

[0107] Step S711: Based on the specified oil can opening and movement speed corresponding to the specified oil type, determine the second oil filling command corresponding to the specified robotic arm.

[0108] In step S712, according to the second oil filling command, the designated robotic arm is controlled to move at a certain speed to align the second filling gun with the designated oil can opening. Then, the connection between the designated robotic arm and the second filling gun is disconnected, and the second filling gun begins the filling task. This speed is also the speed of the vehicle conveyor belt where the target vehicle is located.

[0109] Step S713: Generate a third refueling gun installation command for controlling the designated robotic arm to install the third refueling gun, wherein the third refueling gun is a refueling gun used to refuel the second oil and the remaining oil in the third oil excluding the designated oil.

[0110] Step S714: Control the designated robotic arm to install the third refueling gun according to the third refueling gun installation command.

[0111] Step S715: Based on the remaining oil nozzle and movement speed corresponding to the remaining oil, determine the third oil filling command corresponding to the designated robotic arm.

[0112] Step S716: According to the third oil filling instruction, control the designated robotic arm to fill the remaining oil into the remaining oil can through the third filling gun at the specified speed.

[0113] In other words, when two types of oil need to be refilled on the same side, in this embodiment, the oil with the longer refilling time between the second and third oil types is prioritized for refilling. A visual overhead view of the refilling gun's lifting and placing frame is used to complete the first engagement between the designated robotic arm and the second refilling gun based on the second refilling gun installation command, thus installing the second refilling gun on the designated robotic arm. Then, the second refilling gun can be used to refill the designated oil reservoir opening. The designated robotic arm, carrying the second refilling gun, performs a visual overhead view of the designated oil reservoir opening and, by determining the specific position of the designated oil reservoir opening in real time, completes the second engagement between the designated oil reservoir opening and the second refilling gun. Simultaneously, the engagement between the designated robotic arm and the second refilling gun is disconnected, and the second refilling gun begins its refilling task. The designated robotic arm can record the allocated oil information and generate a third refueling gun installation command to control the installation of the third refueling gun. It can perform a visual overhead view of the refueling gun lifting and placement frame, and based on the third refueling gun installation command, complete the third coordination between the designated robotic arm and the third refueling gun to install the third refueling gun on the designated robotic arm. The designated robotic arm, carrying the third refueling gun, performs a visual overhead view of the remaining oil can opening corresponding to the remaining oil, determines the specific position of the remaining oil can opening, completes the coordination between the remaining oil can opening and the third refueling gun, and begins the refueling task for the remaining oil. During this process, the designated robotic arm remains connected to the third refueling gun. Furthermore, after the remaining oil is dispensed, the designated robotic arm disconnects the remaining oil can opening from the third dispensing gun and brings the third dispensing gun back to its designated dispensing gun lifting and placement rack. After the second dispensing gun completes its dispensing task, the designated robotic arm takes a visual overhead view of the working area of ​​the second dispensing gun and, through cooperation with the second dispensing gun, reinstalls the second dispensing gun onto the designated robotic arm and brings it back to its designated dispensing gun lifting and placement rack.

[0114] As an optional implementation, the aforementioned method can be implemented through the following steps: Step S703: Based on the first oil can opening, determine the target robotic arm for refueling; based on the first oil type, determine the first refueling gun that the target robotic arm needs to cooperate with; and generate a first refueling gun installation command.

[0115] Based on the first type of oil and the corresponding first oil can opening, a target robotic arm located on the same side as the first oil can opening is identified. Based on the first type of oil, a first dispensing gun suitable for the first oil can opening is identified. A first dispensing gun installation command is generated to control the target robotic arm to install the first dispensing gun. In other words, based on the first type of oil and the corresponding first oil can opening, it is determined that a target robotic arm located on the same side of the vehicle conveyor belt as the first oil can opening needs to be positioned on a dispensing gun lifting and placing rack connected to the target robotic arm. A first dispensing gun installation command is then generated to control the target robotic arm to install the first dispensing gun.

