CN115610931B

CN115610931B - Frame loading method, device, computer equipment and storage medium

Info

Publication number: CN115610931B
Application number: CN202211265224.6A
Authority: CN
Inventors: 赵子林; 孔德军; 刘继卫; 李德华; 林禹希; 刘朕; 颜鹏; 刘磊; 王程伟
Original assignee: FAW Jiefang Automotive Co Ltd
Current assignee: FAW Jiefang Automotive Co Ltd
Priority date: 2022-10-17
Filing date: 2022-10-17
Publication date: 2024-06-04
Anticipated expiration: 2042-10-17
Also published as: CN115610931A

Abstract

The application relates to a frame mounting method, a frame mounting device, computer equipment and a storage medium. The method comprises the following steps: controlling the extraction conveying equipment to extract the frame to a set position under the condition that the frame is moved to an extraction position of the extraction conveying equipment; under the condition that the frame is determined to be a loading target, controlling the first automatic guiding transport vehicle to move to the front position of the frame, controlling the second automatic guiding transport vehicle to move to the rear position of the frame, and adjusting the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle so that the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase corresponding to the frame; after the frame is placed on the two automatic guiding transport vehicles, the first automatic guiding transport vehicle is controlled to start moving, and after the first automatic guiding transport vehicle moves for a preset period of time, the second automatic guiding transport vehicle is controlled to move according to the current moving speed of the first automatic guiding transport vehicle. By adopting the method, the frame loading part which can be flexibly scheduled can be realized.

Description

Frame loading method, device, computer equipment and storage medium

Technical Field

The present application relates to the field of automotive manufacturing technology, and in particular, to a method and apparatus for loading a frame, a computer device, a storage medium, and a computer program product.

Background

With the increasing demand for automobile production, manufacturers pay more and more attention to the work efficiency and scheduling method of workshop production lines, including optimization of the frame loading method. The frame is a frame structure which is bridged on the front axle and the rear axle of the automobile and generally consists of two longitudinal beams and a plurality of cross beams, and is supported on wheels through a suspension device, a front axle and a rear axle to be used as a matrix of the automobile, and the size and the weight of the frame are large.

In the conventional technology, fixing devices such as a transmission belt and a hanger rail are generally adopted to realize frame mounting. The frame loading mode is easy to realize, but the loading track lacks flexibility and cannot be adjusted according to actual production requirements. Therefore, there is a need for a frame loading method that can achieve flexible scheduling.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a method, apparatus, computer device, computer readable storage medium, and computer program product for on-chassis components that enable flexible scheduling.

In a first aspect, the present application provides a method for loading a frame, the method comprising the steps of:

Controlling the extraction conveying equipment to extract the frame to a set position under the condition that the frame is moved to an extraction position of the extraction conveying equipment;

Under the condition that the frame is determined to be a loading target, controlling the first automatic guiding transport vehicle to move to the front position of the frame, controlling the second automatic guiding transport vehicle to move to the rear position of the frame, and adjusting the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle so that the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase corresponding to the frame;

after the frame is placed on the two automatic guiding transport vehicles, the first automatic guiding transport vehicle is controlled to start moving, and after the first automatic guiding transport vehicle moves for a preset period of time, the second automatic guiding transport vehicle is controlled to move according to the current moving speed of the first automatic guiding transport vehicle.

In one embodiment, the process of determining that the frame is a part-on-part target includes:

And acquiring a frame number of the frame and a management number of the frame, and determining the frame as a loading target under the condition that the frame number is consistent with the management number.

In one embodiment, adjusting the distance between the first automatic guided vehicle and the second automatic guided vehicle so that the distance between the first automatic guided vehicle and the second automatic guided vehicle is equal to the vehicle wheel base corresponding to the vehicle frame comprises:

detecting a first actual measurement distance between a first automatic guiding transport vehicle and a second automatic guiding transport vehicle in real time;

comparing the first measured distance with the wheelbase of the vehicle type, and if the first measured distance is different from the wheelbase of the vehicle type, controlling the second automatic guiding transportation vehicle to move forwards and backwards;

After the position of the second automatic guiding transport vehicle is adjusted each time, measuring the first actual measurement distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle again, and repeating the above processes until the first actual measurement distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase.

In one embodiment, the process of placing the carriage on two automated guided vehicles comprises:

after the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase, the vehicle frame is lowered into the acceptable height range of the two automatic guiding transport vehicles through the extraction and conveying equipment;

And after detecting that the frame is placed on the two automatic guided vehicles, controlling the clamping jaw of the extraction conveying equipment to release and controlling the extraction conveying equipment to lift upwards through the goods detection switches on the two automatic guided vehicles.

In one embodiment, the method for loading the frame further includes:

In the process of transporting the frame through the two automatic guiding transport vehicles, detecting a second actual measurement distance between the first automatic guiding transport vehicle and a second automatic guiding transport vehicle in real time;

Under the condition that the increase of the second measured distance is detected, acquiring a first speed correction value of the second automatic guiding transport vehicle, and accelerating the current moving speed of the second automatic guiding transport vehicle according to the first speed correction value;

And under the condition that the second measured distance is detected to be reduced, acquiring a second speed correction value of the second automatic guiding transport vehicle, and decelerating the current moving speed of the second automatic guiding transport vehicle according to the second speed correction value.

In one embodiment, after accelerating the current moving speed of the second automated guided vehicle according to the first speed correction value, the method further includes:

Measuring a first pressure value caused by a frame of the second automatic guiding transport vehicle before acceleration and a second pressure value caused by a frame of the second automatic guiding transport vehicle after acceleration by a pressure sensor on the second automatic guiding transport vehicle;

Maintaining the current moving speed of the second automatic guided vehicle under the condition that the second pressure value is larger than the first pressure value and the second pressure value is larger than the first preset pressure value;

If the second pressure value is not greater than the first pressure value, the current movement speed of the second automated guided vehicle is further accelerated according to the first speed correction value.

