Seat installation method in island type flexible production line and island type flexible production line

Abstract

The invention relates to a seat installation method in an island-type flexible production line and the island-type flexible production line, and belongs to the technical field of intelligent manufacturing. The method comprises the steps that an island-outside intelligent trolley is controlled to convey seats to the first side of an island-type seat station, and a first side installation mechanical arm is controlled to take down and install the first side seats from the island-outside intelligent trolley; after the first side seat is installed, the mechanical arm carrying the camera is controlled to move to a preset shooting point to conduct seat feature shooting to obtain a feature photo, target offset is obtained according to the feature photo, the pose of the grabbing mechanical arm is adjusted according to the target offset, the grabbing mechanical arm is controlled to place a second side seat on the island intelligent trolley, and the second side seat is installed on the island intelligent trolley. The intelligent trolley in the island is controlled to transport a second side seat to a second side installation position, and a second side installation mechanical arm is controlled to take down the second side seat from the intelligent trolley in the island and install the second side seat; according to the method, the intelligent trolley in the island is arranged to carry out second side seat distribution, and the transportation cost of material distribution is effectively reduced.

Description

Technical Field

[0001] This invention belongs to the field of intelligent manufacturing technology, specifically relating to a method for installing seats in an island-type flexible production line and the island-type flexible production line itself. Background Technology

[0002] In the traditional automotive seat assembly process, seat delivery is typically carried out manually or via fixed-route logistics systems, which suffers from low efficiency, poor flexibility, and high costs. With the development of intelligent manufacturing, intelligent logistics vehicles are being widely used for seat delivery.

[0003] In the existing technology, because seats are medium to large-sized automotive parts, the usual delivery method for seats to the installation station is a double-sided delivery mode. That is, intelligent carts deliver the materials to the left and right sides of the station for installation. This method requires two material delivery routes to be divided on both sides of the station in the workshop, resulting in wasted space. In addition, both intelligent carts need to travel long distances, that is, they need to travel between the seat warehouse and the station, resulting in high transportation costs. Summary of the Invention

[0004] To address this issue, the present invention provides a method for installing seats in an island-type flexible production line and an island-type flexible production line, thereby solving the problem of high delivery and transportation costs for existing smart car seats.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a method for installing seats in an island-type flexible production line, comprising: Control the intelligent cart outside the island to transport seats to the first side of the island-style seating workstation; The robotic arm on the first side of the control station removes the first-side seat from the intelligent vehicle outside the island and installs it onto the vehicle body; Once the first seat is installed, the robotic arm carrying the camera is moved to a preset shooting point to take pictures of the seat features and obtain feature photos. The target offset is obtained based on the feature image; Adjust the pose of the gripping robotic arm based on the target offset; The robotic arm is controlled to place the second side seat onto the intelligent vehicle inside the island; the intelligent vehicle inside the island is pre-moved to the position to pick up the second side seat; The intelligent vehicle inside the island is controlled to transport the second-side seat to the installation position on the second side of the workstation; The robotic arm on the second side of the control station removes the second-side seat from the intelligent vehicle inside the island and installs it onto the vehicle body.

[0006] Further, obtaining the target offset based on the feature image includes: After extracting key feature points from the feature photo using visual recognition technology, the actual pixel coordinates of the key feature points are obtained. The pixel offset is obtained based on the preset theoretical pixel coordinates and the actual pixel coordinates of the key feature points; The physical offset is obtained based on the pixel offset and the preset camera calibration parameters and used as the target offset.

[0007] Further, obtaining the pixel offset based on the preset theoretical pixel coordinates and the actual pixel coordinates of the key feature points includes: The pixel offset is obtained using the deviation formula, which is: ; in, and The pixel offset of the key feature point; and These are the actual pixel coordinates of the key feature points; and These are the preset theoretical pixel coordinates for key feature points.

