CN116400655A - Control method and control device for production line, processor and production line - Google Patents

Abstract

The embodiment of the invention provides a control method and device for a production line, a processor and the production line, and belongs to the technical field of production safety. The production line comprises an operation device and an operation area where the operation device operates, a first detection device is arranged in the production line and used for detecting whether a living body exists in the operation area, and the control method for the production line comprises the following steps: acquiring a first detection signal of a first detection device and a current running state of operation equipment; determining a target operation strategy of the operation equipment according to the first detection signal and the current operation state; and controlling the work equipment to work according to the target operation strategy. The embodiment of the invention can improve the operation safety of the production line.

Description

Control method and control device for production line, processor and production line

Technical Field

The invention relates to the technical field of production safety, in particular to a control method and device for a production line, a processor and the production line.

Background

With the development of intelligent manufacturing technology, the production line is increasingly widely used. Some existing production lines generally adopt modes of fences, safety gates or safety gratings to realize safety protection, however, when the operation area in the production line is large and operation equipment is more, the actual working conditions in the production line are generally complex. Taking a fence as an example, when a worker performs equipment maintenance or equipment fault removal in an operation area, the operator outside the fence can start the operation equipment in the operation area by mistake due to a blind area of sight or misoperation, and safety accidents can be possibly caused. Therefore, the prior art has the problem of low safety.

Disclosure of Invention

The embodiment of the invention aims to provide a control method and a control device for a production line, a processor and the production line, so as to solve the problem of low safety in the prior art.

In order to achieve the above object, a first aspect of embodiments of the present invention provides a control method for a production line including a working apparatus and a working area where the working apparatus performs a work, a first detecting apparatus provided in the production line for detecting whether a living body exists in the working area, the control method including:

acquiring a first detection signal of a first detection device and a current running state of operation equipment;

determining a target operation strategy of the operation equipment according to the first detection signal and the current operation state;

and controlling the work equipment to work according to the target operation strategy.

In an embodiment of the present invention, determining a target operation policy of the working device according to the first detection signal and the current operation state includes: determining that the target operation strategy is to stop operation under the condition that the first detection signal is determined to be living and the current operation state is in operation; and under the condition that the first detection signal is determined to be a living body and the current operation state is determined to be the stop operation, determining the target operation strategy to be sending out an early warning prompt.

In the embodiment of the invention, the production line further comprises a material inlet and a material outlet, and a second detection device is arranged in the production line and used for detecting whether an object exists in the material inlet and the material outlet; acquiring a first detection signal of a first detection device and a current running state of a working device, including: receiving a feeding request signal; and controlling the second detection equipment to be not operated, and acquiring a first detection signal of the first detection equipment and the current running state of the working equipment.

In an embodiment of the present invention, the production line further includes a safety door and a safety door lock disposed on the safety door, and determining a target operation policy of the operation device according to the first detection signal and the current operation state includes: acquiring the opening and closing states of a safety door lock; and determining a target operation strategy of the working equipment according to the first detection signal, the current operation state and the switch state.

In an embodiment of the present invention, determining a target operation policy of the working device according to the first detection signal, the current operation state and the switch state includes: and determining the target operation strategy as stopping operation under the condition that the first detection signal is determined to be a living body, the current operation state is in operation and the switch state is on.

In an embodiment of the present invention, the production line further includes a safety door and a safety door lock disposed on the safety door, and determining a target operation policy of the operation device according to the first detection signal and the current operation state includes: determining the current running state as stopping running or overhauling; acquiring a second detection signal of a second detection device and a switch state of a safety door lock; determining that the second detection signal is in the absence of an object and the switch state is in the off state; and determining a target operation strategy according to the first detection signal.

In an embodiment of the present invention, determining a target operation strategy according to a first detection signal includes: determining the target operation strategy as stopping operation under the condition that the first detection signal is determined to be the living body; or in the case that the first detection signal is determined to be the presence of a living body and the device start signal is received, determining the target operation strategy to be stop operation.

In an embodiment of the present invention, the number of the first detection devices is multiple and is set at intervals, and the control method further includes: acquiring a preset detection range of each first detection device; dividing the operation area according to a preset detection range to obtain a plurality of divided operation areas; when living bodies exist in the plurality of divided work areas, determining that the target operation strategy of the work equipment in the first work area is stop operation, wherein the first work area is the work area in which the living bodies exist in the plurality of divided work areas.

In the embodiment of the invention, the control method further comprises the following steps: acquiring the interval distance between a second operation area and the first operation area, wherein the second operation area is an operation area without living bodies in a plurality of divided operation areas; and determining a target operation strategy of the working equipment in the second working area according to the interval distance.

In an embodiment of the present invention, determining a target operation policy of the operation device in the second operation area according to the interval distance includes: and determining the target operation speed of the operation equipment in the second operation area according to the interval distance based on the pre-stored corresponding relation between the distance and the operation speed, wherein the corresponding relation is a positively-correlated relation.

In the embodiment of the invention, the control method further comprises the following steps: acquiring a position distance between a living body and the working equipment when the first detection signal is that the living body exists; and determining a target operation strategy of the working equipment according to the position distance.