In one embodiment, after decelerating the current moving speed of the second automated guided vehicle according to the second speed correction value, the method further includes:

Under the condition that the reduction of the second measured distance is detected, measuring a third pressure value caused by a frame of the second automatic guiding transport vehicle before the speed reduction is carried out through a pressure sensor on the second automatic guiding transport vehicle, and measuring a fourth pressure value caused by the frame of the second automatic guiding transport vehicle after the speed reduction is carried out;

Maintaining the current moving speed of the second automatic guided vehicle under the condition that the fourth pressure value is smaller than the third pressure value and the fourth pressure value is smaller than the second preset pressure value;

And if the fourth pressure value is not smaller than the third pressure value, continuing to decelerate the current moving speed of the second automatic guided vehicle according to the second speed correction value.

In a second aspect, the present application also provides a frame loading device for loading a frame by means of an extraction and transport apparatus and two automated guided vehicles, the device comprising:

the extraction and conveying module is used for controlling the extraction and conveying equipment to extract the frame to a set position under the condition that the frame is moved to the extraction position of the extraction and conveying equipment;

The recognition and dispatch module is used for controlling the first automatic guiding transport vehicle to move to the front position of the frame and controlling the second automatic guiding transport vehicle to move to the rear position of the frame under the condition that the frame is determined to be a loading target, and adjusting the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle so that the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase corresponding to the frame;

And the movement control module is used for controlling the first automatic guiding transport vehicle to start to move after the frame is placed on the two automatic guiding transport vehicles, and controlling the second automatic guiding transport vehicle to move according to the current movement speed of the first automatic guiding transport vehicle after the first automatic guiding transport vehicle moves for a preset period of time.

In a third aspect, the present application also provides a computer device for implementing carriage loading by extracting a conveying device and two automated guided vehicles, the computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:

In a fourth aspect, the present application also provides a computer readable storage medium for implementing carriage-on-a-shelf components by means of an extraction transport device and two automated guided vehicles, the computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of:

In a fifth aspect, the present application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:

According to the frame loading method, the device, the computer equipment and the storage medium, the frame loading is realized through the extraction conveying equipment and the two automatic guiding transport vehicles, and the extraction conveying equipment is controlled to extract the frame to the set position under the condition that the frame is moved to the extraction position of the extraction conveying equipment; under the condition that the frame is determined to be a loading target, controlling the first automatic guiding transport vehicle to move to the front position of the frame, controlling the second automatic guiding transport vehicle to move to the rear position of the frame, and adjusting the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle so that the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase corresponding to the frame; after the frame is placed on the two automatic guiding transport vehicles, the first automatic guiding transport vehicle is controlled to start moving, and after the first automatic guiding transport vehicle moves for a preset period of time, the second automatic guiding transport vehicle is controlled to move according to the current moving speed of the first automatic guiding transport vehicle. The whole frame loading process is completed by matching the extraction conveying equipment with two automatic guide transport vehicles, and the frame loading process is adjusted in real time according to the change condition of the transport route under the condition that the transport route of the frame is temporarily changed, so that the frame loading process which can be flexibly scheduled is realized.

Drawings

FIG. 1 is a diagram of an application environment for a frame assembly method according to one embodiment;

FIG. 2 is a flow chart of a method for loading a frame in an embodiment;

FIG. 3 is a flow chart of a frame load control step according to one embodiment;

FIG. 4 is a flow chart of a frame load control step according to another embodiment;

FIG. 5 is a block diagram of a frame mounting apparatus according to one embodiment;

fig. 6 is an internal structural diagram of a computer device in one embodiment.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

The method for mounting the frame provided by the embodiment of the application can be applied to an application environment shown in fig. 1. The frame loading system controller 100 interacts with the extraction and conveying device 200, the first automatic guiding transport vehicle 300 and the second automatic guiding transport vehicle 400 to realize frame loading which can be flexibly scheduled. The carriage loading system controller 100 controls the pick-up conveyor 200 to pick up the carriage to a set position in a case where the carriage is moved to the pick-up position of the pick-up conveyor 200; under the condition that the frame is determined to be a loading target, controlling the first automatic guiding transport vehicle 300 to move to the front position of the frame, controlling the second automatic guiding transport vehicle 400 to move to the rear position of the frame, and adjusting the distance between the first automatic guiding transport vehicle 300 and the second automatic guiding transport vehicle 400 so that the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase corresponding to the frame; after the frame is placed on the two automatic guided vehicles, the first automatic guided vehicle 300 is controlled to start moving, and after the first automatic guided vehicle 300 moves for a preset period of time, the current moving speed of the first automatic guided vehicle 300 is sent to the second automatic guided vehicle 400, so that the second automatic guided vehicle 400 moves. In the process of transporting the frame by the two automatic guided vehicles, the speed of the second automatic guided vehicle 400 is corrected according to the measured distance between the two automatic guided vehicles and the stress information of the second automatic guided vehicle 400.

In one embodiment, as shown in fig. 2, a method for loading a frame is provided, which is exemplified by the method applied to the frame loading system controller 100 in fig. 1, and includes the following steps:

S220: and controlling the extraction conveying equipment to extract the carriage to a set position under the condition that the carriage is moved to the extraction position of the extraction conveying equipment.

The extraction and conveying equipment is PICKUP conveying equipment, and the equipment can realize grabbing and conveying of parts of different vehicle types through adjustment of the bottom gripper equipment; the set position is the position where the PICKUP conveying equipment moves the extracted carriage horizontally and descends to the set automatic guiding transport vehicle can accept the safe height.

Specifically, after the vertical warehouse transfer machine transports the carriage to the PICKUP conveyor gripping station, the carriage on-board system controller transmits the carriage in-place signal to the PICKUP conveyor. And PICKUP, after receiving the frame in-place signal, the conveying equipment drops and extracts the frame to the safe height, and transmits the frame to the vertical warehouse transfer machine to extract the finishing signal, so that the vertical warehouse transfer machine starts the next frame conveying task, meanwhile, the PICKUP conveying equipment transversely moves and descends to a position where the self-conveying guide transport vehicle can accept the safe height, and the in-place signal is transmitted to the self-conveying guide transport vehicle.

S240: under the condition that the frame is determined to be the loading target, the first automatic guiding transport vehicle is controlled to move to the front position of the frame, the second automatic guiding transport vehicle is controlled to move to the rear position of the frame, and the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is adjusted so that the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase corresponding to the frame.