[0008] Further, obtaining the physical offset based on the pixel offset and preset camera calibration parameters includes: The physical offset is obtained through a formula, which is: ; in, and This is the physical offset; and The pixel offset of the key feature point; and Z is the camera focal length; Z is the depth from the seat surface to the camera.

[0009] Furthermore, the step of obtaining the physical offset based on the pixel offset and preset camera calibration parameters further includes: The camera's intrinsic and extrinsic parameters are obtained through a calibration board; the intrinsic parameters include focal length and principal point coordinates; the extrinsic parameters are the transformation matrix between the camera coordinate system and the robot's base coordinate system. The mapping relationship between pixel coordinates and actual physical coordinates is established based on the intrinsic and extrinsic parameters as preset camera calibration parameters.

[0010] Furthermore, after the gripping robotic arm places the second side seat into the intelligent vehicle within the island, the process also includes: After receiving the arrival signal that the gripping robotic arm has reached a safe position, confirm whether the intelligent vehicle outside the island has left; If the intelligent vehicle outside the island has not left, control the intelligent vehicle inside the island to transport the second-side seat to the installation position on the second side of the workstation.

[0011] Furthermore, after the intelligent vehicle on the island transports the second-side seat to the installation position on the second side of the workstation, it also includes: After receiving the arrival signal that the intelligent vehicle in the island has reached the installation position on the second side, the control station on the second side of the installation robotic arm removes the second side seat from the intelligent vehicle in the island. After receiving the arrival signal from the installation robotic arm on the second side of the workstation indicating that it has reached a safe position, the intelligent vehicle outside the island is controlled to move to the seat storage area in order to pick up the seats for the next transportation task.

[0012] Furthermore, the method also includes: After the robotic arm on the second side removes the second-side seat from the intelligent vehicle inside the island and completes its installation, the intelligent vehicle inside the island is controlled to return to the position where the second-side seat was picked up.

[0013] Furthermore, the robotic arm carrying the camera moves to a preset shooting point to take pictures of the seat features, including: After receiving a signal from the robotic arm carrying the camera that it has reached the preset shooting point, the camera's vision system is activated and a picture is taken.

[0014] Secondly, the present invention provides an island-type flexible production line, comprising: Seat mounting island, including island-style seating stations for mounting seats to the vehicle body; The seats are installed on an external intelligent vehicle outside the island, which is used to transport the seats to the first side of the island seating workstation. The island-style seating station has robotic arms on both sides for installing seats onto the vehicle body; A camera used to take feature photos of the seat; The smart trolley installed on the island is used to transport the seats to the installation position on the second side. The seat tray installed on the intelligent vehicle on the island is used to place the seat; the bottom of the seat tray is provided with a locking hole to ensure that the seat tray remains in the same position on the intelligent vehicle on the island. The external racks and clamping devices installed on the intelligent vehicle outside the island are used to hold the seats and prevent the seats from shifting.

[0015] The present invention, by adopting the above technical solution, has at least the following beneficial effects: This invention provides a method for installing seats in an island-type flexible production line and the island-type flexible production line itself. The method involves controlling an intelligent trolley outside the island to transport seats to the first side of the island-type seat station. A robotic arm is then controlled to remove and install the first-side seat from the intelligent trolley outside the island. After the first-side seat is installed, a robotic arm carrying a camera is moved to a preset shooting point to capture feature photos of the seat. Based on these feature photos, a target offset is obtained. The posture of the gripping robotic arm is adjusted according to the target offset, and the gripping robotic arm is controlled to place the second-side seat onto an intelligent trolley inside the island. The intelligent trolley inside the island transports the second-side seat to the second-side installation position. Finally, a robotic arm is controlled to remove and install the second-side seat from the intelligent trolley inside the island. This application effectively reduces the transportation costs of material delivery by using an intelligent trolley inside the island for second-side seat delivery and by achieving precise material transfer between the intelligent trolleys outside and inside the island based on vision technology.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating a seat installation method in an island-type flexible production line according to an exemplary embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the seat mounting island in an island-type flexible production line, as shown in an exemplary embodiment of the present invention; Figure 3 This is a schematic block diagram of a seat mounting device in an island-type flexible production line, as illustrated in an exemplary embodiment of the present invention.