In an embodiment of the present invention, determining a target operation policy of a working device according to a location distance includes: dividing a plurality of concentric circle areas by taking the operation equipment as a circle center and a plurality of preset distances as radiuses, wherein the plurality of concentric circle areas comprise an early warning area, a deceleration area and a shutdown area which are distributed from the near to the far according to the distances; determining corresponding concentric circle areas of which the position distances correspond to the plurality of concentric circle areas; and determining a target operation strategy of the operation equipment according to the corresponding concentric circle region, wherein the target operation strategy is determined to give out an early warning prompt when the corresponding concentric circle region is an early warning region, the target operation strategy is determined to reduce the operation speed when the corresponding concentric circle region is a deceleration region, and the target operation strategy is determined to stop operation when the corresponding concentric circle region is a stop region.

In an embodiment of the invention, the first detection device comprises at least one of an infrared vision camera, a millimeter wave human body sensor and a laser night vision camera.

In an embodiment of the invention, the second detection device comprises a safety light curtain and/or a laser scanner.

A second aspect of an embodiment of the present invention provides a processor configured to perform a control method for a production line according to the above.

A third aspect of the embodiment of the present invention provides a control device for a production line, including: according to the processor described above.

A fourth aspect of the embodiment of the present invention provides a production line, including: a working device; the operation area is used for the operation equipment to operate; a first detection device for detecting whether or not a living body exists in the work area; and a control device for a production line according to the above.

According to the technical scheme, the first detection signal of the first detection device and the current operation state of the operation device are obtained, and the target operation strategy of the operation device is determined according to the first detection signal and the current operation state, so that the operation of the operation device is controlled according to the target operation strategy. The control method can avoid that an operator starts the operation equipment due to a blind area of a sight line or misoperation, and determines the target operation strategy of the operation equipment according to the living situation in the operation area and the current operation state of the operation equipment, so that the operation equipment is controlled to work according to the target operation strategy, unnecessary potential safety hazards are reduced, the misoperation rate is reduced, the safety protection of a larger operation area can be realized, the operation safety of a production line is improved, and the operation safety level of the operation equipment is further improved.

Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain, without limitation, the embodiments of the invention. In the drawings:

FIG. 1 schematically illustrates a flow chart of a control method for a production line in an embodiment of the invention;

fig. 2 schematically shows a schematic structure of a control system for a production line in an embodiment of the present invention.

Description of the reference numerals

1. Fence 2/26 safety door lock

3/27safety door 4/6/11/13/15 safety light curtain

Feed inlet of 9/20/24laser area scanner 5

16. First batching butt joint ofdischarge gate 7/12/14

18/25/29infrared vision camera 8/21/23 second ingredient interface

22.Controller 10 assembles a cluster of devices

17.Transport apparatus 28 assembly station

Detailed Description

The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

Fig. 1 schematically shows a flow chart of a control method for a production line according to an embodiment of the invention. As shown in fig. 1, in an embodiment of the present invention, there is provided a control method for a production line including a working device and a working area where the working device performs a work, in which a first detecting device is provided for detecting whether a living body exists in the working area, and the control method is applied to a processor for explanation, the control method may include the steps of:

step S102, acquiring a first detection signal of the first detection device and a current operation state of the working device.

Step S104, determining a target operation strategy of the working equipment according to the first detection signal and the current operation state.

And step S106, controlling the working equipment to work according to the target operation strategy.

It is understood that the first detection device is a detection device that can detect a living body, such as an infrared vision camera or a laser night vision camera, etc., which may include a human or an animal, etc. A first detecting device is provided in the production line so that it is possible to detect whether or not a living body is present in the working area in the production line. Further, the number of the first detecting devices may be one or more, and when the number of the first detecting devices is plural, the plural first detecting devices may be disposed at equal intervals or non-equal intervals in the production line. The first detection signal is a detection signal of the first detection device, that is, whether or not a signal of the living body is detected. The work equipment may include assembly equipment and/or transportation equipment, etc. The current operating state of the working device may be an in-operation or out-of-operation state, or the like. The operation policy of the working device may include continuous operation or stop operation or issue early warning or deceleration operation, etc., and the target operation policy is a desired operation policy of the working device determined according to the first detection signal of the first detection device and the current operation state of the working device.

Specifically, the processor may communicate with the first detection device and the working device, so as to obtain a first detection signal of the first detection device (i.e. whether a living body exists in a working area of the production line) and a current operation state of the working device, and further determine a target operation policy of the working device according to the first detection signal and the current operation state, for example, according to a predetermined and stored correspondence table of the first detection signal of the first detection device, the current operation state of the working device and the operation policy of the working device, and based on the correspondence table, search the correspondence table according to the first detection signal and the current operation state, thereby determining the target operation policy of the working device at present, and control the working device to operate according to the target operation policy, for example, when the first detection signal is that the living body exists in the working area and the current operation state of the working device is in operation, the target operation policy corresponding to the scene is to stop operation.