[0116] As an optional implementation, the method described above can be implemented by controlling the target robotic arm to install the first dispensing gun according to the first dispensing gun installation command through the following steps: A visual overhead image is taken of the dispensing gun on the corresponding dispensing gun lifting and placement frame of the target robotic arm using an industrial camera to obtain image information; based on the image information and the first dispensing gun installation command, the first dispensing gun indicated by the dispensing gun installation command is installed on the target robotic arm. In other words, a visual overhead image is taken of the dispensing gun on the dispensing gun lifting and placement frame using an industrial camera to obtain image information, and then the first dispensing gun indicated by the image information and the first dispensing gun installation command are installed on the target robotic arm according to the position of the first dispensing gun indicated by the image information and the first dispensing gun installation command.

[0117] As an optional implementation, the aforementioned process of determining the target robotic arm for refueling based on the first oil can opening, determining the first refueling gun that the target robotic arm needs to cooperate with based on the first type of oil, and generating a first refueling gun installation instruction can be achieved through the following steps: using an industrial camera on the target robotic arm to take a visual overhead view of the refueling gun lifting and placement frame corresponding to the target robotic arm, obtaining an overhead image; based on the first type of oil and the overhead image, determining the first refueling gun on the refueling gun lifting and placement frame, and generating a first refueling gun installation instruction. In other words, when determining the first refueling gun installation instruction, an overhead view of the refueling gun lifting and placement frame can be taken using an industrial camera. This overhead image can be used to determine the refueling gun lifting and placement frame and the relative positional relationship between each refueling gun on the refueling gun lifting and placement frame and the target robotic arm, as well as the type of oil that each refueling gun is used to refuel, thereby determining the first refueling gun on the refueling gun lifting and placement frame, and then generating the first refueling gun installation instruction based on the relative positional relationship.

[0118] As an optional implementation, the aforementioned determination of the first oil filling command corresponding to the target robotic arm based on the first oil can nozzle and the movement speed of the first oil product can be achieved through the following steps: taking a top-down visual image of the first filling gun and the first oil can nozzle using an industrial camera on the target robotic arm; determining the target relative position between the first oil can nozzle and the first filling gun based on the target image; and determining the first oil filling command according to the target relative position and the movement speed. In other words, when determining the first oil filling command, a top-down visual image of the first filling gun and the first oil can nozzle can be taken using an industrial camera. This target image can be used to determine the target relative position between the first oil can nozzle and the first filling gun, thereby generating the first oil filling command based on the target relative position relationship.

[0119] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0120] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM (Read-Only Memory) / RAM (Random Access Memory), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0121] According to another aspect of the embodiments of this application, a multi-model automobile production line filling device for implementing the above-described multi-model automobile production line filling method is also provided. The device may include:

[0122] The identification module is used to identify the vehicle identification code of the target vehicle to be refueled.

[0123] The first determining module is used to determine the first type of oil to be added to the target vehicle and the first oil can opening corresponding to the first type of oil based on the vehicle identification code, and to determine the moving speed of the vehicle conveyor belt where the target vehicle is located.

[0124] The generation module is used to determine the target robotic arm for refueling based on the first oil can opening, and to determine the first refueling gun that the target robotic arm needs to cooperate with based on the first oil product, and to generate the first refueling gun installation command.

[0125] The installation module is used to control the target robotic arm to install the first refueling gun according to the first refueling gun installation command.

[0126] The second determining module is used to determine the first oil filling command corresponding to the target robotic arm based on the first oil can opening corresponding to the first oil product and the moving speed.

[0127] The refueling module is used to control the target robotic arm to refuel the first oil product into the first oil can through the first refueling gun according to the first oil product refueling command, according to the moving speed.

[0128] It should be noted that the identification module in this embodiment can be used to perform the above step S701, the first determination module in this embodiment can be used to perform the above step S702, the generation module in this embodiment can be used to perform the above step S703, the installation module in this embodiment can be used to perform the above step S704, the second determination module in this embodiment can be used to perform the above step S705, and the refilling module in this embodiment can be used to perform the above step S706.

[0129] In addition to the modules described above, the apparatus in this embodiment may also include modules that perform any method as described in any of the embodiments of the multi-model automobile production line filling method.

[0130] It should be noted that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the content disclosed in the above embodiments. It should also be noted that the above modules, as part of the device, can run in the hardware environment implementing the above multi-model automobile production line filling method. They can be implemented through software or hardware, where the hardware environment includes a network environment.