[0019] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0021] In existing technologies, the typical delivery method for placing seats to the installation station is a double-sided feeding mode. This involves using intelligent carts to deliver materials to the left and right sides of the station for installation. This method requires dividing the workshop into two material delivery routes on both sides of the station, resulting in wasted space. Furthermore, both intelligent carts need to travel long distances between the seat warehouse and the station, leading to high transportation costs. The intelligent carts can be IGVs or AGVs; namely, Intelligent Guided Vehicles (IGVs) and Automated Guided Vehicles (AGVs). Island-type flexible production lines use a combination of static and dynamic station layouts. Static, complex stations are independently designated as "intelligent islands," such as tire islands, glass islands, and inspection islands. These "intelligent islands" can be flexibly expanded, with additional or removed stations and assembly islands added without interrupting production. Dynamic workstations have adjustable cycle times and flexible workstation pitches. Through intelligent logistics equipment, such as intelligent vehicles, workpieces can be transferred between various "intelligent islands". Each "intelligent island" is designated as an area for assembling workpieces. This area is called the island interior, and the area outside the island is called the island exterior.

[0022] This invention provides a method for installing seats in an island-type flexible production line and the island-type flexible production line itself. The method involves controlling an intelligent trolley outside the island to transport a seat to the first side of the island-type seat station. A robotic arm for installing the first side is then controlled to remove and install the first side seat from the intelligent trolley outside the island. After the first side seat is installed, a robotic arm carrying a camera is controlled to move to a preset shooting point to take a picture of the seat features, obtaining a feature image. Based on the feature image, a target offset is obtained. The posture of the gripping robotic arm is adjusted according to the target offset, and the gripping robotic arm is controlled to place a second side seat on an intelligent trolley inside the island. The intelligent trolley inside the island transports the second side seat to the second side installation position, and the robotic arm for installing the second side seat removes and installs the second side seat from the intelligent trolley inside the island. This application effectively reduces the transportation costs of material delivery by using an intelligent trolley inside the island for the delivery of the second side seat.

[0023] The method and island-type flexible production line of the present invention will be described below through specific embodiments.

[0024] Please see Figure 1 , Figure 1 This is a flowchart illustrating a seat installation method in an island-type flexible production line according to an exemplary embodiment of the present invention. See also... Figure 1 The method includes: Step S11: Control the intelligent trolley outside the island to transport the seats to the first side of the island seating workstation; Step S12: The robotic arm on the first side of the control station removes the first side seat from the intelligent vehicle outside the island and installs it onto the vehicle body; Step S13: After the first side seat is installed, control the robotic arm carrying the camera to move to the preset shooting point to take pictures of the seat features and obtain feature photos. Step S14: Obtain the target offset based on the feature image; Step S15: Adjust the pose of the gripping robotic arm according to the target offset; Step S16: Control the gripping robotic arm to place the second side seat onto the intelligent vehicle inside the island; the intelligent vehicle inside the island is pre-moved to the position to pick up the second side seat; Step S17: Control the intelligent trolley inside the island to transport the second-side seat to the installation position on the second side of the workstation; Step S18: The robotic arm on the second side of the control station removes the second-side seat from the intelligent vehicle inside the island and installs it onto the vehicle body.

[0025] It should be noted that the technical solution provided in this embodiment is applicable to scenarios including but not limited to: the seat island of an island-type production line.

[0026] It should be noted that the installation of the robotic arm is carried out using existing technology; the motion path planning of the intelligent vehicles outside the island and inside the island is carried out using the existing scheduling system.