According to the control method for the production line, the first detection signal of the first detection device and the current operation state of the operation device are obtained, the target operation strategy of the operation device is determined according to the first detection signal and the current operation state, and then the operation of the operation device is controlled according to the target operation strategy. The control method can avoid that an operator starts the operation equipment due to a blind area of a sight line or misoperation, and determines the target operation strategy of the operation equipment according to the living situation in the operation area and the current operation state of the operation equipment, so that the operation equipment is controlled to work according to the target operation strategy, unnecessary potential safety hazards are reduced, the misoperation rate is reduced, the safety protection of a larger operation area can be realized, the operation safety of a production line is improved, and the operation safety level of the operation equipment is further improved.

In one embodiment, determining a target operating strategy for the work device based on the first detection signal and the current operating state includes: determining that the target operation strategy is to stop operation under the condition that the first detection signal is determined to be living and the current operation state is in operation; and under the condition that the first detection signal is determined to be a living body and the current operation state is determined to be the stop operation, determining the target operation strategy to be sending out an early warning prompt.

Specifically, if the first detection signal of the first detection device is that a living body exists and the current operation state of the working device is in operation, the processor may determine that the target operation policy of the working device is to stop operation. If the first detection signal of the first detection device is that a living body exists and the current running state of the operation device is that the operation is stopped, the processor can determine that the target running strategy of the operation device is that an early warning prompt is sent, and the early warning prompt is sent to prompt an operator that the living body exists in the operation area, and further, the mode of sending the early warning prompt can include, but is not limited to, a mode of voice early warning, light early warning or voice early warning and the like.

In the embodiment of the application, as long as the living body exists in the operation area, the processor does not control the operation equipment to start, and further, the early warning prompt can be sent out to inform the user that the living body exists in the production line, so that the misoperation rate of operators can be reduced, and the running safety of the production line is improved.

In one embodiment, the production line further comprises a material inlet and a material outlet, and a second detection device is arranged in the production line and used for detecting whether an object exists in the material inlet and the material outlet; acquiring a first detection signal of a first detection device and a current running state of a working device, including: receiving a feeding request signal; and controlling the second detection equipment to be not operated, and acquiring a first detection signal of the first detection equipment and the current running state of the working equipment.

It will be appreciated that the second detection device is a detection device that can detect an object, such as a safety light curtain or a laser scanning device, etc. The second detection device can detect whether an object exists at the material inlet and outlet, and the material inlet and outlet is a passage for the material to enter and exit the production line, and further, the second detection device can be arranged at the material inlet and outlet. When the number of the material inlets and outlets is multiple, the number of the second detection devices can be correspondingly set to be multiple. The feeding request signal is a signal which is sent by an external, such as a third party feeding system and used for carrying out material interaction or material butt joint.

Specifically, before the processor acquires the first detection signal of the first detection device and the current running state of the operation device, if a feeding request signal sent by the outside is received, the processor can control the second detection device to be not operated, so that the effect of reducing unnecessary electricity waste while shielding the detection signal at the material inlet and outlet is achieved, and the normal running of the material interaction function or the material butt joint function at the material inlet and outlet is realized. In some embodiments, the processor may also reject the second detection signal sent by the second detection device when receiving the feeding request signal, and obtain the first detection signal of the first detection device and the current operation state of the operation device, where the effect achieved is also to shield the detection signal at the material inlet and outlet, so as to implement the normal operation of the material interaction function or the material docking function at the material inlet and outlet.

In this application embodiment, when receiving the pay-off request signal, the processor control second check out test set is inoperative, reaches the effect of shielding the detected signal of material import and export department, avoids the production line to shut down frequently, ensures that the material interaction function or the material interfacing function of material import and export department can normal operating.

In one embodiment, the production line further includes a safety door and a safety door lock disposed on the safety door, and determining a target operating strategy of the working device according to the first detection signal and the current operating state includes: acquiring the opening and closing states of a safety door lock; and determining a target operation strategy of the working equipment according to the first detection signal, the current operation state and the switch state.

It will be appreciated that the safety door is the passage for personnel to enter the work area from which they need to enter the production line when equipment within the production line fails or requires maintenance. The safety door lock is arranged on the safety door and can be used for detecting the opening and closing state of the safety door, namely, the safety door lock can detect a safety signal that the safety door is closed or opened, and if an operator needs to enter an operation area in a production line, the safety door lock needs to be opened first. The opening and closing states of the safety door locks respectively correspond to the opening and closing states of the safety door, namely, when the safety door locks are opened, the safety door is in an opening state, and when the safety door locks are closed, the safety door is in a closing state.

Specifically, the processor may obtain the on-off state of the safety door lock, and determine the target operation policy of the operation device according to the first detection signal of the first detection device, the current operation state of the operation device, and the on-off state of the safety door lock, for example, may determine the target operation policy of the operation device according to a corresponding relation table of the first detection signal of the first detection device, the current operation state of the operation device, the on-off state of the safety door lock, and the operation policy of the operation device, which are determined and stored in advance, based on the corresponding relation table, and search the corresponding relation table according to the first detection signal, the current operation state, and the on-off state of the safety door lock.

In one embodiment, determining a target operating strategy for the work equipment based on the first detection signal, the current operating state, and the switch state includes: and determining the target operation strategy as stopping operation under the condition that the first detection signal is determined to be a living body, the current operation state is in operation and the switch state is on.