Wherein, the front position of the frame and the rear position of the frame are specifically set according to different vehicle types; the wheelbase refers to the distance between two perpendicular lines passing through the midpoints of two adjacent wheels on the same side of the vehicle and perpendicular to the longitudinal symmetry plane of the vehicle, namely the distance from the center of the front axle to the center of the rear axle.

In practical application, the frame loading system controller controls the first automatic guiding transport vehicle to move to a preset frame front position and controls the second automatic guiding transport vehicle to move to a preset frame rear position according to the frame front position and the frame rear position corresponding to different vehicle types under the condition that the frame is determined to be a loading target. After the second automatic guiding transport vehicle is in place, the distance between the second automatic guiding transport vehicle and the first automatic guiding transport vehicle is detected by using a distance measuring device, and the distance is compared with the vehicle type wheelbase corresponding to the vehicle frame. Under the condition that the actual distance between the two automatic guiding transportation workshops is not equal to the vehicle type wheelbase, the distance between the first automatic guiding transportation vehicle and the second automatic guiding transportation workshop is adjusted until the distance between the two automatic guiding transportation vehicles is equal to the vehicle type wheelbase corresponding to the vehicle frame.

S260: after the frame is placed on the two automatic guiding transport vehicles, the first automatic guiding transport vehicle is controlled to start moving, and after the first automatic guiding transport vehicle moves for a preset period of time, the second automatic guiding transport vehicle is controlled to move according to the current moving speed of the first automatic guiding transport vehicle.

Wherein, after the frame is placed on the two automatic guiding transportation vehicles, the goods detection switch on the automatic guiding transportation vehicle detects that the frame is placed on the automatic guiding transportation vehicle; the preset duration is a preset short period of time, which may be specifically one second.

In practical application, after receiving a signal that the frame has been placed on the automatic guiding transport vehicle, the frame loading system controller firstly controls the first automatic guiding transport vehicle to start moving, and after the first automatic guiding transport vehicle moves for a preset period of time, the second automatic guiding transport vehicle is controlled to move according to the moving speed of the first automatic guiding transport vehicle.

According to the frame loading method, the frame loading is realized through the extraction conveying equipment and the two automatic guide transport vehicles, and the extraction conveying equipment is controlled to extract the frame to the set position under the condition that the frame is moved to the extraction position of the extraction conveying equipment; under the condition that the frame is determined to be a loading target, controlling the first automatic guiding transport vehicle to move to the front position of the frame, controlling the second automatic guiding transport vehicle to move to the rear position of the frame, and adjusting the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle so that the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase corresponding to the frame; after the frame is placed on the two automatic guiding transport vehicles, the first automatic guiding transport vehicle is controlled to start moving, and after the first automatic guiding transport vehicle moves for a preset period of time, the second automatic guiding transport vehicle is controlled to move according to the current moving speed of the first automatic guiding transport vehicle. The whole frame loading process is completed by matching the extraction conveying equipment with two automatic guide transport vehicles, and the frame loading process is adjusted in real time according to the change condition of the transport route under the condition that the transport route of the frame is temporarily changed, so that the frame loading process which can be flexibly scheduled is realized.

In one embodiment, the process of determining that the frame is a part-on-part target includes: and acquiring a frame number of the frame and a management number of the frame, and determining the frame as a loading target under the condition that the frame number is consistent with the management number.

The frame number refers to a vehicle identification number (VIN, vehicle Identification Number) which is a unique set of seventeen alphanumeric numbers that identify the vehicle; the frame management number is a vehicle identification number corresponding to a vehicle planned to be produced, which is stored in a manufacturing operation management (MOM, manufacturing Operation Management) system. The frame number is consistent with the frame management number, which indicates that the frame transported by the extraction and transportation equipment is consistent with the frame of the planned production vehicle, namely, the frame is determined to be the object of loading.

In addition, under the condition that the frame number is consistent with the management number, the vehicle type code corresponding to the upper frame is obtained according to seventeen frame numbers, and the vehicle type wheelbase corresponding to the upper frame is determined through the vehicle type code.

In this embodiment, check is carried out to the frame that draws conveying equipment transportation, through the frame number that corresponds the transportation frame and the frame management number that MOM system corresponds compare, confirm that the frame is the target of getting into the piece, after checking, obtain the motorcycle type sign indicating number that the frame corresponds of getting into the piece according to the frame number, confirm the motorcycle type wheelbase that this frame corresponds of getting into the piece through the motorcycle type sign indicating number, improved the accuracy of getting into the piece into the frame.

In one embodiment, adjusting the distance between the first automatic guided vehicle and the second automatic guided vehicle so that the distance between the first automatic guided vehicle and the second automatic guided vehicle is equal to the vehicle wheel base corresponding to the vehicle frame comprises: detecting a first actual measurement distance between a first automatic guiding transport vehicle and a second automatic guiding transport vehicle in real time; comparing the first measured distance with the wheelbase of the vehicle type, and if the first measured distance is different from the wheelbase of the vehicle type, controlling the second automatic guiding transportation vehicle to move forwards and backwards; after the position of the second automatic guiding transport vehicle is adjusted each time, measuring the first actual measurement distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle again, and repeating the above processes until the first actual measurement distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase.

The distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is detected by adopting the distance measuring device, and under the condition that the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is not equal to the wheel base of the vehicle type corresponding to the upper frame, the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is adjusted by controlling the second automatic guiding transport vehicle to move forwards and backwards, and the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is detected again by using the distance measuring device after the adjustment is finished until the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the wheel base of the vehicle type.

In this embodiment, the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is detected in real time through the distance measuring device, and the distance between the two automatic guiding transport vehicles is adjusted by controlling the front and back movement of the second automatic guiding transport vehicle, so that the process of loading the frame is ensured to be more stable, and meanwhile, the complexity of subsequent speed control is simplified through the preset detection and adjustment flow.