[0027] It should be noted that the camera can be mounted on the robotic arms on both sides of the workstation, and the robotic arms can be adjusted to the preset shooting point when taking pictures.

[0028] It is understood that the method provided in this embodiment delivers the second-side seats by setting up intelligent vehicles within the island and using vision technology to achieve precise material transfer between intelligent vehicles outside the island and intelligent vehicles within the island, effectively reducing the transportation cost of material delivery.

[0029] Please see Figure 2 , Figure 2 This is a schematic diagram of the seat mounting island in an island-type flexible production line according to an exemplary embodiment of the present invention. See also: Figure 2 The seat installation island includes: an island-style seat station for installing seats to the vehicle body; an external intelligent trolley 1 outside the seat installation island for transporting seats to the first side of the island-style seat station; installation robotic arms on both sides of the island-style seat station for installing seats to the vehicle body; a camera for taking feature photos of the seats; an internal intelligent trolley 4 inside the seat installation island for transporting seats to the second installation position; a seat tray on the internal intelligent trolley 4 for placing the seats; a locking hole at the bottom of the seat tray to ensure that the seat tray remains in the position of the internal intelligent trolley; and an external rack and clamping device on the external intelligent trolley for placing the seats and preventing the seats from shifting position, respectively.

[0030] Specifically, the components are: an intelligent vehicle outside the island 1, a robotic arm installed on the first side 2, a grasping robotic arm 3, an intelligent vehicle inside the island 4, a robotic arm installed on the second side 5, and a vehicle body to be installed 6; 7 is the position for receiving the second side seat.

[0031] Specifically, the system controls the intelligent trolley 1 outside the island to transport a seat to the first side of the island-style seating station; controls the robotic arm 2 on the first side to remove the first-side seat from the intelligent trolley 1 outside the island and install it onto the vehicle body 6 to be installed; after the first-side seat is installed, controls the robotic arm carrying a camera to move to a preset shooting point to take pictures of the seat features and obtain feature photos; the target offset is obtained based on the feature photos; the posture of the gripping robotic arm 3 is adjusted based on the target offset; the gripping robotic arm 3 is controlled to place the second-side seat onto the intelligent trolley 4 inside the island; the intelligent trolley 4 inside the island is pre-moved to the position 7 for receiving the second-side seat; the intelligent trolley 4 inside the island is controlled to transport the second-side seat to the second-side installation position, i.e. Figure 2 Position of the intelligent vehicle 4 inside the island; control the second-side mechanical arm 5 to remove the second-side seat from the intelligent vehicle 4 inside the island and install it onto the vehicle body 6 to be installed.

[0032] In practice, step S11, "controlling the intelligent vehicle outside the island to transport seats to the first side of the island seat workstation", includes: the scheduling system loads all the seats corresponding to the car body to be installed on the workstation onto the intelligent vehicle outside the island, and the intelligent vehicle outside the island transports them from the seat warehouse to the first side of the island seat workstation.

[0033] It should be noted that, according to the transportation route plan, the intelligent vehicles outside the island can also be transported to the second side of the island-style seating station first. After the second side is installed, the intelligent vehicles inside the island will transport the seats on the first side to the first side for installation.

[0034] In practice, step S12, "the control station's first-side installation robotic arm removes the first-side seat from the intelligent vehicle outside the island and installs it onto the vehicle body," includes: the first-side installation robotic arm identifying the first-side seat from the intelligent vehicle outside the island and removing the first-side seat, as well as the subsequent installation of the first-side seat, all of which are completed using existing technologies.

[0035] It should be noted that the robotic arm installed on the first side has its own recognition, positioning and installation strategies, which can be set according to the specific application scenario of the production line to complete the corresponding operations.

[0036] In practice, step S13, "controlling the robotic arm carrying the camera to move to the preset shooting point to take pictures of the seat features and obtain feature photos", includes: after the robotic arm on the first side is installed, the shooting operation is triggered.

