Robot control-based island-type assembly method and apparatus, device and storage medium

Abstract

The present application provides a robot control-based island-type assembly method and apparatus, a device and a storage medium. The method comprises: for each production line robot, scheduling the production line robot to operate according to an assembly route (101); when the production line robot arrives at an assembly island along the assembly route, controlling an installation robot to assemble a material matching the assembly island onto a product to be assembled carried by the production line robot (102); and if said product carried by the production line robot has been installed, when the production line robot arrives at a configured target position along the assembly route, scheduling the production line robot to leave the assembly route from the target position (103).

Description

Island assembly method, device and equipment based on robot control and storage medium TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and particularly relates to an island assembly method, device and equipment based on robot control and a storage medium. BACKGROUND

[0002] In recent years, various types of robots (such as autonomous mobile robots) have developed rapidly in technology and market. A robot is a machine that automatically performs work and realizes various functions by relying on its own power and control ability. The robot can accept human command, run a pre-programmed program, and act according to a strategy formulated by artificial intelligence. For example, a user uses a manual remote controller to control the robot to perform related operations, such as the manual remote controller issuing an operation command to the robot in a wireless manner, and the robot executing the operation specified by the operation command to complete the related function after receiving the operation command.

[0003] In the field of factory production, the form of the production line is a roller line, a plate chain line, a sliding plate line, a conveyor belt, etc. Taking the conveyor belt as an example, the product to be assembled can be placed on the conveyor belt, and the product to be assembled is transported to each station by the conveyor belt, and the workers at the station install the material to the product to be assembled, and the product to be assembled is transported to the next station by the conveyor belt, and so on.

[0004] In the above manner, the installation cycle of the production line is relatively long (for example, ground pit processing and air structure processing are required), and the modification of the production line is difficult. When the production line is modified, the installed equipment needs to be removed, the ground needs to be damaged and processed, new equipment needs to be customized and processed, and the new equipment needs to be spliced and installed with the original production line. SUMMARY

[0005] The embodiment of the present application provides an island assembly method based on robot control. A pre-planned assembly route passes through an assembly island. The assembly route is a ring-shaped route. The assembly island is deployed with an installation robot. The assembly route is deployed with a plurality of production line robots. Each production line robot carries a product to be assembled. The method comprises the following steps: for each production line robot, scheduling the production line robot to run according to the assembly route; when the production line robot reaches the assembly island along the assembly route, controlling the installation robot to assemble the material matched with the assembly island to the product to be assembled carried by the production line robot; if the product to be assembled carried by the production line robot has been completed, when the production line robot reaches the target position configured along the assembly route, scheduling the production line robot to leave the assembly route from the target position.

[0006] The embodiment of the present application provides an island assembly device based on robot control, a pre-planned assembly route passes through an assembly island, the assembly route is a ring-shaped route, the assembly island is deployed with a mounting robot, and the assembly route is deployed with a plurality of production line robots, each of which carries a product to be assembled, the device comprises: a scheduling module configured to schedule each production line robot to run along the assembly route; a control module configured to control the mounting robot to assemble the material matched with the assembly island to the product to be assembled carried by the production line robot when the production line robot reaches the assembly island along the assembly route; and the scheduling module is further configured to schedule the production line robot to leave the assembly route from a target position configured when the product to be assembled carried by the production line robot has been completed.

[0007] The embodiment of the present application provides an electronic device, comprising: a processor and a machine readable storage medium, the machine readable storage medium stores machine executable instructions capable of being executed by the processor; and the processor is configured to execute the machine executable instructions to implement the island assembly method based on robot control in the above embodiment.

[0008] The embodiment of the present application provides a computer program product, the computer program product comprises a computer program, and the computer program is executed by a processor to implement the island assembly method based on robot control in the above embodiment.

[0009] The embodiment of the present application provides a machine readable storage medium, the machine readable storage medium stores machine executable instructions capable of being executed by a processor; wherein the processor is configured to execute the machine executable instructions to implement the island assembly method based on robot control in the above embodiment of the present application.

[0010] In the embodiments of the present application, the assembly route can be planned in advance, and a plurality of production line robots are deployed on the assembly route, each of which carries a product to be assembled. By scheduling the production line robots to run according to the assembly route, the product to be assembled can be transported along the assembly route, so as to be transported to each work station (located at the edge of the assembly route) by the workers or installation robots of the work station. The production line robots can leave the assembly route at any time, and the assembly route can be set arbitrarily without the need for ground pit treatment and air structure treatment, etc., and the installation period is short. When the assembly route is modified, only the assembly route needs to be changed, without the need for processes such as removal of installed equipment, ground damage treatment, new equipment customization processing, and splicing and installation with the original production line, etc., and the modification difficulty is small. The assembly route can pass through the assembly island, and the installation robots are deployed on the assembly island. When the production line robot reaches the assembly island along the assembly route, the installation robot can assemble the material matched with the assembly island to the product to be assembled carried by the production line robot, so as to realize automatic installation of the material based on the installation robot of the assembly island, and improve the material installation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0011] FIG. 1 is a flowchart of an island assembly method based on robot control in the present application.

[0012] FIG. 2A is a schematic diagram of a production line in an embodiment of the present application.

[0013] FIG. 2B is a schematic diagram of a production line in an embodiment of the present application.

[0014] FIG. 3 is a schematic diagram of an assembly route of a ring-shaped route in an embodiment of the present application.

[0015] FIG. 4 is a schematic diagram of a material position placing a plurality of materials in an embodiment of the present application.

[0016] FIG. 5 is a schematic diagram of performing offline processing on a production line robot in an embodiment of the present application.

[0017] FIG. 6 is a schematic diagram of extending the assembly route in an embodiment of the present application.

[0018] FIG. 7A is a schematic diagram of the production line robot moving at the edge of the material position at a slow speed in an embodiment of the present application.

[0019] FIG. 7B is a schematic diagram of the production line robot stopping at the material position in an embodiment of the present application.

[0020] FIG. 8 is a schematic diagram of a plurality of installation positions in an embodiment of the present application.

[0021] FIG. 9A is a schematic diagram of the structure of an island assembly device based on robot control in the present application.

[0022] FIG. 9B is a hardware structure diagram of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0023] An island assembly method based on robot control is proposed in the embodiments of the present application, which can be applied to a robot (such as a mobile robot), such as an AMR (Autonomous Mobile Robot), and can also be applied to a scheduling device of the robot, i.e., various operations of the robot are scheduled by the scheduling device.

[0024] For example, an assembly route can be planned in advance, and the pre-planned assembly route can pass through an assembly island. The assembly route can be a loop-shaped route (which can have branch routes, or can not have branch routes). The assembly island can be deployed with a mounting robot, and the assembly route can be deployed with a plurality of production line robots, and each production line robot carries a product to be assembled.

[0025] FIG. 1 is a flowchart of an island assembly method based on robot control. Referring to FIG. 1, the method can include steps 101 to 103.

[0026] In step 101, for each production line robot, the production line robot is scheduled to run along an assembly route.

[0027] In step 102, when the production line robot reaches the assembly island along the assembly route, the mounting robot is controlled to assemble the material matched by the assembly island to the product to be assembled carried by the production line robot.

[0028] In step 103, if the product to be assembled carried by the production line robot has been completed, when the production line robot reaches a configured target position along the assembly route, the production line robot is scheduled to leave the assembly route from the target position.

[0029] For example, controlling the mounting robot to assemble the material matched by the assembly island to the product to be assembled carried by the production line robot can include but is not limited to: if the assembly island includes a plurality of mounting positions, and the plurality of mounting positions are all within the mounting coverage range of the mounting robot, based on a mapping relationship between the configured component types and the mounting positions, a target mounting position corresponding to the component type of the product to be assembled is selected from the plurality of mounting positions (i.e., the target mounting position is queried from the mapping relationship); the production line robot is scheduled to stop at the target mounting position, or the production line robot is scheduled to move at a slow speed at the target mounting position, and the mounting robot is controlled to assemble the material matched by the assembly island to the product to be assembled carried by the production line robot.

[0030] For example, the shortest distance between the assembly route and a pre-planned material storage area is less than a first distance threshold, the material storage area is used for placing materials, and the material storage area is deployed with a delivery robot. Based on this, if it is detected that the material position satisfies a material updating condition, the delivery robot is dispatched to carry the materials in the material storage area to the material position located at the edge of the assembly route; wherein, if the remaining number of materials in the material position is not greater than a first number threshold, or the number of material usage in the material position reaches a second number threshold, the material position satisfies the material updating condition. In the process of dispatching the assembly line robot to run along the assembly route, the assembly line robot stops at the edge position of the material position, or the assembly line robot moves at a slow speed at the edge position of the material position, the edge position of the material position is on the assembly route, to assemble the materials in the material position to the to-be-assembled product carried by the assembly line robot.