[0131] According to another aspect of the embodiments of this application, an electronic device for implementing the above-described multi-model automobile production line filling method is also provided. The electronic device may be a server, a terminal, or a combination thereof.

[0132] According to another embodiment of this application, an electronic device is also provided, which may include: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus.

[0133] Memory, used to store computer programs;

[0134] When a processor executes a program stored in memory, it performs steps including but not limited to the following:

[0135] Step S701: Identify the vehicle identification code of the target vehicle to be refueled.

[0136] Step S702: Based on the vehicle identification code, determine the first type of oil to be added to the target vehicle and the first oil can opening corresponding to the first type of oil, and determine the speed of the vehicle conveyor belt where the target vehicle is located.

[0137] Step S703: Based on the first oil can opening, determine the target robotic arm for refueling, and based on the first oil type, determine the first refueling gun that the target robotic arm needs to cooperate with, and generate the first refueling gun installation command.

[0138] Step S704: Control the target robotic arm to install the first refueling gun according to the first refueling gun installation command.

[0139] Step S705: Based on the first oil can opening corresponding to the first oil product and the moving speed, determine the first oil product filling command corresponding to the target robotic arm.

[0140] Step S706: According to the first oil filling command, control the target robotic arm to fill the first oil can with the first oil by moving at a certain speed and through the first filling gun.

[0141] Optionally, in this embodiment, the communication bus can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. 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 to represent it in the figure, but this does not mean that there is only one bus or one type of bus. The communication interface is used for communication between the aforementioned electronic device and other devices.

[0142] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0143] As an example, the aforementioned memory may include, but is not limited to, the identification module, first determination module, generation module, installation module, second determination module, and dispensing module of the aforementioned multi-model automobile production line dispensing device. Furthermore, it may include, but is not limited to, other module units in the aforementioned multi-model automobile production line dispensing device, which will not be elaborated upon in this example.

[0144] The processor mentioned above can be a general-purpose processor, including but not limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; it can also be DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0145] This application also provides a computer-readable storage medium, which includes a stored program, wherein the program executes the method steps of the above method embodiments when it runs.

[0146] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, ROMs, RAMs, portable hard drives, magnetic disks, or optical disks.

[0147] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0148] If the integrated units in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, 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. This computer software product is stored in a storage medium and includes several instructions to cause one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0149] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0150] In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0151] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the solution provided in this embodiment, depending on actual needs.