[0037] It should be noted that the preset shooting point is a fixed position. When the shooting operation is triggered, the robotic arm is controlled to move the camera to the fixed position and take a picture at a fixed angle to obtain a feature photo.

[0038] It should be noted that the captured images need to undergo image preprocessing to obtain feature photos. The image preprocessing process includes: 1. Grayscale conversion, which converts the color image into a grayscale image to reduce the amount of computation; 2. Filtering and noise reduction, which can use Gaussian filtering or median filtering to eliminate image noise; 3. Contrast enhancement, which can highlight the seat features through histogram equalization or adaptive threshold segmentation.

[0039] In practice, step S14, "obtaining the target offset based on the feature photo", includes: extracting key feature points from the feature photo using visual recognition technology to obtain the actual pixel coordinates of the key feature points; obtaining the pixel offset based on the preset theoretical pixel coordinates and actual pixel coordinates of the key feature points; and obtaining the physical offset as the target offset based on the pixel offset and preset camera calibration parameters.

[0040] Specifically, key feature points are extracted from feature photos using visual recognition technology to obtain the actual pixel coordinates of the key feature points. These key feature points can be selected from bolt holes, edge corners, markers, etc.

[0041] It should be noted that this step is implemented using existing technology. Visual recognition technology can use existing technology to extract the actual pixel coordinates of key feature points. For example, it can directly detect feature point regions using YOLOv5 or Faster R-CNN models and output the actual pixel coordinates of key feature points.

[0042] Specifically, the pixel offset is obtained based on the preset theoretical pixel coordinates and actual pixel coordinates of the key feature points, including: obtaining the pixel offset through a deviation formula, which is: ;in, and The pixel offset of the key feature point; and These are the actual pixel coordinates of the key feature points; and These are the preset theoretical pixel coordinates for key feature points.

[0043] It should be noted that the process of obtaining the preset theoretical pixel coordinates is as follows: After the intelligent vehicle outside the island moves to the first installation position and the position is detected to be accurate, a standard feature photo is taken by the camera at the preset shooting point. The pixel coordinates obtained by using existing visual recognition technology based on the standard feature photo are used as the preset theoretical pixel coordinates.

[0044] It should be noted that the offset is the vector of actual positional change, and the deviation formula utilizes the principle of vector calculation.

[0045] Specifically, the physical offset is obtained as the target offset based on the pixel offset and preset camera calibration parameters, including: obtaining the physical offset using the physical offset formula, which is: ;in, and This is the physical offset; and The pixel offset of the key feature point; and Z is the camera focal length; Z is the depth from the seat surface to the camera.

[0046] It should be noted that the pixel offset is a 2D pixel offset. After calibration based on the camera's intrinsic and extrinsic parameters, the 2D pixel offset can be converted into a 3D physical offset.

[0047] It should be noted that the preset camera calibration parameters also utilize existing technology, obtaining the camera's intrinsic and extrinsic parameters through a calibration board. The calibration board can use a checkerboard or similar method. The intrinsic parameters include focal length and principal point coordinates; the extrinsic parameters are the transformation matrix between the camera coordinate system and the robot's base coordinate system. Based on the intrinsic and extrinsic parameters, a mapping relationship between pixel coordinates and actual physical coordinates is established as the preset camera calibration parameters. The calibration formula is as follows: Where Xc, Yc, and Zc are the camera coordinates, Xw, Yw, and Zw are the robot base coordinates, and T is the transformation matrix.

[0048] It is understood that the method provided in this embodiment, based on vision technology, enables precise material transfer between intelligent vehicles outside the island and intelligent vehicles inside the island, effectively improving the stability of the transfer.

[0049] In practice, step S15, "adjusting the pose of the gripping robot arm based on the target offset", includes: the physical offset is used as input data and input into the gripping robot arm, which will automatically adjust its pose to perform the gripping.