[0031] For example, the shortest distance between the assembly route and a pre-planned material storage area is less than a first distance threshold, the material storage area is used for placing materials, and the material storage area is deployed with a delivery robot. Based on this, if it is detected that the material position satisfies a material updating condition, the delivery robot is dispatched to carry the materials in the material storage area to the material position located at the edge of the assembly route; wherein, if the remaining number of materials in the material position is not greater than a first number threshold, or the number of material usage in the material position reaches a second number threshold, the material position satisfies the material updating condition. In the process of dispatching the assembly line robot to run along the assembly route, the assembly line robot stops at the edge position of the material position, or the assembly line robot moves at a slow speed at the edge position of the material position, the edge position of the material position is on the assembly route, to assemble the materials in the material position to the to-be-assembled product carried by the assembly line robot.

[0032] For example, in the process of dispatching the assembly line robot to run along the assembly route, if the assembly line robot has an abnormality or the to-be-assembled product carried by the assembly line robot has an abnormality, the assembly line robot is dispatched to leave the assembly route to repair and assemble the assembly line robot or the to-be-assembled product carried by the assembly line robot in an area outside the assembly route. After the repair of the assembly line robot or the to-be-assembled product carried by the assembly line robot is completed, the assembly line robot re-enters the assembly route in the queue order before leaving the assembly route; wherein, if the assembly line robot is between a first assembly line robot and a second assembly line robot before leaving the assembly route, when the assembly line robot re-enters the assembly route, the assembly line robot is between the first assembly line robot and the second assembly line robot.

[0033] Exemplarily, during scheduling the production line robot to run along the assembly route, the production line robot stops at the edge position of the material position, or the production line robot moves at a slow speed at the edge position of the material position, and a plurality of materials corresponding to the material position are first prompted through the display screen or the indicator light, and the first prompt indicates that the plurality of materials corresponding to the material position need to be assembled on the to-be-assembled product carried by the production line robot. After each material is assembled on the to-be-assembled product carried by the production line robot, the material is second prompted through the display screen or the indicator light, and the second prompt indicates that the material has completed installation. The material picking system judges whether there is a material to be installed in the material position; if yes, the production line robot is prohibited to leave the edge position of the material position; and if no, the production line robot continues to run along the assembly route.

[0034] Exemplarily, during scheduling the production line robot to run along the assembly route, a first material type of the material to be assembled on the to-be-assembled product can also be determined; the production line robot stops at the edge position of the material position, or the production line robot moves at a slow speed at the edge position of the material position, and a second material type of the material of the material position is determined. Then, it is determined whether the first material type matches the second material type; if yes, it is prompted that the material of the material position is allowed to be assembled on the to-be-assembled product carried by the production line robot; and if no, error information of the mismatched material type is prompted.

[0035] In the embodiment of the present application, the assembly route can be planned in advance, and the assembly route is deployed with a plurality of production line robots, each of which carries a to-be-assembled product. By scheduling the production line robot to run along the assembly route, the to-be-assembled product can be transported to each station (located at the edge of the assembly route) along the assembly route, so that the worker or the installation robot of the station can install the material on the to-be-assembled product. The production line robot can leave the assembly route at any time, and the assembly route can be arranged arbitrarily without the need for ground pit treatment and air structure treatment, etc., and the installation period is short. When the assembly route is modified, only the assembly route needs to be changed, without the need for processes such as removal of installed equipment, ground damage treatment, custom processing of new equipment, and splicing and installation with the original production line, and the modification difficulty is small. The assembly route can pass through the assembly island, and the installation robot is deployed in the assembly island. When the production line robot reaches the assembly island along the assembly route, the installation robot can assemble the material matched by the assembly island on the to-be-assembled product carried by the production line robot, so that the installation robot based on the assembly island can realize automatic installation of the material, and improve the installation efficiency of the material.

[0036] The embodiments of the present application will be described below in combination with specific application scenarios.

[0037] In the field of factory production, the form of production line is roller line, plate chain line, slide plate line, conveyor belt, etc. Taking the conveyor belt as an example, the product to be assembled can be placed on the conveyor belt, and the material is installed on the product to be assembled by the workers or installation robots of the workstations (in the subsequent process, the robots of the workstations for realizing the assembly function are referred to as “installation robots”), and then placed on the conveyor belt again, transported to the next workstation by the conveyor belt, and so on.

[0038] In the above manner, the installation cycle of the production line is relatively long, for example, ground pit treatment and aerial structure treatment are required. The transformation of the production line is difficult, for example, the installed equipment needs to be removed, the ground needs to be damaged and treated, new equipment needs to be customized and processed, and the original production line needs to be spliced and installed.

[0039] If the workstations of the production line change, for example, multiple workstations need to be added to the production line, the production line needs to be stopped for a long time, and during this period, layout adjustment, equipment removal and reinstallation are required, and even a separate production line needs to be planned.

[0040] With the increase and iteration of the product types (for example, product models) of the production line, the types of materials placed at the edge of the production line are increasing, and in the assembly process, misassembly and missing assembly, especially misassembly and missing assembly of key components, are prone to occur, which will cause abnormalities of the product to be assembled, and then cause the entire production line to be stopped for reprocessing, affecting the opening rate of the production line. In addition, if unqualified products to be assembled appear in the production and assembly process, the entire production line also needs to be stopped for reprocessing, affecting the opening rate of the production line.

[0041] FIG. 2A is a schematic diagram of a production line (main line). As shown in FIG. 2A, the distance between the production line and the material storage area 2 is far, and it takes a long time to move the materials in the material storage area 2 to the production line. The workers or installation robots of the workstations need to wait for the materials in the material storage area 2, the assembly efficiency is low, the cost is high, and at the same time, in order to ensure that the materials of the production line can be supplied in time, more buffers need to be placed at the edge of the production line. The distance between the production line and the subassembly line is far, and it takes a long time to move the materials in the subassembly line to the production line. The cost and efficiency of the subassembly line material distribution are high, and in order to ensure that the materials of the production line can be supplied in time, more buffers need to be placed at the edge of the production line.

[0042] Fig. 2B is a schematic diagram of a production line (main line). Referring to Fig. 2B, multiple production lines (main line 1 and main line 2) are arranged in the same area. In order to consider the material distribution route, so that the material in the material storage area 2 can be moved to the production line, and the material in the sub-packaging line can be moved to the production line, the products to be assembled need to be transferred between the multiple production lines in the air. The design of the air structure processing causes the installation cycle of the production line to be relatively long and the cost to be high, and when technical transformation is needed, the production line is difficult to transform.

[0043] Therefore, an island assembly method based on robot control is provided in the embodiments of the present application. The assembly route can be planned in advance, multiple production line robots are arranged on the assembly route, each production line robot carries a product to be assembled, and the product to be assembled is transported to each station (located at the edge of the assembly route) by scheduling the production line robots to run according to the assembly route, so that the material is installed on the product to be assembled by workers or installation robots. No ground pit treatment and air structure treatment are needed, the installation cycle is short. When the assembly route is transformed, only the assembly route needs to be changed, without the processes of removing the installed equipment, ground destruction treatment, custom processing of new equipment, and splicing and installation with the original production line, so the transformation difficulty is small. For example, the embodiments of the present application can include the following contents.

[0044] First, a circular assembly route (i.e., a production line) is designed, and multiple production line robots can be arranged on the assembly route, and each production line robot carries a product to be assembled.

[0045] For example, the production line in the embodiments is not a roller line, a plate chain line, a sliding plate line, a conveyor belt, etc., but a pre-planned assembly route. The assembly route is used as a production line, that is, the assembly route can be used as a mobile robot assembly line. It should be noted that the assembly route only represents the driving track of the production line robot, that is, the production line robot runs along the assembly route, and is not a device with automatic conveying function, that is, the assembly route does not need ground pit treatment and air structure treatment, but only needs to plan the assembly route.

[0046] For example, when planning the assembly route, the assembly route can be a circular route, that is, any position point of the assembly route is taken as a starting point, and the assembly route can return to this position point.

[0047] For example, when planning the assembly route, the assembly route can also have a branch route (i.e. there is a branch route in addition to the loop route), or the assembly route can not have a branch route. For example, if the assembly route has a branch route, i.e. the assembly route is a loop route and a branch route, there can be a position point A and a position point B on the loop route, the loop route departs from the position point A, and the loop route returns to the position point B, and the route between the position point A and the position point B is the branch route.

[0048] For example, when planning the assembly route, the assembly route can be designed to pass through the required area. For example, if the area where the assembly island is located is known, when planning the assembly route, the assembly route can pass through the assembly island. For example, if the area where the material storage area is located is known, when planning the assembly route, the closest distance between the assembly route and the material storage area can be less than the first distance threshold, so that the distance between the assembly route and the material storage area is closer. For example, if the area where the sub-assembly line route is located is known, when planning the assembly route, the closest distance between the assembly route and the sub-assembly line route can be less than the second distance threshold, so that the distance between the assembly route and the sub-assembly line route is closer. Of course, the above is only an example of planning the assembly route, which is not limited.