Specifically, when the first detection signal indicates that a living body exists in the working area, the current running state of the working equipment is running, and the opening and closing state of the safety door lock is open, the first detection signal indicates that the working personnel does not come out of the safety door after entering the working area from the safety door, and the working equipment is possibly opened by misoperation of the working personnel, and at the moment, the processor can determine that the target running strategy of the working equipment is stop running.

In some embodiments, determining the target operating strategy of the work equipment according to the first detection signal, the current operating state, and the switch state may further include: and determining the target operation strategy as stopping operation under the condition that the first detection signal is determined to be a living body, the current operation state is in operation and the switch state is closed.

Specifically, when the first detection signal indicates that a living body exists in the working area, the current running state of the working equipment is running, and the opening and closing state of the safety door lock is closed, the first detection signal indicates that the working personnel enters the working area from the safety door and does not exit the safety door, but the safety door is closed, and the working equipment is possibly opened by misoperation of the working personnel, and at the moment, the processor can determine that the target running strategy of the working equipment is stop running. Further, the processor may also issue an early warning prompt to inform the user that someone is in the work area.

In one embodiment, the production line further includes a safety door and a safety door lock disposed on the safety door, and determining a target operating strategy of the working device according to the first detection signal and the current operating state includes: determining the current running state as stopping running or overhauling; acquiring a second detection signal of a second detection device and a switch state of a safety door lock; determining that the second detection signal is in the absence of an object and the switch state is in the off state; and determining a target operation strategy according to the first detection signal.

Specifically, when the processor determines that the current operation state of the operation device is stop operation or in maintenance, the processor may acquire a second detection signal of the second detection device (i.e. whether an object exists at the material inlet and outlet) and a switch state of the safety door lock, determine that the second detection signal is that no object exists at the material inlet and outlet, and determine that the switch state of the safety door lock is in a closed state (i.e. the corresponding safety door is in a closed state), and the processor may determine a target operation strategy of the operation device according to the first detection signal.

In one embodiment, determining a target operating strategy based on the first detection signal includes: in the case where the first detection signal is determined to be the presence of a living body, the target operation strategy is determined to be stop operation.

Specifically, if the current operation state of the operation equipment is stop operation or maintenance, no object exists at the material inlet and outlet and the safety door is in a closed state, but a living body exists in the operation area, the processor can determine that the target operation strategy of the operation equipment is stop operation, so that the effect of reducing the misoperation rate is achieved, and the operation safety of the production line is further improved.

In one embodiment, determining a target operating strategy based on the first detection signal includes: in the case where the first detection signal is determined to be the presence of a living body and the device start signal is received, the target operation strategy is determined to be stop operation.

It will be appreciated that the device activation signal is an instruction to turn on the device, the issuer of which may be a third party system or an operator.

Specifically, if the current operation state of the operation equipment is stop operation or maintenance, no object exists at the material inlet and outlet and the safety door is in a closed state, but a living body exists in the operation area and an equipment starting signal is received, the processor can also determine that the target operation strategy of the operation equipment is stop operation, so that the effect of further reducing the misoperation rate is achieved, and the operation safety of the production line is greatly improved.

In one embodiment, the number of the first detecting devices is plural and is set at intervals, and the control method for the production line may further include: acquiring a preset detection range of each first detection device; dividing the operation area according to a preset detection range to obtain a plurality of divided operation areas; when living bodies exist in the plurality of divided work areas, determining that the target operation strategy of the work equipment in the first work area is stop operation, wherein the first work area is the work area in which the living bodies exist in the plurality of divided work areas.

It is understood that the number of the first detecting devices may be plural, and each of the first detecting devices may be disposed at a distance, and the preset detecting range of the first detecting device is a predetermined detecting range of each of the first detecting devices. The first work area is a work area in which a living body exists among the plurality of divided work areas.

Specifically, the processor may acquire preset detection ranges of the respective first detection devices, and divide the operation area of the production line according to the preset detection ranges of the respective first detection devices, that is, the preset detection range of each first detection device corresponds to one divided operation area, so that a plurality of divided operation areas may be obtained, and in a case where a living body exists in the plurality of divided operation areas, that is, the first detection device detects the living body, the processor may determine that the target operation policy of the operation device in the first operation area where the living body exists is to stop operation. Further, for a remaining work area in which no living body exists among the plurality of divided work areas, the processor may determine that a target operation policy of the work equipment in the remaining work area is to maintain the current state.

In this embodiment of the present application, the operation area is divided according to the detection range of the first detection device, when a living body exists in a certain divided operation area, the processor may control the operation device in the operation area to stop operating, so as to achieve the effect that the operation device in the local operation area is stopped when a person enters the local operation area, that is, other operation areas where no living body exists may continue to operate without being affected, thereby effectively improving the production efficiency of the production line.

In one embodiment, the control method for a production line may further include: acquiring the interval distance between a second operation area and the first operation area, wherein the second operation area is an operation area without living bodies in a plurality of divided operation areas; and determining a target operation strategy of the working equipment in the second working area according to the interval distance.

It is understood that the second work area is a work area in which no living body exists among the plurality of divided work areas.