[0050] It should be noted that the gripping robotic arm has a preset gripping strategy. Simply inputting the physical offset into the gripping robotic arm control system can achieve pose adjustment. The physical offset, as the core input data of the gripping robotic arm, is essentially the deviation parameter between the actual posture and the preset reference posture of the robotic arm. The robotic arm automatically adjusts its posture by analyzing this parameter, and finally completes the gripping task accurately.

[0051] In practice, step S16, "controlling the gripping robotic arm to place the second side seat on the island's intelligent vehicle", includes: the island's intelligent vehicle is pre-moved to the position to pick up the second side seat and wait to be picked up.

[0052] It should be noted that after the gripping robotic arm completes the gripping, it detects the position of the intelligent vehicle on the island. If the intelligent vehicle on the island is in the position to pick up the second side seat, it controls the gripping robotic arm to complete the placement; if the intelligent vehicle on the island is not in the position to pick up the second side seat, it controls the intelligent vehicle on the island to move to the position to pick up the second side seat.

[0053] Specifically, after the gripping robotic arm places the second side seat on the intelligent vehicle inside the island, the process also includes: after receiving an arrival signal that the gripping robotic arm has reached a safe position, confirming whether the intelligent vehicle outside the island has left; if the intelligent vehicle outside the island has not left, controlling the intelligent vehicle inside the island to transport the second side seat to the installation position on the second side of the workstation.

[0054] It should be noted that the safe position of the gripping robotic arm is a pre-set gripping robotic arm posture. When the gripping robotic arm completes placement and returns to the safe posture, it sends an arrival signal. Only after confirming that the intelligent vehicle outside the island has not left will it control the intelligent vehicle inside the island to transport the second side seat to the installation position on the second side of the workstation.

[0055] It is understood that the method provided in this embodiment, by capturing the arrival signal of the robotic arm reaching a safe position and the stationary state of the intelligent vehicle outside the island that has not yet left, determines the timing of the movement of the intelligent vehicle inside the island, which can effectively avoid collision problems caused by the intelligent vehicle inside the island moving too early and improve transportation safety.

[0056] In practice, step S17, "controlling the intelligent vehicle in the island to transport the second-side seat to the installation position on the second side of the workstation," includes: using the existing scheduling system to plan the running path.

[0057] Specifically, after the intelligent vehicle inside the island transports the second-side seat to the installation position on the second side of the workstation, the process also includes: upon receiving an arrival signal that the intelligent vehicle inside the island has reached the installation position on the second side, controlling the installation robotic arm on the second side of the workstation to remove the second-side seat from the intelligent vehicle inside the island; and upon receiving an arrival signal that the installation robotic arm on the second side of the workstation has reached a safe position, controlling the intelligent vehicle outside the island to move to the seat storage area in order to pick up the seat for the next transportation task.

[0058] It should be noted that existing sensing and identification devices can be used at the installation position on the second side. When the intelligent vehicle inside the island arrives at the installation position on the second side, the sensing and identification device sends an arrival signal, controlling the installation robotic arm on the second side of the workstation to remove the second-side seat from the intelligent vehicle inside the island. When the installation robotic arm on the second side moves to a safe position, it sends an arrival signal for the safe position. After that, the intelligent vehicle outside the island can be released to move to the seat storage area to pick up the seats for the next transportation task.

[0059] It is understood that the method provided in this embodiment can be used to detect the completion of the installation work by the arrival signal of the second-side installation robotic arm reaching a safe position, thereby timely controlling the departure of the intelligent vehicle outside the island to perform the next transportation task, improving the reuse rate of the intelligent vehicle outside the island and increasing economic benefits.

[0060] In practice, step S18, "controlling the installation robotic arm on the second side of the workstation to remove the second side seat from the intelligent vehicle on the island and install it onto the vehicle body," includes: the second side installation robotic arm identifying the second side seat from the intelligent vehicle on the island and removing the second side seat, as well as the subsequent installation of the second side seat, all of which are completed using existing technologies.