[0049] For example, based on the planned assembly route, the assembly route can be deployed with a plurality of production line robots (in order to distinguish, the robot deployed on the assembly route is called a production line robot, which can be a mobile robot such as an AMR), and each production line robot carries a product to be assembled.

[0050] For each production line robot, the production line robot can be scheduled to run according to the assembly route. For example, there is a device for scheduling all production line robots, which is called a scheduling device (also called a control device or a management device, etc.). The scheduling device can send a scheduling instruction to the production line robot, which is used to schedule the production line robot to run according to the assembly route. For example, the production line robot can run according to the assembly route after receiving the scheduling instruction, and the scheduling process is not limited.

[0051] For example, the product to be assembled a1 is deployed on the production line robot b1, and the production line robot b1 is scheduled to run according to the assembly route. The product to be assembled a2 is deployed on the production line robot b2, and the production line robot b2 is scheduled to run according to the assembly route, and so on, and a plurality of production line robots can run on the assembly route.

[0052] Since the scheduling process of each production line robot is the same, for convenience of description, the scheduling process of one production line robot is taken as an example, such as scheduling the production line robot b1 to run according to the assembly route.

[0053] For example, the edge of the assembly route can be provided with a plurality of material positions, which are located at the edge of the assembly route and are workstations of the edge of the assembly route, and the material positions can be used to assemble materials to the product a1 carried by the production robot b1. For example, the production robot b1 can be scheduled to stop at the material position c1, so that the material of the material position c1 is assembled to the product a1 carried by the production robot b1. For example, the material of the material position c1 is assembled to the product a1 by the worker of the workstation, or the material of the material position c1 is assembled to the product a1 by the mounting robot of the workstation, without limitation. Alternatively, the production robot b1 can be scheduled to move at a low speed at the material position c1, so that the material of the material position c1 is assembled to the product a1 carried by the production robot b1, that is, the material assembly is completed synchronously during the low-speed movement of the production robot b1.

[0054] After the material of the material position c1 is assembled to the product a1 carried by the production robot b1, the production robot b1 continues to be scheduled to run along the assembly route, and the production robot b1 is scheduled to stop at the material position c2, or the production robot b1 is scheduled to move at a low speed at the material position c2, so that the material of the material position c2 is assembled to the product a1 carried by the production robot b1, and so on, until the product a1 carried by the production robot b1 is completed, and the production robot b1 can leave the assembly route.

[0055] For example, if the product a1 carried by the production robot b1 is completed, the production robot b1 can be scheduled to leave the assembly route. For example, after learning that the product a1 is completed, the production robot b1 can be immediately scheduled to leave the assembly route.

[0056] For example, a target position (such as one or more target positions) can be preconfigured on the assembly route, and the target position can be a position on the assembly route that allows the production robot to leave, without limitation, and can be arbitrarily configured. Based on this, if the product a1 carried by the production robot b1 is completed, the production robot b1 is scheduled to leave the assembly route from the target position when the production robot b1 reaches the target position along the assembly route, that is, only the production robot b1 is allowed to leave the assembly route from the target position, and the production robot b1 is not allowed to leave the assembly route from other positions outside the target position.

[0057] In the embodiment of the present application, when planning the assembly route, the assembly "island type" decentralized layout can be performed in the area where the assembly island is located, the area where the material storage area is located, the area where the sub-assembly line is located, and the like. An "island type assembly" method based on a robot is proposed. The layout flexibility of the production line is improved through the assembly route. The assembly route is not limited to a certain area, and can be closer to the materials and supporting equipment and facilities required for assembly. The installation and debugging period of the assembly route is shortened. When technical transformation is required for the assembly route, the main content of the assembly route change is less, the period is short, and the cost is low. Through the operation of the production line robot on the assembly route, the roller line, plate chain line, drum line, slide plate line, and conveyor belt are replaced, so that the assembly route does not require ground pit treatment and air structure treatment, and the robot and supporting equipment are deployed and installed at the corresponding station according to the process planning. The installation and debugging period is greatly shortened.

[0058] FIG. 3 is a schematic diagram of an assembly route of a ring line. The main line in FIG. 3 is the assembly route of the ring line, i.e., the main line of the production line. As shown in FIG. 3, a material storage area 1, a material storage area 2, and a sub-assembly line are shown. When planning the assembly route, the assembly "island type" decentralized layout can be performed in the area where the material storage area 1 is located, the area where the material storage area 2 is located, the area where the sub-assembly line is located, and the like. Therefore, the distance between the assembly route and the material storage area 1 is relatively short, thereby facilitating the rapid delivery of the materials in the material storage area 1 to the assembly route. The distance between the assembly route and the material storage area 2 is relatively short, thereby facilitating the rapid delivery of the materials in the material storage area 2 to the assembly route. The distance between the assembly route and the sub-assembly line is relatively short, thereby facilitating the rapid delivery of the materials in the sub-assembly line to the assembly route. The delivery distance is short, and the demand for intermediate material buffering and air transportation equipment can be greatly reduced.

[0059] Second, a material updating trigger mechanism is designed, i.e., when the materials in the material storage area are transported to the material position at the edge of the assembly route, thereby facilitating the assembly of the materials in the material position to the product to be assembled.

[0060] For example, multiple material positions can be deployed at the edge of the assembly route. These material positions are located at the edge of the assembly route, i.e., these material positions are close to the assembly route, and these material positions are stations at the edge of the assembly route. The materials can be assembled to the product to be assembled carried by the production line robot at these material positions, such as manually assembling the materials to the product to be assembled carried by the production line robot, or assembling the materials to the product to be assembled carried by the production line robot through the installation robot. For example, the material position c1, the material position c2, the material position c3, and the like can be deployed at the edge of the assembly route. The material position c1 is taken as an example for illustration.

[0061] For example, the material storage area is used to store materials, and the materials need to be assembled on the products carried by the assembly line robot. When designing the assembly line with a circular route, the shortest distance between the assembly line and the material storage area is less than the first distance threshold, that is, the shortest distance between the assembly line and the material storage area is small, so that the materials in the material storage area can be quickly transported to the material position c1 at the edge of the assembly line.

[0062] For example, the material storage area can deploy a delivery robot (for the sake of distinction, the robot deployed by the material storage area is called a delivery robot, and the delivery robot can be a mobile robot such as an AMR). The delivery robot is used to transport the materials in the material storage area to the material position c1 at the edge of the assembly line.

[0063] For example, during production and assembly, the delivery robot can deliver the materials (i.e., materials required for assembly) in the material storage area to the material position c1 at the edge of the assembly line, which can also be referred to as a line-side storage location, that is, the material to be assembled can be stored through the material position c1. Based on this, the warehouse management system can real-time statistics the inventory information of the material position c1, and the warehouse management system sends the inventory information of the material position c1 to the scheduling device, so that the scheduling device knows the inventory information of the material position c1.

[0064] In a possible implementation, the inventory information of the material position c1 can be the number of remaining materials in the material position c1, which indicates how many materials are left in the material position c1. Based on this, if the number of remaining materials in the material position c1 is not greater than a first quantity threshold (which can be configured according to experience, such as 1, 2, 3, etc.), it is detected that the material position c1 satisfies the material update condition, and the delivery robot is scheduled to transport the material (one or more) in the material storage area to the material position c1. Or, if the number of remaining materials in the material position c1 is greater than the first quantity threshold, it is detected that the material position c1 does not satisfy the material update condition, and the delivery robot is not scheduled to transport the material in the material storage area to the material position c1. For example, the scheduling device can send a scheduling instruction to the delivery robot, which is used to schedule the delivery robot to transport the material in the material storage area to the material position c1. Based on this, the delivery robot can transport the material in the material storage area to the material position c1 after receiving the scheduling instruction, and the scheduling process is not limited in this regard.

[0065] After one or more materials are transported to the material position c1, the number of remaining materials in the material position c1 increases, and the warehouse management system can real-time statistics the inventory information of the material position c1 (i.e., the number of remaining materials in the material position c1), and the warehouse management system sends the inventory information of the material position c1 to the scheduling device, so that the scheduling device knows the inventory information of the material position c1, and then repeats the above process.

[0066] In a possible implementation, the inventory information of the material location c1 can be a material usage quantity of the material location c1, which indicates how many materials have been used in the material location c1. Based on this, if the material usage quantity of the material location c1 reaches a second quantity threshold (empirically configured, such as M), it is detected that the material location c1 meets the material updating condition, and the dispatching robot is scheduled to carry M materials in the material storage area to the material location c1, that is, M materials can be replenished in the material location c1. Or, if the material usage quantity of the material location c1 does not reach the second quantity threshold, it is detected that the material location c1 does not meet the material updating condition, and the dispatching robot is not scheduled to carry materials in the material storage area to the material location c1.