In one embodiment, the process of placing the carriage on two automated guided vehicles comprises: after the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase, the vehicle frame is lowered into the acceptable height range of the two automatic guiding transport vehicles through the extraction and conveying equipment; and after detecting that the frame is placed on the two automatic guided vehicles, controlling the clamping jaw of the extraction conveying equipment to release and controlling the extraction conveying equipment to lift upwards through the goods detection switches on the two automatic guided vehicles.

The goods inspection switch is a switch type sensor arranged on the automatic guiding transport vehicle and used for detecting whether the automatic guiding transport vehicle contacts with the frame. After the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is adjusted to be the vehicle-type wheelbase, the vehicle frame loading system controller judges whether the vehicle frame can be safely placed on the two automatic guiding transport vehicles through detection signals of the cargo detection switch, after the automatic guiding transport vehicle is detected to be received on the vehicle frame, the clamping jaw of the extracting and conveying device is controlled to be released, the vehicle frame is completely placed on the automatic guiding transport vehicle, then the extracting and conveying device is controlled to be lifted to a set height, collision with the vehicle frame is avoided, and accordingly the automatic guiding transport vehicle carrying the vehicle frame can be safely driven away.

In this embodiment, when the distance between the first automatic guided vehicle and the second automatic guided vehicle is adjusted to be the vehicle-type wheelbase and the extracting and conveying device descends the vehicle frame to the position where the two automatic guided vehicles can be received, the goods detection switch on the automatic guided vehicle detects whether the automatic guided vehicle has received the vehicle frame, after the clamping jaw of the extracting and conveying device is released, the extracting and conveying device is controlled to be lifted to the safe height, so that the vehicle frame is prevented from colliding with the vehicle frame placed on the automatic guided vehicle, and the safe and reliable vehicle frame loading is realized.

In one embodiment, the method for loading the frame further includes: in the process of transporting the frame through the two automatic guiding transport vehicles, detecting a second actual measurement distance between the first automatic guiding transport vehicle and a second automatic guiding transport vehicle in real time; under the condition that the increase of the second measured distance is detected, acquiring a first speed correction value of the second automatic guiding transport vehicle, and accelerating the current moving speed of the second automatic guiding transport vehicle according to the first speed correction value; and under the condition that the second measured distance is detected to be reduced, acquiring a second speed correction value of the second automatic guiding transport vehicle, and decelerating the current moving speed of the second automatic guiding transport vehicle according to the second speed correction value.

The first speed correction value and the second speed correction value are obtained according to a plurality of tests, and specifically can be five percent of the current moving speed. For example, accelerating the current movement speed of the second automated guided vehicle according to the first speed correction value may be increasing the current movement speed of the second automated guided vehicle by five percent; both the first speed correction value and the second speed correction value may be set to the same value or different values.

In the process of carrying the frames by the two automatic guided vehicles, the distance between the two automatic guided vehicles needs to be detected in real time, and the moving speed of the second automatic guided vehicle is corrected according to the actually measured distance. The current moving speed of the second automatic guiding transport vehicle is corrected, so that the distance between the two automatic guiding transport vehicles is corrected under the condition that the moving speed of the carrying whole formed by the two automatic guiding transport vehicles is not changed, and the whole efficiency of loading the frame is ensured.

In one embodiment, as shown in fig. 3, after accelerating the current moving speed of the second automated guided vehicle according to the first speed correction value, the method further includes:

S320: measuring a first pressure value caused by a frame of the second automatic guiding transport vehicle before acceleration and a second pressure value caused by a frame of the second automatic guiding transport vehicle after acceleration by a pressure sensor on the second automatic guiding transport vehicle;

S340: maintaining the current moving speed of the second automatic guided vehicle under the condition that the second pressure value is larger than the first pressure value and the second pressure value is larger than the first preset pressure value;

S360: if the second pressure value is not greater than the first pressure value, the current movement speed of the second automated guided vehicle is further accelerated according to the first speed correction value.

The first pressure value is a pressure value detected before acceleration correction of the second automatic guided vehicle; the second pressure value is a pressure value detected after the acceleration correction of the second automatic guided vehicle; according to the first speed correction value, the current moving speed of the second automatic guiding transport vehicle is continuously accelerated, namely, on the basis of the speed obtained after the acceleration correction of the second automatic guiding transport vehicle, the acceleration correction is performed again according to the first speed correction value.

After the current moving speed of the second automatic guiding transport vehicle is subjected to acceleration correction, the stress change of the second automatic guiding transport vehicle is detected through a pressure sensor on the second automatic guiding transport vehicle, and the relative position between the automatic guiding transport vehicle and the frame is judged through the stress change. Specifically, when the pressure value detected after the acceleration of the second automatic guiding transport vehicle is greater than the pressure value received before the acceleration and the pressure value detected after the acceleration is greater than a preset pressure value, the second automatic guiding transport vehicle is indicated to approach the gravity center of the frame, and the current moving speed of the second automatic guiding transport vehicle is maintained; when the detected pressure value of the second automatic guiding transport vehicle after acceleration is smaller than or equal to the detected pressure value before acceleration, the second automatic guiding transport vehicle is not close to the gravity center direction of the frame, and further acceleration is needed, so that the second automatic guiding transport vehicle is accelerated again on the basis of current acceleration correction.

In this embodiment, on the basis of performing the first acceleration correction on the second automatic guided vehicle, by detecting the stress change of the second automatic guided vehicle, under the condition that the pressure value detected by the second automatic guided vehicle is not increased, the second speed correction is performed on the second automatic guided vehicle, so that the second automatic guided vehicle approaches to the direction of the center of gravity of the frame, thereby improving the control precision and providing a higher margin for transportation.

In one embodiment, as shown in fig. 4, after decelerating the current moving speed of the second automated guided vehicle according to the second speed correction value, the method further includes:

S420: under the condition that the reduction of the second measured distance is detected, measuring a third pressure value caused by a frame of the second automatic guiding transport vehicle before the speed reduction is carried out through a pressure sensor on the second automatic guiding transport vehicle, and measuring a fourth pressure value caused by the frame of the second automatic guiding transport vehicle after the speed reduction is carried out;

S440: maintaining the current moving speed of the second automatic guided vehicle under the condition that the fourth pressure value is smaller than the third pressure value and the fourth pressure value is smaller than the second preset pressure value;

s460: and if the fourth pressure value is not smaller than the third pressure value, continuing to decelerate the current moving speed of the second automatic guided vehicle according to the second speed correction value.