[0061] It should be noted that the robotic arm installed on the second side has its own recognition, positioning and installation strategies, which can be set according to the specific application scenario of the production line to complete the corresponding operations.

[0062] In practice, the methods also include: After the robotic arm on the second side removes the second-side seat from the intelligent vehicle on the island and completes its installation, the intelligent vehicle on the island is then controlled to return to the position where the second-side seat was retrieved.

[0063] In practice, the robotic arm carrying the camera moves to a preset shooting point to take pictures of the seat features, including: after receiving the signal that the robotic arm carrying the camera has arrived at the preset shooting point, activating the camera's vision system and taking pictures.

[0064] In practice, the method also includes setting up an electronic fence within a preset range around the island-style seating area to trigger an emergency stop when the intelligent vehicle moves beyond the preset range within the island.

[0065] It should be noted that an electronic fence is set up within a preset range around the island-style workstations. The preset range can be set according to specific business needs and application scenarios. When the movement of the smart car in the island exceeds the preset range, the smart car in the island will be controlled to stop.

[0066] In practice, the method also includes equipping the smart cars on the island with laser obstacle avoidance sensors to automatically reduce speed or stop when obstacles are detected.

[0067] It should be noted that the smart cars on the island are equipped with laser obstacle avoidance sensors to detect obstacles, and automatically reduce speed or stop when an obstacle is detected.

[0068] It is understood that the technical solution provided in this embodiment can effectively improve the safety of transportation within the island.

[0069] Please see Figure 3 , Figure 3This is a schematic block diagram illustrating a seat mounting device in an island-type flexible production line according to an exemplary embodiment of the present invention. See also: Figure 3 The seat mounting device 100 in the island-type flexible production line includes: The first installation module 101 is used to control the intelligent trolley outside the island to transport the seat to the first side of the island seat workstation; and to control the installation robotic arm on the first side of the workstation to remove the first side seat from the intelligent trolley outside the island and install it onto the vehicle body; The transfer module 102 is used to control the robotic arm carrying a camera to move to a preset shooting point to take pictures of the seat features after the first side seat is installed; to obtain a target offset based on the feature pictures; to adjust the posture of the gripping robotic arm based on the target offset; to control the gripping robotic arm to place the second side seat on the island intelligent trolley; to move the island intelligent trolley to the position to pick up the second side seat in advance; and to control the island intelligent trolley to transport the second side seat to the installation position on the second side of the workstation. The second installation module 103 is used to control the installation robotic arm on the second side of the workstation to remove the second-side seat from the intelligent vehicle inside the island and install it onto the vehicle body.

[0070] It should be noted that the device provided in this embodiment is applicable to scenarios including but not limited to: the seat island of an island-type production line.

[0071] It is understood that the device provided in this embodiment effectively reduces the transportation cost of material delivery by setting up an intelligent vehicle within the island for the delivery of the second-side seats.

[0072] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0073] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0074] It should also be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display, data used for analysis, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0075] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0076] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0077] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for installing seats in an island-type flexible production line, characterized in that, The method includes: Control the intelligent cart outside the island to transport seats to the first side of the island-style seating workstation; The robotic arm on the first side of the control station removes the first-side seat from the intelligent vehicle outside the island and installs it onto the vehicle body; Once the first seat is installed, the robotic arm carrying the camera is moved to a preset shooting point to take pictures of the seat features and obtain feature photos. The target offset is obtained based on the feature image; Adjust the pose of the gripping robotic arm based on the target offset; The robotic arm is controlled to place the second side seat onto the intelligent vehicle inside the island; the intelligent vehicle inside the island is pre-moved to the position to pick up the second side seat; The intelligent vehicle inside the island is controlled to transport the second-side seat to the installation position on the second side of the workstation; The robotic arm on the second side of the control station removes the second-side seat from the intelligent vehicle inside the island and installs it onto the vehicle body.