[0067] For example, the initial material quantity of the material location c1 is N (such as 1, 2, etc.), after M materials are replenished in the material location c1, the warehouse management system counts the material usage quantity of the material location c1 in real time, and the warehouse management system sends the material usage quantity of the material location c1 to the scheduling device, until the scheduling device learns that the material usage quantity of the material location c1 reaches M, and the scheduling device schedules the dispatching robot to carry M materials in the material storage area to the material location c1. After M materials are replenished in the material location c1, the warehouse management system re-counts the material usage quantity of the material location c1 from 0, and then repeats the above process.

[0068] For example, by replenishing materials in the material location c1, the material location c1 always has materials, so that each time a production line robot arrives at the material location c1, the materials in the material location c1 can be assembled to the product to be assembled carried by the production line robot. For example, during the process of scheduling the production line robot to run along the assembly route, the scheduling production line robot stops at the edge position of the material location c1, or the scheduling production line robot moves at a slow speed at the edge position of the material location c1, so as to assemble the materials in the material location c1 to the product to be assembled carried by the production line robot. Wherein, the edge position of the material location c1 is located on the assembly route (i.e. the production line robot passes through the edge position), and the edge position of the material location c1 is close to the material location c1, which can assemble the materials in the material location c1 to the product to be assembled carried by the production line robot.

[0069] For example, the production line robot can be scheduled to stop at the material location c1, and a worker at the station can assemble the material at the material location c1 to the product to be assembled, or an installation robot at the station can assemble the material at the material location c1 to the product to be assembled. Alternatively, the production line robot can be scheduled to move at a slow speed at the material location c1, i.e. during the slow movement of the production line robot, a worker at the station can assemble the material at the material location c1 to the product to be assembled, or an installation robot at the station can assemble the material at the material location c1 to the product to be assembled.

[0070] In summary, for each material location at the edge of the assembly route, the production line robot can interact with the warehouse management system when it arrives at or leaves the material location, so that the warehouse management system can calculate the inventory information of the material location in real time (such as the remaining number of materials at the material location or the number of materials used at the material location), i.e. each time the production line robot arrives at or leaves the material location, the warehouse management system calculates the inventory information of the material location. The warehouse management system can send the inventory information of the material location to the scheduling device, and when the scheduling device determines that the material location meets the material updating condition based on the inventory information, the scheduling and distribution robot can be scheduled to carry the materials in the material storage area to the material location.

[0071] FIG. 4 is a schematic diagram of a material location placing multiple materials. Referring to FIG. 4, it is assumed that the material location places S materials (material P), and when S production line robots (the products to be assembled carried by these production line robots all need to install material P, and the product to be assembled of each production line robot only needs to install one material P) pass through the material location, the material P in the material storage area is automatically triggered to be replenished to the material location, so as to realize automatic triggering of material preparation and distribution, and the material demand of the material location is not deviated from the actual distribution.

[0072] Thirdly, an abnormality processing mechanism is designed, i.e. when the production line robot is abnormal or the product to be assembled carried by the production line robot is abnormal, the production line robot or the product to be assembled carried by the production line robot is repaired.

[0073] For example, during the process of scheduling the production line robot to run along the assembly route, if the production line robot is abnormal, the production line robot can leave the assembly route to repair the production line robot in the area outside the assembly route, and the repair process of the production line robot is not limited. For example, when the scheduling device learns that the production line robot is abnormal, the scheduling device can send a scheduling instruction to the production line robot, and the scheduling instruction is used to schedule the production line robot to leave the assembly route. Based on this, after the production line robot receives the scheduling instruction, the production line robot can leave the assembly route, and the scheduling process is not limited. After the production line robot leaves the assembly route, the production line robot can be repaired in the area outside the assembly route.

[0074] In the process of scheduling the production line robot to run along the assembly line, if the product carried by the production line robot is abnormal, the production line robot is scheduled to leave the assembly line to repair the product carried by the production line robot in an area outside the assembly line, and the repair process of the product is not limited. For example, when the scheduling device learns that the product carried by the production line robot is abnormal, it can send a scheduling instruction to the production line robot. After receiving the scheduling instruction, the production line robot leaves the assembly line, and then repairs the product carried by the production line robot in an area outside the assembly line.

[0075] For example, after the production line robot or the product carried by the production line robot is repaired, the production line robot can be scheduled to re-enter the assembly line in the queue order before leaving the assembly line. If the production line robot is between a first production line robot and a second production line robot before leaving the assembly line, the production line robot is still between the first production line robot and the second production line robot when it re-enters the assembly line.

[0076] For example, in the production and assembly process, if the product carried by the production line robot is abnormal (such as unqualified product, which can also be referred to as assembly component), and the online repair of the product causes the assembly line to stop running (i.e., the production line robots behind the production line robot also need to be paused synchronously), the current unqualified product can be processed offline.

[0077] In order to process the unqualified product offline, it is only necessary to remove the production line robot carrying the product from the line. After the production line robot leaves the assembly line (removed from the line), the remaining production line robots can continue to run on the assembly line, so that the assembly line continues to operate.

[0078] For the production line robot that leaves the assembly line, the product carried by the production line robot can be repaired in an area outside the assembly line, i.e., repaired and assembled offline.

[0079] After the product carried by the production line robot is repaired, the production line robot can be scheduled to re-enter the line at a certain station (i.e., material position) of the assembly line, or at a non-station of the assembly line, that is, the production line robot can be scheduled to re-enter the line at any position of the assembly line. When the production line robot is scheduled to re-enter the line, the production line robot needs to re-enter the assembly line in the queue order before leaving the assembly line, i.e., the queue order of the production line robot is maintained.

[0080] Figure 5 is a schematic diagram of offline processing of the production line robot. Referring to Figure 5, at a certain time, during the assembly process at the A station, it is found that the product to be assembled carried by the production line robot N is abnormal, and online repair will cause a long assembly line stop, therefore, the production line robot N needs to be removed for offline processing, that is, the production line robot N is removed from the assembly line without affecting the normal operation of the assembly line.

[0081] While the production line robot N carries the product to be assembled for offline repair, the offline assembly of part of the material is also carried out, that is, all materials involved between the A station and the B station are assembled offline.

[0082] After the repair of the production line robot N carrying the product to be assembled is completed, if the material is assembled to the B station according to the assembly process sequence, the production line robot N is moved to the vicinity of the B station, reenters the assembly line in the vicinity of the B station, and after entering the assembly line, the material assembly of the subsequent stations of the B station is completed.

[0083] When the production line robot N reenters the assembly line in the vicinity of the B station, it needs to reenter the assembly line according to the queue order before leaving the assembly line. For example, before the production line robot N leaves the assembly line, the production line robot N is between the production line robot M and the production line robot O, and when the production line robot N reenters the assembly line, the production line robot N is between the production line robot X and the production line robot Y. Based on this, the production line robot M is the production line robot X, and the production line robot O is the production line robot Y.

[0084] Fourth, the expansion mechanism of the assembly line is designed.

[0085] For example, when the current assembly line cannot meet the assembly demand of the factory production, the assembly line can be modified to increase the station (assembly station). For this purpose, only the walking route of the production line robot needs to be changed, that is, the assembly line is re-planned, and the production line robot is scheduled to run on the re-planned assembly line, that is, the re-planning of the assembly line can be quickly completed, so that the station can be increased based on the re-planned assembly line. Of course, after the assembly line is re-planned, related supporting equipment and facilities can also be installed, which is not limited.

[0086] Figure 6 is a schematic diagram of expanding the assembly line. Referring to Figure 6, a certain section I of the assembly line can be expanded to J, so that the assembly operation station can be added on the assembly line. For this assembly line expansion process, only the newly added production line robot needs to be added online, and the corresponding route (physical route and system function) needs to be adjusted, which can be completed, and the modification cycle and cost of the assembly line are greatly reduced.

[0087] Fifth, the prompt function of the material installation process is designed.

[0088] For example, the edge of the assembly route can be provided with a plurality of material positions, and the materials at the material positions are assembled to the products to be assembled carried by the assembly robot. Therefore, during the scheduling of the assembly robot along the assembly route, the assembly robot is stopped at the edge of the material position, or the assembly robot is slowed down at the edge of the material position, so that the materials are assembled to the products to be assembled carried by the assembly robot by manual or robotic means.

[0089] For example, since the types of the components of the products to be assembled are various (for example, the types of the components of the products to be assembled carried by different assembly robots can be the same or different, and the types of the components are used to represent the types of the products to be assembled), and the types of the materials placed at the material positions are various, it is necessary to select some materials from all the materials placed at the material positions, which are matched with the products to be assembled, and assemble the selected materials to the products to be assembled carried by the assembly robot.