The third pressure value is a pressure value detected before the second automatic guided vehicle is subjected to deceleration correction; the fourth pressure value is a pressure value detected after the second automatic guided vehicle is subjected to deceleration correction; according to the second speed correction value, the current moving speed of the second automatic guiding transport vehicle is continuously decelerated, namely, on the basis of the speed obtained after the deceleration correction of the second automatic guiding transport vehicle, the deceleration correction is performed again according to the second speed correction value.

After the current moving speed of the second automatic guiding transport vehicle is subjected to deceleration correction, the stress change of the second automatic guiding transport vehicle is detected through a pressure sensor on the second automatic guiding transport vehicle, and the relative position between the automatic guiding transport vehicle and the frame is judged through the stress change. Specifically, when the pressure value detected after the second automatic guiding transport vehicle is decelerated is smaller than the pressure value received before the deceleration and the pressure value detected after the deceleration is smaller than the preset pressure value, the second automatic guiding transport vehicle is far away from the gravity center of the frame after the deceleration, so that the current moving speed of the second automatic guiding transport vehicle is continuously maintained; when the pressure value detected after the second automatic guiding transport vehicle is decelerated is greater than or equal to the pressure value detected before the deceleration, the second automatic guiding transport vehicle is not far away from the gravity center of the frame, and further deceleration is needed, so that the second automatic guiding transport vehicle is decelerated again on the basis of current acceleration correction.

In this embodiment, on the basis of performing first deceleration correction on the second automatic guided vehicle, by detecting the stress change of the second automatic guided vehicle, under the condition that the pressure value detected by the second automatic guided vehicle is not reduced, the second automatic guided vehicle is subjected to second speed correction, so that the second automatic guided vehicle is far away from the center of gravity of the frame, on the basis of detecting the distance change of the two automatic guided vehicles, the mechanical factor is considered, the control precision of the frame loading is greatly improved, and the frame loading which can be flexibly scheduled is realized.

In order to explain the technical scheme of the control method of the switching system in detail, a specific application example of the hand grip and the welding tongs is adopted, and the method specifically comprises the following steps:

1. after the vertical warehouse transfer machine conveys the frame to the PICKUP conveying equipment grabbing position, the frame loading system controller controls PICKUP conveying equipment to fall down and extracts the frame to a safe height.

2. And PICKUP, after the conveying equipment extracts the frame, returning an extraction completion signal, starting the next frame conveying task by the vertical warehouse traveling machine, and simultaneously, transversely moving and descending the conveying equipment PICKUP to a position where the self-conveying guide transport vehicle can accept the safety height, and returning to the position signal and the frame number corresponding to the conveying frame.

3. The vehicle frame loading system controller receives PICKUP in-place signals returned by the conveying equipment, checks the vehicle frame number returned by the PICKUP conveying equipment with the management number of the production vehicle in the MOM system, and obtains the vehicle type wheelbase corresponding to the vehicle frame according to the vehicle frame number under the condition that the vehicle frame number is consistent with the management number.

4. The frame loading system controller controls the first automatic guiding transport vehicle to move to the front position of the frame and controls the second automatic guiding transport vehicle to move to the rear position of the frame; after the second automatic guiding transport vehicle is in place, detecting the distance between the second automatic guiding transport vehicle and the first automatic guiding transport vehicle by using a distance measuring device, and comparing the distance with the vehicle type wheelbase corresponding to the vehicle frame; under the condition that the actual distance between the two automatic guiding transportation workshops is not equal to the vehicle type wheelbase, the distance between the first automatic guiding transportation vehicle and the second automatic guiding transportation workshop is adjusted until the distance between the two automatic guiding transportation vehicles is equal to the vehicle type wheelbase corresponding to the vehicle frame.

5. After the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase, the vehicle frame is lowered into the acceptable height range of the two automatic guiding transport vehicles through PICKUP conveying equipment; and after detecting that the frame is placed on the two automatic guided vehicles through the goods detection switches on the two automatic guided vehicles, controlling PICKUP the clamping jaw of the conveying equipment to release and controlling PICKUP the conveying equipment to lift upwards.

6. In the process of transporting the frame through the two automatic guiding transport vehicles, detecting a second actual measurement distance between the first automatic guiding transport vehicle and a second automatic guiding transport vehicle in real time;

a) And under the condition that the second measured distance is detected to be increased, acquiring a first speed correction value of the second automatic guiding transport vehicle, and accelerating the current moving speed of the second automatic guiding transport vehicle according to the first speed correction value.

After the current moving speed of the second automatic guiding transport vehicle is subjected to acceleration correction, measuring a first pressure value caused by a frame of the second automatic guiding transport vehicle before acceleration by a pressure sensor on the second automatic guiding transport vehicle, and measuring a second pressure value caused by the frame of the second automatic guiding transport vehicle after acceleration; maintaining the current moving speed of the second automatic guided vehicle under the condition that the second pressure value is larger than the first pressure value and the second pressure value is larger than the first preset pressure value; if the second pressure value is not greater than the first pressure value, the current movement speed of the second automated guided vehicle is further accelerated according to the first speed correction value.

B) And under the condition that the second measured distance is detected to be reduced, acquiring a second speed correction value of the second automatic guiding transport vehicle, and decelerating the current moving speed of the second automatic guiding transport vehicle according to the second speed correction value.

After the current moving speed of the second automatic guiding transport vehicle is subjected to deceleration correction, measuring a third pressure value caused by a frame of the second automatic guiding transport vehicle before deceleration and measuring a fourth pressure value caused by a frame of the second automatic guiding transport vehicle after deceleration by a pressure sensor on the second automatic guiding transport vehicle; maintaining the current moving speed of the second automatic guided vehicle under the condition that the fourth pressure value is smaller than the third pressure value and the fourth pressure value is smaller than the second preset pressure value; and if the fourth pressure value is not smaller than the third pressure value, continuing to decelerate the current moving speed of the second automatic guided vehicle according to the second speed correction value.