Specifically, the processor may obtain the interval distance between the second working area and the first working area, where the interval distance may be obtained by pre-storing the interval distance between each divided working area, or may be obtained by detecting the distance between each first detecting device by a corresponding distance detecting device, and further may determine the target operation policy of the working device in the second working area according to the interval distance, for example, when the interval distance is smaller than a preset interval distance, the processor may determine that the target operation policy of the working device in the second working area is to stop operation, and when the interval distance is greater than the preset interval distance, the processor may determine that the target operation policy of the working device in the second working area is to keep the current state continuously.

In the embodiment of the application, the distance between the second operation area and the first operation area is obtained, so that the target operation strategy of the operation equipment in the second operation area is determined according to the size or distance of the distance, the production efficiency of the production line can be effectively improved, the safety of the production line is further improved, and the probability of misoperation of the equipment is reduced.

In one embodiment, determining a target operating strategy for the work equipment in the second work area based on the separation distance comprises: and determining the target operation speed of the operation equipment in the second operation area according to the interval distance based on the pre-stored corresponding relation between the distance and the operation speed, wherein the corresponding relation is a positively-correlated relation.

It will be appreciated that the target operating speed is the desired operating speed of the work device. The pre-stored corresponding relation between the distance and the running speed is a corresponding relation between the distance and the running speed which are preset and stored, in the corresponding relation, different distances can correspond to different running speeds, and the two are in positive correlation relation, namely, the smaller the distance is, the smaller the running speed is, the larger the distance is, and the greater the running speed is. In some embodiments, the pre-stored correspondence between distance and running speed may include correspondence between distance levels and running speed levels, where different distance levels correspond to corresponding running speed levels, and the greater the distance level, the greater the running speed level, the smaller the distance level, and the smaller the running speed level.

Specifically, the processor may determine the target operation speed of the operation device in the second operation area according to the interval distance based on the pre-stored correspondence relationship between the distance and the operation speed, wherein the correspondence relationship is a positive correlation relationship, that is, the greater the interval distance between the second operation area and the first operation area is, the greater the target operation speed of the operation device in the second operation area is, the smaller the interval distance between the second operation area and the first operation area is, and the smaller the target operation speed of the operation device in the second operation area is.

In the embodiment of the application, the production efficiency of the production line can be further effectively improved on the basis of ensuring the safe operation of the production line by acquiring the interval distance between the second operation area and the first operation area and accurately determining the target operation speed of the operation equipment in the second operation area based on the distance of the interval distance.

In one embodiment, the control method for a production line may further include: acquiring a position distance between a living body and the working equipment when the first detection signal is that the living body exists; and determining a target operation strategy of the working equipment according to the position distance.

It is understood that the position distance between the living body and the working device may be obtained by the corresponding distance detecting device, or may be obtained by the first detecting device, for example, the first detecting device may be provided on the working device, so that the first detecting device may detect the position distance between the living body and the current working device. In some embodiments, the first detection device may not be disposed on the work device.

Specifically, the processor may acquire a position distance between the living body and the working device when the first detection signal is that the living body exists, and determine a target operation policy of the working device according to the position distance.

In one embodiment, determining a target operating strategy for a work device based on location distances includes: dividing a plurality of concentric circle areas by taking the operation equipment as a circle center and a plurality of preset distances as radiuses, wherein the plurality of concentric circle areas comprise an early warning area, a deceleration area and a shutdown area which are distributed from the near to the far according to the distances; determining corresponding concentric circle areas of which the position distances correspond to the plurality of concentric circle areas; and determining a target operation strategy of the operation equipment according to the corresponding concentric circle region, wherein the target operation strategy is determined to give out an early warning prompt when the corresponding concentric circle region is an early warning region, the target operation strategy is determined to reduce the operation speed when the corresponding concentric circle region is a deceleration region, and the target operation strategy is determined to stop operation when the corresponding concentric circle region is a stop region.

It is understood that the preset distance is a preset distance value. The concentric circle areas divided by taking the operation equipment as the circle center and taking the preset distances as the radius can comprise an early warning area, a speed reduction area and a stopping area which are distributed from the near to the far according to the distances, wherein the early warning area is an area where the operation equipment needs to send out early warning prompts, the speed reduction area is an area where the operation equipment needs to reduce the operation speed, and the stopping area is an area where the operation equipment needs to stop operation.

Specifically, the processor may divide a plurality of concentric circle areas (including an early warning area, a deceleration area and a shutdown area with distances distributed from the near to the far) with a plurality of preset distances as a center of a circle of the operation device, and further may determine a corresponding concentric circle area corresponding to the position distance between the living body and the operation device in the plurality of concentric circle areas, that is, determine the concentric circle area where the living body is located, so as to determine a target operation policy of the operation device according to the corresponding concentric circle area, determine that the target operation policy of the operation device is to send an early warning prompt when the corresponding concentric circle area is the early warning area, determine that the target operation policy of the operation device is to reduce the operation speed when the corresponding concentric circle area is the deceleration area, and determine that the target operation policy of the operation device is to stop operation when the corresponding concentric circle area is the shutdown area.