[0090] In order to select accurate materials to be assembled to the products to be assembled, it is necessary to determine at least one material (for example, a plurality of materials) to be assembled to the products to be assembled, that is, the materials need to be assembled to the products to be assembled. Therefore, the materials can be first prompted by a display screen or an indicator light, and the first prompt indicates that the materials corresponding to the material positions need to be assembled to the products to be assembled carried by the assembly robot.

[0091] For example, assuming that the materials d1, d2 and d3 need to be assembled to the products to be assembled, the display screen can display the identifiers of the materials d1, d2 and d3, indicating that the materials d1, d2 and d3 need to be assembled to the products to be assembled carried by the assembly robot. In this way, by checking the display screen, it is known that the materials d1, d2 and d3 need to be assembled to the products to be assembled.

[0092] For another example, for each material placed at the material position, the material can correspond to an indicator light, the indicator light corresponding to the material d1 is on, the indicator light corresponding to the material d2 is on, and the indicator light corresponding to the material d3 is on, and the indicator lights corresponding to the remaining materials are off, indicating that the materials d1, d2 and d3 need to be assembled to the products to be assembled carried by the assembly robot. In this way, by checking the indicator light corresponding to each material, it is known that the materials d1, d2 and d3 need to be assembled to the products to be assembled.

[0093] For example, in order to determine the material to be assembled on the product to be assembled, the scheduling line robot is stopped at the edge position of the material position, or the scheduling line robot is slowed down when moving at the edge position of the material position, and the material to be assembled on the product to be assembled at the material position (station) can be determined based on the component type of the product to be assembled and the material position, that is, the material to be assembled at the material position is matched.

[0094] For example, after one material is assembled on the product to be assembled carried by the line robot, the second prompt of the material can also be given through the display screen or the indicator light, indicating that the material has completed installation. For example, after the material d1 is assembled on the product to be assembled carried by the line robot, the identification of the material d1 can be removed from the display screen, indicating that the material d1 has completed installation, and at this time, the display screen displays the identification of the material d2 and the identification of the material d3, indicating that the materials d2 and d3 still need to be assembled on the product to be assembled carried by the line robot. For example, the indicator light corresponding to the material d1 can be turned off, indicating that the material d1 has completed installation, and at this time, the indicator light corresponding to the material d2 is turned on and the indicator light corresponding to the material d3 is turned on, indicating that the materials d2 and d3 still need to be assembled on the product to be assembled carried by the line robot.

[0095] For example, before the scheduling line robot leaves the edge position of the material position, it can also be determined whether there is a material to be installed. For example, if the display screen still displays the identification of the material, it indicates that there is a material to be installed, and if the display screen does not display the identification of the material, it indicates that there is no material to be installed. Alternatively, if all the indicator lights corresponding to the materials are turned off, it indicates that there is no material to be installed, and if there is an indicator light corresponding to the material that is not turned off, it indicates that there is a material to be installed.

[0096] If there is a material to be installed, the line robot is prohibited from leaving the edge position of the material position, and the material of the material position needs to be continuously assembled on the product to be assembled carried by the line robot. If there is no material to be installed, the line robot is allowed to leave the edge position of the material position, and the scheduling line robot continues to run along the assembly route until the next material position, and the above process is repeated.

[0097] For example, during the material assembly process, for the current station, after the picking and assembly of one kind of material are completed, the confirmation of the material can be triggered, and the second prompt of the material is given through the display screen or the indicator light, indicating that the material has completed installation. After the picking and assembly of the last kind of material are completed, the confirmation of the material is triggered, and the current station completion signal is triggered, indicating that all the materials of the current station have completed installation.

[0098] If the production line robot is at the current station, in the process of moving from the entry point to the exit point (or stopping at the current station assembly point), if the current station completion signal is received, the production line robot no longer stays at the exit point of the current station, and directly dispatches the production line robot to enter the next station, repeating the above operation.

[0099] If the production line robot is at the current station, in the process of moving from the entry point to the exit point (or stopping at the current station assembly point), if the current station completion signal is received, the production line robot no longer stays at the exit point of the current station, and directly dispatches the production line robot to enter the next station, repeating the above operation.

[0100] In summary, when the production line robot enters the assembly station, the display screen or indicator light can prompt the assembly worker or robot to pick and assemble the material, thereby reducing the proportion of material misassembly and missing assembly, reducing the probability of material misassembly and missing assembly, and improving the compatibility of automatic equipment for assembling different types of components.

[0101] Referring to FIG. 7A, which shows a schematic diagram of dispatching the production line robot to move at a slow speed at the edge position of the material position, and referring to FIG. 7B, which shows a schematic diagram of dispatching the production line robot to stop at the edge position of the material position. When the production line robot (i.e., intelligent AMR) enters the A station, based on the component type of the product to be assembled, the material that needs to be assembled for the product to be assembled at the A station is determined, and the assembly worker or robot is reminded to pick and assemble by lighting.

[0102] The entry point of the A station is m, and the exit point of the A station is n. In the process of moving from the entry point m to the exit point n (or stopping at the current station assembly point k), if the current station completion signal is not received, the production line robot stays at the exit point n again until the current station completion signal is received.

[0103] Sixth, a material verification function is designed, such as verifying part of the material or all the material.

[0104] For example, multiple material positions can be deployed at the edge of the assembly route, and the materials are assembled onto the product to be assembled carried by the production line robot at these material positions. Based on this, in the process of dispatching the production line robot to run along the assembly route, the production line robot stops at the edge position of the material position, or the production line robot moves at a slow speed at the edge position of the material position, so that the material is assembled onto the product to be assembled carried by the production line robot by manual or robotic means.

[0105] Exemplarily, during scheduling the assembly line robot to run along the assembly route, it can be determined that a first material type of the material to be assembled to the product to be assembled (for indicating the type of the material), i.e. the material of the first material type is to be assembled to the product to be assembled. For example, the component type of the product to be assembled (for indicating the type of the product to be assembled) can be determined, and the first material type of the material to be assembled to the product to be assembled of this component type at the material position is determined, and the determination manner is not limited.

[0106] Exemplarily, the second material type of the material at the material position can be determined. For example, the two-dimensional code can be included on the material, and when the assembly personnel picks the material, the two-dimensional code of the material can be scanned by the handheld device to obtain the second material type of the material, and the device can send the second material type of the material to the scheduling device to obtain the second material type of the material by the scheduling device. For example, the assembly personnel can scan the two-dimensional code of the key material (which can be decided by the assembly personnel) by the handheld device to obtain the second material type of the key material, or the assembly personnel can scan the two-dimensional code of all the materials to be assembled by the handheld device to obtain the second material type of all the materials to be assembled.

[0107] Exemplarily, it can be determined whether the first material type matches the second material type, for example, if the first material type is the same as the second material type, the first material type matches the second material type, and if the first material type is different from the second material type, the first material type does not match the second material type. For example, if the product to be assembled corresponds to multiple materials, a first material type set including the first material types of the multiple materials is obtained. If only the second material type of the key material is obtained, and the second material type of the key material is in the first material type set, the second material type matches the first material type, and if the second material type of the key material is not in the first material type set, the second material type does not match the first material type. If the second material type of all the materials to be assembled is obtained, for each material to be assembled, if the second material type of the material to be assembled is in the first material type set, the second material type matches the first material type, and if the second material type of the material to be assembled is not in the first material type set, the second material type does not match the first material type.

[0108] Exemplarily, if the first material type matches the second material type, it is prompted to allow the material at the material position to be assembled to the product to be assembled carried by the assembly line robot. In this way, the assembly line robot is stopped at the edge position of the material position, or the assembly line robot is slowed down at the edge position of the material position, and the material (i.e. the picked material) at the material position is assembled to the product to be assembled carried by the assembly line robot.

[0109] If the first material type does not match the second material type, an error message of mismatched material types is prompted, that is, the material at the material location (i.e., the picked material) is not allowed to be assembled onto the product to be assembled carried by the production line robot, which indicates that the picked material is wrong, and the assembly personnel need to pick the material again and scan the two-dimensional code of the picked material to obtain the second material type of the material, and repeat the above steps.

[0110] In summary, the material can be checked (whether the material type of the picked material matches the material type required by the product to be assembled), if the check passes, the picked material is allowed to be assembled onto the product to be assembled, if the check fails, the picked material is prohibited from being assembled onto the product to be assembled, thereby avoiding assembling the wrong material onto the product to be assembled, and prompting the assembly personnel to handle by prompting an error.

[0111] Seventh, a combination scheme of the assembly route and the subassembly route is designed.