It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, as shown in fig. 5, the embodiment of the application further provides a robot switching device for implementing the above-mentioned switching system control method. The device comprises:

the extraction and conveying module 520 is used for controlling the extraction and conveying equipment to extract the frame to a set position under the condition that the frame is moved to the extraction and conveying equipment extraction position;

the recognition and dispatch module 540 is configured to control the first automated guided vehicle to move to a front position of the frame and control the second automated guided vehicle to move to a rear position of the frame when the frame is determined to be the loading target, and adjust a distance between the first automated guided vehicle and the second automated guided vehicle so that a distance between the first automated guided vehicle and the second automated guided vehicle is equal to a vehicle type wheelbase corresponding to the frame;

The movement control module 560 is configured to control the first automated guided vehicle to start moving after the frame is placed on the two automated guided vehicles, and send the current moving speed of the first automated guided vehicle to the second automated guided vehicle after the first automated guided vehicle moves for a preset period of time, so that the second automated guided vehicle moves.

According to the frame loading device, the frame loading is realized through the extraction conveying equipment and the two automatic guide transport vehicles, and the extraction conveying equipment is controlled to extract the frame to a set position under the condition that the frame is moved to the extraction position of the extraction conveying equipment; under the condition that the frame is determined to be a loading target, controlling the first automatic guiding transport vehicle to move to the front position of the frame, controlling the second automatic guiding transport vehicle to move to the rear position of the frame, and adjusting the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle so that the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase corresponding to the frame; after the frame is placed on the two automatic guiding transport vehicles, the first automatic guiding transport vehicle is controlled to start moving, and after the first automatic guiding transport vehicle moves for a preset period of time, the second automatic guiding transport vehicle is controlled to move according to the current moving speed of the first automatic guiding transport vehicle. The whole frame loading process is completed by matching the extraction conveying equipment with two automatic guide transport vehicles, and the frame loading process is adjusted in real time according to the change condition of the transport route under the condition that the transport route of the frame is temporarily changed, so that the frame loading process which can be flexibly scheduled is realized.

In one embodiment, the identifying and dispatching module 540 is further configured to obtain a frame number of the frame and a management number of the frame, and determine that the frame is the loading target if the frame number and the management number are consistent.

In one embodiment, the identification and scheduling module 540 is further configured to detect a first measured distance between the first automated guided vehicle and the second automated guided vehicle in real time; comparing the first measured distance with the wheelbase of the vehicle type, and if the first measured distance is different from the wheelbase of the vehicle type, controlling the second automatic guiding transportation vehicle to move forwards and backwards; after the position of the second automatic guiding transport vehicle is adjusted each time, measuring the first actual measurement distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle again, and repeating the above processes until the first actual measurement distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase.

In one embodiment, the identifying and dispatching module 540 is further configured to lower the frame to a range of acceptable heights of the two automated guided vehicles through the extracting and conveying device after the distance between the first automated guided vehicle and the second automated guided vehicle is equal to the vehicle type wheelbase; and after detecting that the frame is placed on the two automatic guided vehicles, controlling the clamping jaw of the extraction conveying equipment to release and controlling the extraction conveying equipment to lift upwards through the goods detection switches on the two automatic guided vehicles.

In one embodiment, the movement control module 560 is further configured to detect, in real time, a second measured distance between the first automated guided vehicle and the second automated guided vehicle during the transportation of the frame by the two automated guided vehicles; under the condition that the increase of the second measured distance is detected, acquiring a first speed correction value of the second automatic guiding transport vehicle, and accelerating the current moving speed of the second automatic guiding transport vehicle according to the first speed correction value; and under the condition that the second measured distance is detected to be reduced, acquiring a second speed correction value of the second automatic guiding transport vehicle, and decelerating the current moving speed of the second automatic guiding transport vehicle according to the second speed correction value.

In one embodiment, the movement control module 560 is further configured to measure, via a pressure sensor on the second automated guided vehicle, a first pressure value caused by the frame of the second automated guided vehicle before acceleration is performed, and a second pressure value caused by the frame of the second automated guided vehicle after acceleration is performed; maintaining the current moving speed of the second automatic guided vehicle under the condition that the second pressure value is larger than the first pressure value and the second pressure value is larger than the first preset pressure value; if the second pressure value is not greater than the first pressure value, the current movement speed of the second automated guided vehicle is further accelerated according to the first speed correction value.

In one embodiment, the movement control module 560 is further configured to measure, by the pressure sensor on the second automated guided vehicle, a third pressure value caused by the frame of the second automated guided vehicle before the deceleration and a fourth pressure value caused by the frame of the second automated guided vehicle after the deceleration if the decrease in the second measured distance is detected; maintaining the current moving speed of the second automatic guided vehicle under the condition that the fourth pressure value is smaller than the third pressure value and the fourth pressure value is smaller than the second preset pressure value; and if the fourth pressure value is not smaller than the third pressure value, continuing to decelerate the current moving speed of the second automatic guided vehicle according to the second speed correction value.

The various modules in the frame mounting device described above may be implemented in whole or in part in software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 6. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program when executed by a processor implements a carriage assembly method. The display unit of the computer device is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by those skilled in the art that the structure shown in FIG. 6 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.

In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:

In one embodiment, the processor when executing the computer program further performs the steps of: and acquiring a frame number of the frame and a management number of the frame, and determining the frame as a loading target under the condition that the frame number is consistent with the management number.

In one embodiment, the processor when executing the computer program further performs the steps of: detecting a first actual measurement distance between a first automatic guiding transport vehicle and a second automatic guiding transport vehicle in real time; comparing the first measured distance with the wheelbase of the vehicle type, and if the first measured distance is different from the wheelbase of the vehicle type, controlling the second automatic guiding transportation vehicle to move forwards and backwards; after the position of the second automatic guiding transport vehicle is adjusted each time, measuring the first actual measurement distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle again, and repeating the above processes until the first actual measurement distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase.

In one embodiment, the processor when executing the computer program further performs the steps of: after the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase, the vehicle frame is lowered into the acceptable height range of the two automatic guiding transport vehicles through the extraction and conveying equipment; and after detecting that the frame is placed on the two automatic guided vehicles, controlling the clamping jaw of the extraction conveying equipment to release and controlling the extraction conveying equipment to lift upwards through the goods detection switches on the two automatic guided vehicles.