[0152] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0153] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A filling device for a multi-model automobile production line, characterized in that, include: Oil supply components and oil working components; The oil supply assembly includes: a traveling refueling machine track that moves in the same direction as the vehicle conveyor belt, a traveling refueling machine unit, and a refueling gun lifting and placement frame; the oil working assembly includes: a robotic arm; the oil supply assembly also includes: an electrical cabinet; The accompanying refueling unit is equipped with multiple refueling guns for refueling different types of oil. The accompanying refueling unit is arranged on the accompanying refueling track and is used to move along with the vehicle conveyor belt under the drive of the accompanying refueling track. The robotic arm is mounted on the accompanying refueling unit and is used to move along with the vehicle conveyor belt when the accompanying refueling unit moves along with the vehicle conveyor belt. The robotic arm, in conjunction with different refueling guns, refuels vehicles on the vehicle conveyor belt. The accompanying refueling unit is equipped with a height-adjustable refueling gun lifting and placement frame. The refueling gun is detachably installed on the refueling gun lifting and placement frame. The refueling gun moves downward when working and moves upward when not working, driven by the refueling gun lifting and placement frame, for storage. The electrical cabinet is located on one side of the vehicle conveyor belt. The electrical cabinet is communicatively connected to the accompanying refueling unit and the robotic arm, and is used to control the movement of the accompanying refueling unit and the robotic arm. The electrical cabinet performs the following steps: identifying the vehicle identification code of the target vehicle to be refueled; determining the first type of fuel to be refueled and the first fuel can opening corresponding to the first type of fuel based on the vehicle identification code, and determining the speed of the vehicle conveyor belt where the target vehicle is located; determining the target robotic arm for refueling based on the first fuel can opening, and determining the first refueling gun that the target robotic arm needs to cooperate with based on the first type of fuel, generating a first refueling gun installation instruction; and installing the first refueling gun accordingly. The command controls the target robotic arm to install the first refueling gun; based on the first oil nozzle corresponding to the first oil product and the movement speed, a first oil product refueling command corresponding to the target robotic arm is determined; according to the first oil product refueling command, the target robotic arm is controlled to refuel the first oil product to the first oil nozzle at the movement speed and through the first refueling gun; based on the vehicle identification code, the second oil product to be refueled, the third oil product, the second oil nozzle corresponding to the second oil product, and the third oil nozzle corresponding to the third oil product are determined, wherein the second oil nozzle and the third oil nozzle are located on the same side of the target vehicle; the second oil product and the third oil nozzle are determined. The specified oil has the longest filling time among the three oil types; based on the second and third oil reservoir openings, a specified robotic arm for filling is determined, and based on the specified oil type, a second filling gun that the specified robotic arm needs to cooperate with is determined, generating a second filling gun installation command; the specified robotic arm is controlled to install the second filling gun according to the second filling gun installation command; based on the specified oil reservoir opening corresponding to the specified oil type and the movement speed, a second oil filling command corresponding to the specified robotic arm is determined; according to the second oil filling command, the specified robotic arm is controlled to cooperate with the second filling gun at the specified oil reservoir opening according to the movement speed, and then the connection between the specified robotic arm and the second filling gun is disconnected. The system coordinates and initiates the second refueling gun's refueling task; generates a third refueling gun installation command to control the designated robotic arm to install the third refueling gun, wherein the third refueling gun is a refueling gun used to refuel the second oil product and the remaining oil products in the third oil product excluding the designated oil product; controls the designated robotic arm to install the third refueling gun according to the third refueling gun installation command; determines the third oil product refueling command corresponding to the designated robotic arm based on the remaining oil nozzle corresponding to the remaining oil product and the movement speed; controls the designated robotic arm to refuel the remaining oil product through the remaining oil nozzle at the movement speed according to the third oil product refueling command.

2. The apparatus according to claim 1, characterized in that, The oil supply component also includes: an oil basic unit; The basic oil product unit is located on one side of the vehicle conveyor belt; The basic oil unit is used to supply the oil to the accompanying refueling unit.

3. The apparatus according to claim 1, characterized in that, The refueling gun lifting and placement frame includes: a lifting frame track, a robotic arm load-bearing frame, and a robotic arm fixing seat; The robotic arm mounting base is disposed on the robotic arm load-bearing frame and is used to fix the robotic arm on the robotic arm load-bearing frame; The load-bearing frame of the robotic arm is mounted on the lifting frame track and is used to provide a support plane for the fixed seat of the robotic arm. The lifting frame track is connected to the accompanying dispensing machine unit and is used to lift the dispensing gun and the mechanical arm load-bearing frame.

4. The apparatus according to claim 3, characterized in that, The refueling gun lifting and placement rack also includes: a refueling gun holder; The gun holder is fixed on a fixed frame inside the load-bearing frame of the robotic arm, and is used to hold three guns for dispensing three different types of oil, namely: a brake fluid gun, a coolant gun, and a refrigerant gun.

5. The apparatus according to claim 1, characterized in that, The robotic arm further includes a pairing assembly; the pairing assembly includes a camera bracket and an end connector. The first end of the end connector is fixed on the robotic arm, and the camera bracket is sleeved on the outside of the end connector; The camera bracket is used to fix the industrial camera and to keep the downward shooting angle of the industrial camera perpendicular to the object being photographed. The end of the end connector is used to connect with the filling gun.

6. The apparatus according to claim 5, characterized in that: The end connector is cylindrical in shape; The end of the end connector is provided with a positioning pin and a positioning hole for positioning with the filling gun, and a main connector for connecting and engaging with the end sub-interface of the filling gun. The main connector has a layered structure, with paired steel balls that expand and contract inside.