In the embodiment of the application, the operation equipment is used as the center to divide a plurality of concentric circle areas, and different concentric circle areas correspond to different operation strategies, so that after the position distance between the living body and the operation equipment is obtained, the concentric circle area where the living body is located can be judged according to the position distance, the operation equipment can be controlled to execute the target operation strategy corresponding to the corresponding concentric circle area more efficiently, and the operation efficiency and the safety performance of the operation equipment of the production line are further improved.

In one embodiment, the first detection device comprises at least one of an infrared vision camera, a millimeter wave human body sensor, and a laser night vision camera.

It can be understood that the infrared vision camera, the millimeter wave human body sensor and the laser night vision camera can all achieve the effect of distinguishing people and objects in dark environments.

In one embodiment, the second detection device comprises a safety light curtain and/or a laser scanner.

The laser scanner may be a laser area scanner, as will be appreciated.

In a specific embodiment, fig. 2 schematically illustrates a schematic structural diagram of a control system for a production line according to an embodiment of the present invention, where, as shown in fig. 2, the control system for a production line may include a protection subsystem, a detection subsystem, and a controller, and the production line may include an execution system and a material inlet and outlet, and the material inlet and outlet may include afeed inlet 5, adischarge outlet 16, a firstingredient pair interface 7/12/14, and a secondingredient pair interface 8/21/23. The protection subsystem can be used for defining a working area of a production line, and protecting personnel can enter and exit, and particularly can comprise a fence 1 and asafety door 3/27. The detection subsystem may be used to collect signals and may include, in particular, a security door lock 2/26, a securitylight curtain 4/6/11/13/15, alaser area scanner 9/20/24, and aninfrared vision camera 18/25/29. The controller 22 (i.e., processor) may be electrically connected to other devices to control the devices, and the controller 22 may be, for example, a PLC control center, i.e., a software control logic center. The execution system may be used to execute the handling, transporting, welding, etc. action instructions sent by the controller 22, and may specifically include theassembly device cluster 10 and the transporting device 17 (such as a transporting vehicle), etc., referring to fig. 2, where theassembly device cluster 10 may include four assembly devices. Theassembly station 28, which is the position where thetransport device 17 is parked, can comprise three assembly stations, with reference to fig. 2. Thefeed opening 5 and thedischarge opening 16 can be used for feeding and discharging materials or workpieces to be assembled. The firstingredient pair interface 7/12/14 and the secondingredient pair interface 8/21/23 may ingredient the production line production.

Wherein, rail 1 can physically isolate personnel and executive equipment, guarantees personnel and equipment's safety. Thesafety door 3/27 is the only way for personnel to enter the working area, from which the equipment should be accessed in case of malfunction or maintenance.

The safety door lock 2/26 can detect a safety signal that the safety door is closed or opened. Further, a corresponding security protection mechanism level of the security door lock 2/26 may be provided in the controller 22. It will be appreciated that the safety door lock 2/26 must be unlocked for personnel to enter the work area. Thesafety light curtains 4/6/11/13/15 can be installed in pairs, and the effective range of the detection signal is the safety light curtain correlation plane area, and the detection range of the safety light curtains is small and is usually installed in the inlet and outlet areas, so that the safety light curtains can be installed in the areas where thefeed inlet 5 and thedischarge outlet 16 are located. Further, a corresponding security protection mechanism level of the securitylight curtain 4/6/11/13/15 may be provided in the controller 22. Further, when the controller 22 receives the feeding request signal, the controller 22 can shield the detection signal of thesafety light curtain 4/6/11/13/15, and the production line operates normally.

Thelaser area scanner 9/20/24 detects the effective range (for example, 0-180 degrees), the safe distance level is adjustable, the safe distance level is generally 180 degrees in a semicircular plane area, and the laser area scanner is more intelligent than the safelight curtain 4/6/11/13/15, but cannot distinguish people and objects, has a large detection range, and can be installed in an area needing to be inspected to be wider. The laser area scanner is mainly arranged in an area where a material inlet and a material outlet are large and personnel can enter by mistake. Further, thelaser area scanner 9/20/24 may divide the detection distance level, the controller 22 may be provided with a security protection mechanism level corresponding to thelaser area scanner 9/20/24, when the controller 22 receives the feeding request signal, the controller 22 may shield the detection signal of thelaser area scanner 9/20/24, the production line operates normally, and when personnel enter, the production line stops operating.

Theinfrared vision camera 18/25/29 can be a detection device with an intelligent algorithm, the detection area can be a three-dimensional space, people and objects can be distinguished in the detected three-dimensional space, the detection device is generally installed in a specific area for detection, the defect that the former detection devices cannot identify people is overcome, the detection range is three-dimensional, an industrial personal computer can be provided, the industrial personal computer runs the algorithm, and then the result is transmitted to the controller 22. The infrared vision camera is mainly used for monitoring whether a person exists in an operation area or not, distinguishing people from objects, the infrared signal can monitor the body temperature, and the vision camera can distinguish the face or the body of the person through an AI algorithm. Theinfrared vision camera 18/25/29 is typically mounted in a position to cover a substantial portion of the work area and cooperates with other detection equipment to provide safety protection.