In one embodiment, the processor when executing the computer program further performs the steps of: in the process of transporting the frame through the two automatic guiding transport vehicles, detecting a second actual measurement distance between the first automatic guiding transport vehicle and a second automatic guiding transport vehicle in real time; under the condition that the increase of the second measured distance is detected, acquiring a first speed correction value of the second automatic guiding transport vehicle, and accelerating the current moving speed of the second automatic guiding transport vehicle according to the first speed correction value; and under the condition that the second measured distance is detected to be reduced, acquiring a second speed correction value of the second automatic guiding transport vehicle, and decelerating the current moving speed of the second automatic guiding transport vehicle according to the second speed correction value.

In one embodiment, the processor when executing the computer program further performs the steps of: measuring a first pressure value caused by a frame of the second automatic guiding transport vehicle before acceleration and a second pressure value caused by a frame of the second automatic guiding transport vehicle after acceleration by a pressure sensor on the second automatic guiding transport vehicle; maintaining the current moving speed of the second automatic guided vehicle under the condition that the second pressure value is larger than the first pressure value and the second pressure value is larger than the first preset pressure value; if the second pressure value is not greater than the first pressure value, the current movement speed of the second automated guided vehicle is further accelerated according to the first speed correction value.

In one embodiment, the processor when executing the computer program further performs the steps of: under the condition that the reduction of the second measured distance is detected, measuring a third pressure value caused by a frame of the second automatic guiding transport vehicle before the speed reduction is carried out through a pressure sensor on the second automatic guiding transport vehicle, and measuring a fourth pressure value caused by the frame of the second automatic guiding transport vehicle after the speed reduction is carried out; maintaining the current moving speed of the second automatic guided vehicle under the condition that the fourth pressure value is smaller than the third pressure value and the fourth pressure value is smaller than the second preset pressure value; and if the fourth pressure value is not smaller than the third pressure value, continuing to decelerate the current moving speed of the second automatic guided vehicle according to the second speed correction value.

In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:

In one embodiment, the computer program when executed by the processor further performs the steps of: and acquiring a frame number of the frame and a management number of the frame, and determining the frame as a loading target under the condition that the frame number is consistent with the management number.

In one embodiment, the computer program when executed by the processor further performs the steps of: detecting a first actual measurement distance between a first automatic guiding transport vehicle and a second automatic guiding transport vehicle in real time; comparing the first measured distance with the wheelbase of the vehicle type, and if the first measured distance is different from the wheelbase of the vehicle type, controlling the second automatic guiding transportation vehicle to move forwards and backwards; after the position of the second automatic guiding transport vehicle is adjusted each time, measuring the first actual measurement distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle again, and repeating the above processes until the first actual measurement distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase.

In one embodiment, the computer program when executed by the processor further performs the steps of: after the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase, the vehicle frame is lowered into the acceptable height range of the two automatic guiding transport vehicles through the extraction and conveying equipment; and after detecting that the frame is placed on the two automatic guided vehicles, controlling the clamping jaw of the extraction conveying equipment to release and controlling the extraction conveying equipment to lift upwards through the goods detection switches on the two automatic guided vehicles.

In one embodiment, the computer program when executed by the processor further performs the steps of: in the process of transporting the frame through the two automatic guiding transport vehicles, detecting a second actual measurement distance between the first automatic guiding transport vehicle and a second automatic guiding transport vehicle in real time; under the condition that the increase of the second measured distance is detected, acquiring a first speed correction value of the second automatic guiding transport vehicle, and accelerating the current moving speed of the second automatic guiding transport vehicle according to the first speed correction value; and under the condition that the second measured distance is detected to be reduced, acquiring a second speed correction value of the second automatic guiding transport vehicle, and decelerating the current moving speed of the second automatic guiding transport vehicle according to the second speed correction value.

In one embodiment, the computer program when executed by the processor further performs the steps of: measuring a first pressure value caused by a frame of the second automatic guiding transport vehicle before acceleration and a second pressure value caused by a frame of the second automatic guiding transport vehicle after acceleration by a pressure sensor on the second automatic guiding transport vehicle; maintaining the current moving speed of the second automatic guided vehicle under the condition that the second pressure value is larger than the first pressure value and the second pressure value is larger than the first preset pressure value; if the second pressure value is not greater than the first pressure value, the current movement speed of the second automated guided vehicle is further accelerated according to the first speed correction value.

In one embodiment, the computer program when executed by the processor further performs the steps of: under the condition that the reduction of the second measured distance is detected, measuring a third pressure value caused by a frame of the second automatic guiding transport vehicle before the speed reduction is carried out through a pressure sensor on the second automatic guiding transport vehicle, and measuring a fourth pressure value caused by the frame of the second automatic guiding transport vehicle after the speed reduction is carried out; maintaining the current moving speed of the second automatic guided vehicle under the condition that the fourth pressure value is smaller than the third pressure value and the fourth pressure value is smaller than the second preset pressure value; and if the fourth pressure value is not smaller than the third pressure value, continuing to decelerate the current moving speed of the second automatic guided vehicle according to the second speed correction value.