[0112] For example, in some application scenarios, the subassembly route can also be planned in advance, based on which, the area where the subassembly route is located is known, and when planning the assembly route, the shortest distance between the assembly route and the subassembly route can also be less than a second distance threshold, so that the distance between the assembly route and the subassembly route is relatively short. Referring to FIG. 3, a schematic diagram of the assembly route and the subassembly route is shown.

[0113] For example, the subassembly route is deployed with a subassembly robot (such as one or more subassembly robots, in order to distinguish, the robot deployed on the subassembly route is called a subassembly robot, and the subassembly robot can be a mobile robot such as an AMR), and the subassembly robot carries a semi-finished product which also needs to be assembled onto the product to be assembled carried by the production line robot. For example, the semi-finished product is first assembled on the subassembly route, and then the assembled semi-finished product is assembled onto the product to be assembled.

[0114] For example, for each subassembly robot, the subassembly robot can be dispatched to run along the subassembly route (the subassembly route can be a circular route or other shaped route, which is not limited). For example, the dispatching device can send a dispatching instruction to the subassembly robot, and the dispatching instruction is used to dispatch the subassembly robot to run along the subassembly route. After receiving the dispatching instruction, the subassembly robot can run according to the subassembly route, and the dispatching process is not limited.

[0115] Exemplarily, one or more material locations (denoted as first material locations) are disposed at the edge of the subassembly line route, and the first material locations are stations of the subassembly line route, and the material of the first material locations can be assembled to the semi-finished product carried by the subassembly robot at the first material locations.

[0116] During the process of scheduling the subassembly robot to run along the subassembly line route, the subassembly robot can be scheduled to stop at the edge position of the first material location (the edge position of the first material location is at the subassembly line route) to assemble the material of the first material location to the semi-finished product carried by the subassembly robot. For example, the material of the first material location is assembled to the semi-finished product by the worker of the station, or the material of the first material location is assembled to the semi-finished product by the assembly robot of the station, without limitation.

[0117] Alternatively, during the process of scheduling the subassembly robot to run along the subassembly line route, the subassembly robot can be scheduled to move at a slow speed at the edge position of the first material location to assemble the material of the first material location to the semi-finished product carried by the subassembly robot. For example, the material of the first material location is assembled to the semi-finished product by the worker of the station, or the material of the first material location is assembled to the semi-finished product by the assembly robot of the station. In this way, the material assembly is completed synchronously during the slow movement of the subassembly robot.

[0118] Exemplarily, after the material of the first material location is assembled to the semi-finished product carried by the subassembly robot, the subassembly robot is continuously scheduled to run along the subassembly line route until the semi-finished product carried by the subassembly robot has completed assembly and can leave the subassembly line route. For example, if the semi-finished product carried by the subassembly robot has completed assembly, the subassembly robot is scheduled to carry the semi-finished product to a second material location at the edge of the assembly route. The second material location is located at the edge of the assembly route, and the second material location is a station of the assembly route, and the material of the second material location can be assembled to the product to be assembled carried by the assembly robot at the second material location.

[0119] Exemplarily, during the process of scheduling the assembly robot to run along the assembly route, the assembly robot can be scheduled to stop at the edge position of the second material location, or the assembly robot can be scheduled to move at a slow speed at the edge position of the second material location to assemble the semi-finished product of the second material location (i.e., the semi-finished product carried by the subassembly robot to the second material location) to the product to be assembled carried by the assembly robot.

[0120] For example, after dispatching the subassembly robot to carry the semi-finished product to the second material position at the edge of the assembly line, the subassembly robot places the semi-finished product at the second material position, so that the worker at the station assembles the semi-finished product at the second material position to the product to be assembled carried by the line robot, or the installation robot at the station assembles the semi-finished product at the second material position to the product to be assembled carried by the line robot.

[0121] For example, after dispatching the subassembly robot to carry the semi-finished product to the second material position at the edge of the assembly line, the semi-finished product is still located on the subassembly robot, that is, the semi-finished product is not placed at the second material position, so that the subassembly robot assembles the semi-finished product to the product to be assembled carried by the line robot.

[0122] Eighth, design a combination scheme of the assembly line and the assembly island.

[0123] For example, in some application scenarios, the assembly island can also be pre-planned, based on which the area where the assembly island is located is known, and when planning the assembly line, the assembly line can also pass through the assembly island, that is, when dispatching the line robot to run according to the assembly line, the line robot will reach the assembly island along the assembly line, and the assembly island can match the material to be assembled to the product to be assembled carried by the line robot.

[0124] For example, the assembly island is a kind of assembly platform, which is a device with assembly function, used to assemble materials (such as heavy and difficult-to-install materials) to products to be assembled by robots. The assembly island can divide the assembly process of the product into several stations, each station is responsible for completing a part of the assembly work, forming an island-shaped production layout, and the advantages of the assembly island include improving production efficiency, reducing production cost, and improving product quality. Based on this, each station of the assembly island can deploy an installation robot, so as to assemble the material provided by the station to the product to be assembled carried by the line robot by the robot.

[0125] In summary, the assembly island can be deployed with installation robots (such as one or more installation robots, in order to distinguish, the robots deployed on the assembly island are called installation robots, and the installation robots can be mobile robots such as AMR), for example, the assembly island can divide the assembly process of the product into several stations, and each station is deployed with an installation robot to complete the assembly work.

[0126] For example, during the dispatching of the line robot along the assembly line, since the assembly line will pass through the assembly island, the line robot can be dispatched to reach the assembly island along the assembly line.

[0127] When the line robot reaches the assembly island along the assembly route, the installation robot (such as the installation robot deployed at the workstation of the assembly island) can be controlled to assemble the material matched by the assembly island to the product to be assembled carried by the line robot. For example, the line robot can be scheduled to stop at a position near the workstation of the assembly island, or the line robot can be scheduled to move at a low speed near the workstation of the assembly island, and then the installation robot can be controlled to assemble the material matched by the assembly island to the product to be assembled carried by the line robot. There is no limitation to this process.

[0128] For example, when the line robot stops at a position near the workstation of the assembly island, or the line robot moves at a low speed near the workstation of the assembly island, the scheduling device of the line robot can send an instruction to the control device of the installation robot. After receiving the instruction, the control device of the installation robot can control the installation robot to assemble the material matched by the assembly island to the product to be assembled carried by the line robot. There is no limitation to this process.

[0129] For example, for the installation robot of each workstation, the assembly island can include an installation position corresponding to the workstation, so that the line robot needs to be scheduled to stop at the installation position, or the line robot needs to be scheduled to move at a low speed at the installation position. Based on this installation position, the installation robot can assemble the material matched by the assembly island to the product to be assembled carried by the line robot.

[0130] Alternatively, the assembly island can include multiple installation positions corresponding to the workstation, so that for each installation position, the line robot can be scheduled to stop at the installation position, or the line robot can be scheduled to move at a low speed at the installation position. That is, based on each installation position, the installation robot can assemble the material matched by the assembly island to the product to be assembled carried by the line robot.

[0131] In a possible implementation, if the assembly island includes multiple installation positions, and the multiple installation positions are all within the installation coverage of the installation robot, a mapping relationship between the component type and the installation position can be preconfigured. For example, FIG. 8 is a schematic diagram of multiple installation positions. As shown in FIG. 8, the assembly island includes installation position i, installation position j, and installation position k. As shown in Table 1, the mapping relationship between the component type and the installation position is shown. Of course, Table 1 is only an example, and the mapping relationship is not limited.

[0132] As can be seen from Table 1, for the product to be assembled of component type A1, when the product to be assembled is located at installation position i, the installation robot can assemble the material to the product to be assembled, and installation position i is the best installation position for the product to be assembled, that is, although the material assembly can also be completed at installation position j and installation position k, the installation effect of the material assembly is the best at installation position i. Similarly, for the products to be assembled of component type A2 and component type A3, installation position j is the best installation position for the product to be assembled, and for component type A4, installation position k is the best installation position for the product to be assembled.

[0133] For example, the mapping relationship between the component type and the installation position can be configured according to experience or according to actual measurement. For example, the product to be assembled of component type A1 can be placed in installation position i, installation position j and installation position k in turn to obtain the installation effect corresponding to each installation position, and the installation position with the best installation effect can correspond to component type A1, and so on.

[0134] For example, when the production line robot is scheduled to reach the assembly island along the assembly route, the mapping relationship can be queried based on the component type of the product to be assembled carried by the production line robot, and then a target installation position corresponding to the component type is selected from the plurality of installation positions. On this basis, the production line robot is stopped at the target installation position, or the production line robot is slowed down at the target installation position, and the installation robot is controlled to assemble the material matched by the assembly island to the product to be assembled carried by the production line robot.