The controller 22 mainly performs overall logic control on the assembly equipment or the production line, and comprises signal docking with an external feeding system, task scheduling of an internal system, security policy grading and control and the like. Theassembly equipment cluster 10 and thetransportation equipment 17 can realize operations such as carrying, screwing or welding, and particularly can realize functions according to process requirements. The firstbatching pair interfaces 7/12/14 and the secondbatching pair interfaces 8/21/23 can be in butt joint with a third-party batching system to finish station assembly feeding. Afeed inlet 5 and adischarge outlet 16 for the entry and exit of materials or workpieces to be assembled.

Specifically, referring to FIG. 2, the interfaces communicating with the outside are aport 5, aport 16, afirst port 7/12/14, asecond port 8/21/23, and asafety door 3/27. The feedingport 5, the dischargingport 16 and the firstbatching pair interfaces 7/12/14 adopt a safelight curtain 4/6/11/13/15 for signal acquisition and monitoring, the secondbatching pair interfaces 8/21/23 adopt alaser area scanner 9/20/24 for signal acquisition and monitoring, thesafety door 3/27 adopts a safety door lock 2/26 for acquisition and monitoring, and theinfrared vision camera 18/25/29 can comprehensively monitor the whole operation area of the production line.

The normal control logic of the production line is as follows: when the operation equipment normally operates, if the safety door is opened, or any one of thefeed inlet 5, thedischarge outlet 16, the firstingredient pair interface 7/12/14 and the secondingredient pair interface 8/21/23 is triggered, the corresponding safety signal is lost, and as long as theassembly equipment cluster 10 and the processor 22 monitor the safety signal loss, the command execution system immediately stops operating theassembly equipment cluster 10 and thetransportation equipment 17, so that the aim of safety protection is achieved. However, the normal control logic has security holes, which mainly have the following two points.

1. Because thefeed inlet 5, thedischarge outlet 16, the firstingredient pair interface 7/12/14 and the secondingredient pair interface 8/21/23 need to be shielded when feeding or third party ingredients are carried out, the system can not cause frequent shutdown of the system and influence the productivity due to the safety signals of thefeed inlet 5, thedischarge outlet 16, the firstingredient pair interface 7/12/14 and the secondingredient pair interface 8/21/23. Therefore, when the third party feeds or mixes, the third party system generally sends out a request signal, and after receiving the request signal, the assembly equipment and the controller 22 can shield the detection signals of thefeed inlet 5, thedischarge outlet 6, the firstmix pair interface 7/12/14 and the secondmix pair interface 8/21/23, so as to realize material interaction and butt joint. If during the time of shielding the safety signal, personnel enter the working area from thefeed inlet 5, thedischarge outlet 16, the firstdosing pair interface 7/12/14 and the seconddosing pair interface 8/21/23, the system cannot be identified, but the system operates normally, and safety risks exist.

2. For a station with a larger operation area, when equipment is in a problem, personnel enter the equipment from a safety door to remove faults, or the personnel enter the operation area before the equipment is started for the first time, but other operators close the safety door at the moment, start the equipment, and the personnel are still in the operation area at the moment, so that equipment such as anassembly equipment cluster 10, atransportation equipment 17 and the like normally run, and safety accidents are very easy to occur.

In order to solve the two loopholes, a novel safety strategy system is adopted in a production line, a detection system comprising aninfrared vision camera 18/25/29 is added, the infrared vision camera is used for detecting the body temperature of the whole operation area, a vision camera AI algorithm is developed at the same time, the face, the gesture, the action and the like can be monitored under the condition of a black lamp, and the vision AI algorithm is subjected to long-time self-learning and testing to achieve the aim of proficiently distinguishing the person and the object in the operation area.

Infrared vision camera security control logic: the infrared vision camera detects the safety area in full-range real-time, and after the equipment is powered on, the detection algorithm starts to operate, so that whether personnel exist in the safety area can be judged, and the safety control logic of the controller 22 is parallel. The infrared vision camera can make up for the defects of the security holes 1 and 2 existing in the normal control logic. The control logic of the infrared vision cameras is linked, so that a large safety area can be divided into small safety areas.

The main steps and control logic of a specific control method for a production line may be as follows:

1. when the operation equipment in the production line runs, the controller 22 carries out real-time self-checking on the system safety signals, thesafety door 3/27 signals, one of the detection signals in thefeed inlet 5, thedischarge outlet 6, the first material mixingpair interface 7/12/14 and the second material mixingpair interface 8/21/23 is triggered, and the system immediately enters a shutdown state and alarms to prompt, so that the safety of equipment or personnel is ensured.

2. When the operation equipment in the production line is operated, the feeding system or the batching system sends out a request signal, and the controller 22 shields the safety signals of the feedingport 5, the dischargingport 16, the firstbatching pair interface 7/12/14 and the secondbatching pair interface 8/21/23, but then the safety signal level detected by theinfrared vision camera 18/25/29 is improved to the front end of the safety logic control, namely, the safety signal detected by theinfrared vision camera 18/25/29 is preferentially judged. If a safety signal of theinfrared vision camera 18/25/29 or a signal of thesafety door 3/27 is detected to be missing (i.e. the safety door is opened), the system immediately stops running and alarms.