7. A method for filling parts on a multi-model automobile production line, characterized in that, include: Identify the vehicle identification number of the target vehicle to be refueled; Based on the vehicle identification code, the first type of oil to be added to the target vehicle and the first oil can opening corresponding to the first type of oil are determined, and the speed of the vehicle conveyor belt where the target vehicle is located is determined. Based on the first oil can opening, a target robotic arm for refueling is determined, and based on the first type of oil, a first refueling gun that the target robotic arm needs to cooperate with is determined, generating a first refueling gun installation command; the target robotic arm is controlled to install the first refueling gun according to the first refueling gun installation command; based on the first oil can opening corresponding to the first type of oil and the movement speed, a first oil refueling command corresponding to the target robotic arm is determined; the target robotic arm is controlled to refuel the first type of oil into the first oil can opening according to the first oil refueling command, at the movement speed and through the first refueling gun; Based on the vehicle identification code, the target vehicle is identified with a second type of fuel, a third type of fuel, a second fuel inlet corresponding to the second type of fuel, and a third fuel inlet corresponding to the third type of fuel, wherein the second and third fuel inlets are located on the same side of the target vehicle. A designated fuel with a longer filling time is selected from the second and third types of fuel. A designated robotic arm for filling is determined based on the second and third fuel inlets, and a second filling gun that the designated robotic arm needs to work with is determined based on the designated fuel, generating a second filling gun installation command. The designated robotic arm is controlled to install the second filling gun according to the second filling gun installation command. Based on the designated fuel inlet corresponding to the designated fuel and the movement speed, a second fuel filling command corresponding to the designated robotic arm is determined. The robotic arm is controlled according to the second fuel filling command. The system controls the designated robotic arm to align the second dispensing gun with the designated oil reservoir opening according to the specified movement speed. Then, it disconnects the connection between the designated robotic arm and the second dispensing gun, and initiates the dispensing task with the second dispensing gun. A third dispensing gun installation command is generated to control the designated robotic arm to install the third dispensing gun, wherein the third dispensing gun is used to dispense the second oil product and the remaining oil products other than the specified oil product. The system controls the designated robotic arm to install the third dispensing gun according to the third dispensing gun installation command. Based on the remaining oil reservoir opening corresponding to the remaining oil product and the movement speed, a third oil product dispensing command corresponding to the designated robotic arm is determined. The system controls the designated robotic arm to dispense the remaining oil product into the remaining oil reservoir opening according to the third oil product dispensing command, at the specified movement speed and through the third dispensing gun.

8. The method according to claim 7, characterized in that, The process of determining the target robotic arm for refueling based on the first oil can opening, and determining the first refueling gun that the target robotic arm needs to cooperate with based on the first oil type, and generating a first refueling gun installation instruction, includes: Based on the first oil product and the first oil can opening corresponding to the first oil product, the target robotic arm located on the same side as the first oil can opening is determined; Based on the first type of oil, a first filling gun suitable for the first oil can opening is determined; Generate a first refueling gun installation command for controlling the target robotic arm to install the first refueling gun.

9. The method according to claim 7, characterized in that, The step of controlling the target robotic arm to install the first refueling gun according to the first refueling gun installation command includes: The industrial camera on the target robotic arm takes a visual overhead shot of the filling gun on the corresponding filling gun lifting and placement frame of the target robotic arm to obtain image information. Based on the image information and the first dispensing gun installation instruction, the first dispensing gun indicated by the dispensing gun installation instruction is installed on the target robotic arm.

10. The method according to claim 7, characterized in that, The process of determining the target robotic arm for refueling based on the first oil can opening, and determining the first refueling gun that the target robotic arm needs to cooperate with based on the first oil type, and generating a first refueling gun installation instruction, includes: Based on the industrial camera on the target robotic arm, a visual overhead image is obtained by taking a top-down view of the lifting and placing frame of the filling gun corresponding to the target robotic arm. Based on the first type of oil and the overhead image, the first refueling gun on the refueling gun lifting and placement frame is identified, and an installation command for the first refueling gun is generated.

11. The method according to claim 7, characterized in that, The step of determining the first oil filling command corresponding to the target robotic arm based on the first oil reservoir spout corresponding to the first oil product and the moving speed includes: The target image is obtained by taking a top-down visual image of the first filling gun and the first oil can opening using an industrial camera on the target robotic arm. Determine the relative position of the target between the first oil can opening and the first filling gun based on the target image; The first oil filling command is determined based on the target's relative position and the movement speed.

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