In one embodiment, a computer program product is provided comprising a computer program which, when executed by a processor, performs the steps of:

It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data need to comply with the related laws and regulations and standards of the related country and region.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magneto-resistive random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims

1. A frame loading method, characterized in that frame loading is achieved by means of an extraction conveyor and two automated guided vehicles, the method comprising:

controlling the extraction conveying equipment to extract the frame to a set position under the condition that the frame is moved to the extraction position of the extraction conveying equipment;

Under the condition that the frame is determined to be a loading target, controlling a first automatic guiding transport vehicle to move to the front position of the frame, controlling a second automatic guiding transport vehicle to move to the rear position of the frame, and adjusting the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle so that the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase corresponding to the frame;

After the frame is placed on the two automatic guiding transport vehicles, controlling the first automatic guiding transport vehicle to start moving, and after the first automatic guiding transport vehicle moves for a preset period of time, controlling the second automatic guiding transport vehicle to move according to the current moving speed of the first automatic guiding transport vehicle;

In the process of transporting the frame through the two automatic guiding transport vehicles, detecting a second actual measurement distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle in real time;

Under the condition that the second measured distance is detected to be increased, acquiring a first speed correction value of the second automatic guiding transport vehicle, and accelerating the current moving speed of the second automatic guiding transport vehicle according to the first speed correction value;

Measuring a first pressure value caused by the frame of the second automatic guiding transport vehicle before acceleration and a second pressure value caused by the frame of the second automatic guiding transport vehicle after acceleration by a pressure sensor on the second automatic guiding transport vehicle;

maintaining the current moving speed of the second automatic guided vehicle under the condition that the second pressure value is larger than the first pressure value and the second pressure value is larger than a first preset pressure value;

if the second pressure value is not greater than the first pressure value, continuing to accelerate the current moving speed of the second automatic guided vehicle according to the first speed correction value;

acquiring a second speed correction value of the second automatic guided vehicle under the condition that the second measured distance is detected to be reduced, and decelerating the current moving speed of the second automatic guided vehicle according to the second speed correction value;

Under the condition that the second measured distance is detected to be reduced, measuring a third pressure value caused by the frame of the second automatic guiding transport vehicle before the second automatic guiding transport vehicle is decelerated by a pressure sensor on the second automatic guiding transport vehicle, and measuring a fourth pressure value caused by the frame of the second automatic guiding transport vehicle after the second automatic guiding transport vehicle is decelerated;

Maintaining the current moving speed of the second automated guided vehicle if the fourth pressure value is less than the third pressure value and the fourth pressure value is less than a second preset pressure value;

2. The method of claim 1, wherein the determining that the frame is a pick-up target comprises:

Acquiring a frame number of the frame and a management number of the frame, and determining that the frame is a loading target under the condition that the frame number is consistent with the management number.

3. The method of claim 1, wherein adjusting the distance between the first automated guided vehicle and the second automated guided vehicle such that the distance between the two is equal to the vehicle-type wheelbase to which the frame corresponds comprises:

Detecting a first actual measurement distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle in real time;

comparing the first measured distance with the vehicle wheel base, and if the first measured distance is different from the vehicle wheel base, controlling the second automatic guided vehicle to move forwards and backwards;

After the position of the second automatic guiding transport vehicle is adjusted each time, measuring the first actual measurement distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle again, and repeating the above process until the first actual measurement distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase.

4. The method of claim 1, wherein the process of placing the carriage on the two automated guided vehicles comprises:

After the distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase, the frame is lowered into the acceptable height range of the two automatic guiding transport vehicles through the extraction and conveying equipment;

5. A carriage loading apparatus for effecting carriage loading by extraction of a conveying device and two automated guided vehicles, the apparatus comprising:

The movement control module is used for controlling the first automatic guiding transport vehicle to start moving after the frame is placed on the two automatic guiding transport vehicles, and controlling the second automatic guiding transport vehicle to move according to the current moving speed of the first automatic guiding transport vehicle after the first automatic guiding transport vehicle moves for a preset period of time;

The mobile control module is further used for detecting a second actual measurement distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle in real time in the process of transporting the frame through the two automatic guiding transport vehicles; under the condition that the second measured distance is detected to be increased, acquiring a first speed correction value of the second automatic guiding transport vehicle, and accelerating the current moving speed of the second automatic guiding transport vehicle according to the first speed correction value;

The mobile control module is further used for measuring a first pressure value caused by the frame of the second automatic guiding transport vehicle before acceleration and measuring a second pressure value caused by the frame of the second automatic guiding transport vehicle after acceleration through a pressure sensor on the second automatic guiding transport vehicle; maintaining the current moving speed of the second automatic guided vehicle under the condition that the second pressure value is larger than the first pressure value and the second pressure value is larger than a first preset pressure value; if the second pressure value is not greater than the first pressure value, continuing to accelerate the current moving speed of the second automatic guided vehicle according to the first speed correction value;

The movement control module is further configured to obtain a second speed correction value of the second automatic guided vehicle when the second measured distance is detected to be reduced, and reduce the current movement speed of the second automatic guided vehicle according to the second speed correction value;

The movement control module is further configured to measure, by using a pressure sensor on the second automatic guided vehicle, a third pressure value caused by the frame before the second automatic guided vehicle decelerates and a fourth pressure value caused by the frame after the second automatic guided vehicle decelerates when the second measured distance is detected to decrease; maintaining the current moving speed of the second automated guided vehicle if the fourth pressure value is less than the third pressure value and the fourth pressure value is less than a second preset pressure value; and if the fourth pressure value is not smaller than the third pressure value, continuing to decelerate the current moving speed of the second automatic guided vehicle according to the second speed correction value.

6. The frame loading device according to claim 5, wherein the identification scheduling module is further configured to obtain a frame number of the frame and a management number of the frame, and determine that the frame is a loading target if the frame number and the management number are identical.

7. The frame loading device of claim 5, wherein the identification scheduling module is further configured to detect a first measured distance between the first automated guided vehicle and the second automated guided vehicle in real time; comparing the first measured distance with the vehicle wheel base, and if the first measured distance is different from the vehicle wheel base, controlling the second automatic guided vehicle to move forwards and backwards; after the position of the second automatic guiding transport vehicle is adjusted each time, measuring the first actual measurement distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle again, and repeating the above process until the first actual measurement distance between the first automatic guiding transport vehicle and the second automatic guiding transport vehicle is equal to the vehicle type wheelbase.

8. The frame loading device according to claim 5, wherein the identification scheduling module is further configured to lower the frame into a receivable height range of two automated guided vehicles by the extraction and conveying apparatus after a distance between the first automated guided vehicle and the second automated guided vehicle is equal to the vehicle wheel base; and after detecting that the frame is placed on the two automatic guided vehicles, controlling the clamping jaw of the extraction conveying equipment to release and controlling the extraction conveying equipment to lift upwards through the goods detection switches on the two automatic guided vehicles.

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 4 when the computer program is executed.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 4.