2. The method according to claim 1, characterized in that, The step of obtaining the target offset based on the feature image includes: After extracting key feature points from the feature photo using visual recognition technology, the actual pixel coordinates of the key feature points are obtained. The pixel offset is obtained based on the preset theoretical pixel coordinates and the actual pixel coordinates of the key feature points; The physical offset is obtained based on the pixel offset and the preset camera calibration parameters and used as the target offset.

3. The method according to claim 2, characterized in that, The step of obtaining the pixel offset based on the preset theoretical pixel coordinates and the actual pixel coordinates of the key feature points includes: The pixel offset is obtained using the deviation formula, which is: ； in, and The pixel offset of the key feature point; and These are the actual pixel coordinates of the key feature points; and These are the preset theoretical pixel coordinates for key feature points.

4. The method according to claim 3, characterized in that, The process of obtaining the physical offset based on the pixel offset and preset camera calibration parameters includes: The physical offset is obtained through a formula, which is: ； in, and This is the physical offset; and The pixel offset of the key feature point; and Z is the camera focal length; Z is the depth from the seat surface to the camera.

5. The method according to claim 4, characterized in that, The step of obtaining the physical offset based on the pixel offset and preset camera calibration parameters further includes: The camera's intrinsic and extrinsic parameters are obtained through a calibration board; the intrinsic parameters include focal length and principal point coordinates; the extrinsic parameters are the transformation matrix between the camera coordinate system and the robot's base coordinate system. The mapping relationship between pixel coordinates and actual physical coordinates is established based on the intrinsic and extrinsic parameters as preset camera calibration parameters.

6. The method according to claim 1, characterized in that, After the gripping robotic arm places the second-side seat into the intelligent vehicle on the island, the following steps are also included: After receiving the arrival signal that the gripping robotic arm has reached a safe position, confirm whether the intelligent vehicle outside the island has left; If the intelligent vehicle outside the island has not left, control the intelligent vehicle inside the island to transport the second-side seat to the installation position on the second side of the workstation.

7. The method according to claim 1, characterized in that, After the intelligent vehicle on the island transports the second-side seat to the installation position on the second side of the workstation, it also includes: After receiving the arrival signal that the intelligent vehicle in the island has reached the installation position on the second side, the control station on the second side of the installation robotic arm removes the second side seat from the intelligent vehicle in the island. After receiving the arrival signal from the installation robotic arm on the second side of the workstation indicating that it has reached a safe position, the intelligent vehicle outside the island is controlled to move to the seat storage area in order to pick up the seats for the next transportation task.

8. The method according to claim 1, characterized in that, The method further includes: After the robotic arm on the second side removes the second-side seat from the intelligent vehicle inside the island and completes its installation, the intelligent vehicle inside the island is controlled to return to the position where the second-side seat was picked up.

9. The method according to claim 1, characterized in that, The robotic arm carrying the camera moves to a preset shooting point to take pictures of the seat features, including: After receiving a signal from the robotic arm carrying the camera that it has reached the preset shooting point, the camera's vision system is activated and a picture is taken.

10. An island-type flexible production line, characterized in that, The production line, which employs the method described in any one of claims 1-9, comprises: Seat mounting island, including island-style seating stations for mounting seats to the vehicle body; The seats are installed on an external intelligent vehicle outside the island, which is used to transport the seats to the first side of the island seating workstation. The island-style seating station has robotic arms on both sides for installing seats onto the vehicle body; A camera used to take feature photos of the seat; The smart trolley installed on the island is used to transport the seats to the installation position on the second side. The seat tray installed on the intelligent vehicle on the island is used to place the seat; the bottom of the seat tray is provided with a locking hole to ensure that the seat tray remains in the same position on the intelligent vehicle on the island. The external racks and clamping devices installed on the intelligent vehicle outside the island are used to hold the seats and prevent the seats from shifting.

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