[0135] For example, at the automated assembly station, in order to improve the compatibility of different component types, a plurality of installation positions can be provided as the component type of the product to be assembled increases. Referring to FIG. 8, the installation position can be installation position i (i.e., the production line robot can be stopped at installation position i, and the intelligent AMR in FIG. 8 represents the production line robot), installation position j (i.e., the production line robot can be stopped at installation position j), or installation position k (i.e., the production line robot can be stopped at installation position k). Based on this, the installation position matched with the component type of the product to be assembled carried by the production line robot can be selected as the stopping point of the production line robot.

[0136] For different component types of the product to be assembled, the production line robot can be flexibly stopped at different assembly points (i.e., different installation positions) according to the automation requirements, thereby improving the compatibility of the automated assembly for different types of components.

[0137] Based on the same application concept as the above method, an island assembly device based on robot control is proposed in the embodiments of the present application. A pre-planned assembly route passes through an assembly island. The assembly route is a ring-shaped route. The assembly island is deployed with a mounting robot. The assembly route is deployed with a plurality of production line robots. Each production line robot carries a product to be assembled. FIG. 9A is a structural schematic diagram of the device. Referring to FIG. 9A, the device includes a scheduling module 911 and a control module 912.

[0138] The scheduling module 911 is configured to schedule each production line robot to run along the assembly route. The control module 912 is configured to control the mounting robot to assemble the material matched by the assembly island to the product to be assembled carried by the production line robot when the production line robot reaches the assembly island along the assembly route. The scheduling module 911 is further configured to schedule the production line robot to leave the assembly route from a target position configured when the product to be assembled carried by the production line robot has completed installation.

[0139] For example, when the control module 912 controls the mounting robot to assemble the material matched by the assembly island to the product to be assembled carried by the production line robot, the control module 912 is further configured to: if the assembly island includes a plurality of mounting positions, and the plurality of mounting positions are all within the installation coverage range of the mounting robot, select a target mounting position corresponding to the component type of the product to be assembled from the plurality of mounting positions based on a mapping relationship between the configured component type and the mounting position; schedule the production line robot to stop at the target mounting position, or schedule the production line robot to move at a slow speed at the target mounting position, and control the mounting robot to assemble the material matched by the assembly island to the product to be assembled carried by the production line robot.

[0140] Exemplarily, the closest distance between the assembly route and a pre-planned material storage area is less than a first distance threshold, the material storage area is used for placing materials, the material storage area is deployed with a delivery robot, and the scheduling module 911 is further configured to: if it is detected that a material position meets a material updating condition, schedule the delivery robot to carry materials in the material storage area to the material position, the material position being located at an edge of the assembly route; wherein the material position meets the material updating condition if a remaining quantity of materials in the material position is not greater than a first quantity threshold, or a quantity of used materials in the material position reaches a second quantity threshold; and during scheduling the production line robot to run along the assembly route, schedule the production line robot to stop at an edge position of the material position, or schedule the production line robot to move at a slow speed at the edge position of the material position, the edge position of the material position being located at the assembly route, to assemble materials in the material position to a product to be assembled carried by the production line robot.

[0141] Exemplarily, the closest distance between the assembly route and a pre-planned material storage area is less than a first distance threshold, the material storage area is used for placing materials, the material storage area is deployed with a delivery robot, and the scheduling module 911 is further configured to: if it is detected that a material position meets a material updating condition, schedule the delivery robot to carry materials in the material storage area to the material position, the material position being located at an edge of the assembly route; wherein the material position meets the material updating condition if a remaining quantity of materials in the material position is not greater than a first quantity threshold, or a quantity of used materials in the material position reaches a second quantity threshold; and during scheduling the production line robot to run along the assembly route, schedule the production line robot to stop at an edge position of the material position, or schedule the production line robot to move at a slow speed at the edge position of the material position, the edge position of the material position being located at the assembly route, to assemble materials in the material position to a product to be assembled carried by the production line robot.

[0142] In an example, the scheduling module 911 is further configured to, during scheduling the line robot to run along the assembly route, if the line robot is abnormal or a product carried by the line robot is abnormal, schedule the line robot to leave the assembly route to repair the line robot or the product carried by the line robot in an area outside the assembly route, and after the repair of the line robot or the product carried by the line robot is completed, schedule the line robot to re-enter the assembly route according to a queue order before the line robot leaves the assembly route, wherein if the line robot is between a first line robot and a second line robot before leaving the assembly route, the line robot is between the first line robot and the second line robot when the line robot re-enters the assembly route.

[0143] In an example, the scheduling module 911 is further configured to, during scheduling the line robot to run along the assembly route, schedule the line robot to stop at an edge position of a material position or schedule the line robot to move at a slow speed at the edge position of the material position, and display a first prompt of a plurality of materials corresponding to the material position on a display screen or an indicator light, the first prompt indicating that the plurality of materials corresponding to the material position need to be assembled on a product carried by the line robot, display a second prompt of a material on the display screen or the indicator light after each time the material is assembled on the product carried by the line robot, the second prompt indicating that the material has been installed, and determine whether there is a material to be installed in the material position, if yes, prohibit the line robot from leaving the edge position of the material position, and if no, schedule the line robot to continue running along the assembly route.

[0144] In an example, the scheduling module 911 is further configured to, during scheduling the line robot to run along the assembly route, determine a first material type of a material that needs to be assembled on the product, schedule the line robot to stop at an edge position of a material position or schedule the line robot to move at a slow speed at the edge position of the material position, determine a second material type of a material in the material position, retrieve whether the first material type matches the second material type, if the first material type matches the second material type, prompt to allow the material in the material position to be assembled on the product carried by the line robot, and if the first material type does not match the second material type, prompt error information of the mismatched material types.

[0145] Based on the same application concept as the above method, an electronic device (such as the above dispatching device) is provided in the embodiments of the present application. Referring to FIG. 9B, the electronic device includes a processor 921 and a machine readable storage medium 922, the machine readable storage medium 922 stores machine executable instructions capable of being executed by the processor 921; the processor 921 is configured to execute the machine executable instructions to implement the robot control based island assembly method disclosed in the above embodiments of the present application.

[0146] Based on the same application concept as the above method, the embodiments of the present application further provide a machine readable storage medium, the machine readable storage medium stores a plurality of computer instructions, the computer instructions are executed by a processor to implement the robot control based island assembly method disclosed in the above embodiments of the present application.

[0147] The machine readable storage medium can be any electronic, magnetic, optical, or other physical storage device, and can contain or store information such as executable instructions, data, and the like. For example, the machine readable storage medium can be a RAM (Random Access Memory), a volatile memory, a non-volatile memory, a flash memory, a storage drive (such as a hard disk drive), a solid state drive, any type of storage disc (such as a compact disc, a DVD, and the like), or similar storage medium, or a combination thereof.

[0148] Based on the same application concept as the above method, the embodiments of the present application further provide a computer program product, the computer program product includes a computer program; wherein the computer program is executed by a processor to implement the robot control based island assembly method disclosed in the above embodiments of the present application.

[0149] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can be in the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to a magnetic disk storage, a CD-ROM, an optical storage, and the like) containing computer usable program code.

[0150] The above only describes the embodiments of the present application and is not intended to limit the present application. Those skilled in the art can make various modifications and changes to the present application. Any modification, equivalent replacement, improvement, and the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

An island assembly method based on robot control, characterized by The pre-planned assembly route passes through an assembly island, the assembly route is a loop route, the assembly island is deployed with an installation robot, the assembly route is deployed with a plurality of production line robots, each production line robot carries a product to be assembled, and the method comprises: For each production line robot, schedule the production line robot to run along the assembly route; When the production line robot reaches the assembly island along the assembly route, control the installation robot to assemble the material matched by the assembly island to the product to be assembled carried by the production line robot; If the product to be assembled carried by the production line robot has completed installation, when the production line robot reaches the configured target position along the assembly route, schedule the production line robot to leave the assembly route from the target position. The method of claim 1, wherein The assembly island comprises a plurality of installation positions, and the plurality of installation positions are all within the installation coverage range of the installation robot, and the control of the installation robot to assemble the material matched by the assembly island to the product to be assembled carried by the production line robot comprises: Based on the mapping relationship between the configured component type and the installation position, select a target installation position corresponding to the component type of the product to be assembled from the plurality of installation positions; Schedule the production line robot to stop at the target installation position, or schedule the production line robot to move at a slow speed at the target installation position, and control the installation robot to assemble the material matched by the assembly island to the product to be assembled carried by the production line robot. The method according to claim 1 or 2, characterized in that The closest distance between the assembly route and the pre-planned material storage area is less than a first distance threshold, the material storage area is used to place materials, the material storage area is deployed with a distribution robot, and the method further comprises: If it is detected that a material position satisfies a material updating condition, schedule the distribution robot to carry the material of the material storage area to the material position, the material position is located at the edge of the assembly route; wherein, if the remaining number of materials of the material position is not greater than a first number threshold, or the number of material use of the material position reaches a second number threshold, the material position satisfies the material updating condition; During the scheduling of the production line robot to run along the assembly route, schedule the production line robot to stop at the edge position of the material position, or schedule the production line robot to move at a slow speed at the edge position of the material position, the edge position of the material position is located on the assembly route, so as to assemble the material of the material position to the product to be assembled carried by the production line robot. The method according to any one of claims 1 to 3, characterized in that The closest distance between the assembly route and the pre-planned sub-assembly line route is less than a second distance threshold, the sub-assembly line route is deployed with a sub-assembly robot, the sub-assembly robot carries a semi-finished product, and the method further comprises: scheduling the assembly robot to run along the assembly route; during the process of scheduling the assembly robot to run along the assembly route, scheduling the assembly robot to stop at an edge position of the first material position or scheduling the assembly robot to move at a slow speed at the edge position of the first material position to assemble the material at the first material position to the semi-finished product carried by the assembly robot; if the semi-finished product carried by the assembly robot has completed the assembly, scheduling the assembly robot to carry the semi-finished product to a second material position at an edge of the assembly route; during the process of scheduling the assembly robot to run along the assembly route, scheduling the assembly robot to stop at an edge position of the second material position or scheduling the assembly robot to move at a slow speed at the edge position of the second material position to assemble the semi-finished product at the second material position to the product to be assembled carried by the assembly robot. The method according to any one of claims 1 to 4, wherein, during the process of scheduling the assembly robot to run along the assembly route, the method further comprises: if the assembly robot has an abnormality or the product to be assembled carried by the assembly robot has an abnormality, scheduling the assembly robot to leave the assembly route to repair the assembly robot or the product to be assembled carried by the assembly robot in an area outside the assembly route; after the repair of the assembly robot or the product to be assembled carried by the assembly robot is completed, scheduling the assembly robot to re-enter the assembly route in the queue order before leaving the assembly route; if the assembly robot is between a first assembly robot and a second assembly robot before leaving the assembly route, the assembly robot is between the first assembly robot and the second assembly robot when re-entering the assembly route. The method according to any one of claims 1 to 5, wherein, during the process of scheduling the assembly robot to run along the assembly route, the method further comprises: scheduling the assembly robot to stop at an edge position of a material position or scheduling the assembly robot to move at a slow speed at the edge position of the material position and making a first prompt of a plurality of materials corresponding to the material position through a display screen or an indicator light, the first prompt indicating that the plurality of materials corresponding to the material position need to be assembled to the product to be assembled carried by the assembly robot; after assembling one material to the product to be assembled carried by the assembly robot each time, making a second prompt of the material through the display screen or the indicator light, the second prompt indicating that the material has completed the assembly; judging whether the material position has a material that has not completed the assembly; if the material position has a material that has not completed the assembly, prohibiting the assembly robot from leaving the edge position of the material position; if the material position does not have a material that has not completed the assembly, scheduling the assembly robot to continue running along the assembly route. The method according to any one of claims 1-6, characterized in that, During scheduling the line robot to run along the assembly route, the method further comprises: determining a first material type of a material needed to be assembled to the product to be assembled; scheduling the line robot to stop at an edge position of a material position, or scheduling the line robot to move at a slow speed at an edge position of a material position, and determining a second material type of a material at the material position; checking whether the first material type matches the second material type; if the first material type matches the second material type, prompting to allow the material at the material position to be assembled to the product to be assembled carried by the line robot; if the first material type does not match the second material type, prompting an error message of mismatched material types. An island assembly device based on robot control, characterized by The pre-planned assembly route passes through an assembly island, the assembly route is a loop route, the assembly island is deployed with an installation robot, the assembly route is deployed with a plurality of line robots, each line robot carries a product to be assembled, and the device comprises: a scheduling module configured to schedule each line robot to run along the assembly route; and a control module configured to control the installation robot to assemble a material matched by the assembly island to the product to be assembled carried by the line robot when the line robot reaches the assembly island along the assembly route; wherein the scheduling module is further configured to schedule the line robot to leave the assembly route from a target position configured when the product to be assembled carried by the line robot has completed installation and reaches the target position along the assembly route. The apparatus of claim 8, wherein The assembly island comprises a plurality of installation positions, and each installation position is within an installation coverage range of the installation robot, and the control module is further configured to: select a target installation position corresponding to a component type of the product to be assembled from the plurality of installation positions based on a mapping relationship between configured component types and installation positions; and schedule the line robot to stop at the target installation position or schedule the line robot to move at a slow speed at the target installation position, and control the installation robot to assemble a material matched by the assembly island to the product to be assembled carried by the line robot. The apparatus according to claim 8 or 9, characterized in that A nearest distance between the assembly route and a pre-planned material storage area is less than a first distance threshold, the material storage area is used to place materials, the material storage area is deployed with a delivery robot, and the scheduling module is further configured to: if a material position is detected to satisfy a material update condition, schedule the delivery robot to carry a material at the material storage area to the material position, the material position being located at an edge of the assembly route; wherein the material position satisfies the material update condition if a remaining quantity of materials at the material position is not greater than a first quantity threshold or a quantity of used materials at the material position reaches a second quantity threshold. In the process of scheduling the production line robot to run along the assembly route, the production line robot is scheduled to stop at an edge position of the material position or to move at a slow speed at the edge position of the material position, the edge position of the material position being located on the assembly route, so as to assemble the material of the material position to the product to be assembled carried by the production line robot. The apparatus according to any one of claims 8 to 10, characterized in that The closest distance between the assembly route and a pre-planned sub-assembly line route is less than a second distance threshold, the sub-assembly line route being deployed with a sub-assembly robot, the sub-assembly robot carrying a semi-finished product, and the scheduling module is further configured to: schedule the sub-assembly robot to run along the sub-assembly line route; in the process of scheduling the sub-assembly robot to run along the sub-assembly line route, the sub-assembly robot is scheduled to stop at an edge position of a first material position or to move at a slow speed at the edge position of the first material position, so as to assemble the material of the first material position to the semi-finished product carried by the sub-assembly robot; if the semi-finished product carried by the sub-assembly robot has completed installation, the sub-assembly robot is scheduled to carry the semi-finished product to a second material position at the edge of the assembly route; in the process of scheduling the production line robot to run along the assembly route, the production line robot is scheduled to stop at an edge position of the second material position or to move at a slow speed at the edge position of the second material position, so as to assemble the semi-finished product of the second material position to the product to be assembled carried by the production line robot. The apparatus according to any one of claims 8 to 11, characterized in that The scheduling module is further configured to: in the process of scheduling the production line robot to run along the assembly route, if the production line robot or the product to be assembled carried by the production line robot is abnormal, the production line robot is scheduled to leave the assembly route to repair the production line robot or the product to be assembled carried by the production line robot in an area outside the assembly route; after the repair of the production line robot or the product to be assembled carried by the production line robot is completed, the production line robot is scheduled to re-enter the assembly route in the queue order before leaving the assembly route; if the production line robot is between a first production line robot and a second production line robot before leaving the assembly route, the production line robot is between the first production line robot and the second production line robot when the production line robot re-enters the assembly route. The apparatus according to any one of claims 8 to 12, characterized in that The scheduling module is further configured to: in the process of scheduling the production line robot to run along the assembly route, the production line robot is scheduled to stop at an edge position of a material position or to move at a slow speed at the edge position of the material position, and a plurality of materials corresponding to the material position are first prompted through a display screen or an indicator light, the first prompt indicating that the plurality of materials corresponding to the material position need to be assembled to the product to be assembled carried by the production line robot; after each time a material is assembled to the product to be assembled carried by the assembly line robot, a second prompt of the material is provided through a display screen or an indicator light, the second prompt indicating that the material has completed installation; determining whether the material position has a material that has not completed installation; if the material position has a material that has not completed installation, prohibiting the assembly line robot from leaving the edge position of the material position; if the material position does not have a material that has not completed installation, dispatching the assembly line robot to continue running along the assembly route. The apparatus according to any one of claims 8 to 13, characterized in that The dispatching module is further configured to: during the dispatching of the assembly line robot to run along the assembly route, determining a first material type of a material that needs to be assembled to the product to be assembled; dispatching the assembly line robot to stop at the edge position of the material position, or dispatching the assembly line robot to move at a slow speed at the edge position of the material position, and determining a second material type of the material of the material position; retrieving whether the first material type matches the second material type; if the first material type matches the second material type, prompting to allow the material of the material position to be assembled to the product to be assembled carried by the assembly line robot; if the first material type does not match the second material type, prompting error information of a mismatched material type. An electronic device, comprising: a processor and a machine readable storage medium storing machine executable instructions executable by the processor; the processor is configured to execute the machine executable instructions to implement the method of any one of claims 1 to 7. a machine readable storage medium storing machine executable instructions executable by a processor; the processor is configured to execute the machine executable instructions to implement the method of any one of claims 1 to 7.

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