3. The operation equipment in the production line is stopped or overhauled and restarted, the safety signals of thefeed inlet 5, thedischarge outlet 6, the firstbatching pair interface 7/12/14 and the secondbatching pair interface 8/21/23 meet the conditions, when the door locking rising edge signal of the safety door lock 2/26 (which means that the safety door is opened in the running process of the equipment and the safety door is locked again or the system is started, the infrared vision camera is required to scan a safety area to prevent the situation that the door locking and the starting equipment are possibly misoperation by an external person) or the equipment starting signal, the safety signal level detected by theinfrared vision camera 18/25/29 is improved to the forefront end of the safety logic control, namely the safety signal detected by theinfrared vision camera 18/25/29 is preferentially judged, whether the operation area is occupied or not is preferentially detected, and an alarm is given, and the system is started after the safety logic is finished.

4. The operation area may be divided according to the detection range of theinfrared vision camera 18/25/29, for example, when theinfrared vision camera 29 detects that personnel are moving in the area, the controller 22 may control the assembly equipment and the transportation equipment in the area to stop running, and the area monitored by theinfrared vision camera 18/25 may continue to run unaffected, so that the production efficiency may be effectively improved.

In addition, the task execution control and the safety strategy of the assembly equipment and the transportation equipment adopt the same control system, stations with large task execution control quantity of the assembly equipment can be respectively controlled by adopting two different control systems, and in addition, the safety strategy control system can be used for system integration. After a large number of self-learning, testing and running, the AI algorithm of the infrared vision camera can cancel the fence and the safety door, adopts an open safety control strategy of an operation area, starts the distance detection grade division of the infrared vision camera, divides and controls the running speed of an execution system according to different distances, namely adopts the infrared vision camera, divides the safety grade according to the detection distance, and controls the running speed of the moving equipment such as the assembly equipment cluster.

In summary, the above technical solution has the following advantages:

1. the black lamp wire safety strategy is safe and reliable, has strong operability, is multi-layer in safety protection, and can adapt to various working conditions.

2. The AI algorithm carried by the infrared vision camera can realize 360-degree dead-angle-free protection, and can realize large-area safety protection.

3. And by adopting multi-level signal acquisition and monitoring, different safety signals can be classified, and flexible production of the production line is realized.

4. According to different safety signals, different safety logic controls are adopted to realize real-time safety control in the operation period.

5. The AI algorithm carried by the infrared vision camera can distinguish people from moving objects, and long-time learning of the algorithm can effectively reduce misjudgment and realize intelligent control.

6. The infrared visual camera can effectively solve the logic loopholes in the current safety measures, and effectively improve the operation safety level of the automatic equipment.

In addition, the technical scheme adopts a plurality of monitoring technologies to be combined, so that the loopholes of the conventional safety detection strategy are eliminated, and the safety inspection protection level is further improved. Secondly, monitor the technological diversity, can solve the safety protection under the complicated operating mode, safety protection logic can carry out accurate protection according to the different safety signal of monitoring. In addition, the infrared vision camera monitors and accurately divides the operation area, and the control system can control the system to operate according to the regional safety strategy, so that the production efficiency is effectively improved. The self-learning and self-perfecting of the AI technology can form the iteration of the technology and can be applied to safety protection systems in different occasions.

The embodiment of the invention also provides a processor configured to execute the control method for the production line according to the above embodiment.

The embodiment of the invention also provides a control device for the production line, which comprises: according to the processor in the above embodiment.

The embodiment of the invention also provides a production line, which comprises: a working device; the operation area is used for the operation equipment to operate; a first detection device for detecting whether or not a living body exists in the work area; and the control device for the production line according to the above embodiment.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims (17)

1. A control method for a production line including a working device and a working area where the working device performs a work, the production line being provided therein with a first detecting device for detecting whether a living body exists in the working area, the control method comprising:

acquiring a first detection signal of the first detection device and a current running state of the operation device;

determining a target operation strategy of the operation equipment according to the first detection signal and the current operation state;

and controlling the working equipment to work according to the target operation strategy.

2. The control method according to claim 1, wherein the determining the target operation strategy of the working equipment according to the first detection signal and the current operation state includes:

determining that the target operation strategy is to stop operation under the condition that the first detection signal is determined to be living and the current operation state is in operation;

And under the condition that the first detection signal is determined to be a living body and the current running state is determined to be a stop running, determining the target running strategy to be sending out an early warning prompt.

3. The control method according to claim 1, wherein the production line further comprises a material inlet and outlet, and a second detection device is further arranged in the production line and used for detecting whether an object exists in the material inlet and outlet; the obtaining the first detection signal of the first detection device and the current running state of the working device includes:

receiving a feeding request signal;

and controlling the second detection equipment to be not operated, and acquiring a first detection signal of the first detection equipment and the current running state of the working equipment.

4. The control method according to claim 1, wherein the production line further includes a safety door and a safety door lock provided on the safety door, the determining the target operation strategy of the working device according to the first detection signal and the current operation state includes:

acquiring the opening and closing state of the safety door lock;

and determining a target operation strategy of the working equipment according to the first detection signal, the current operation state and the switch state.

5. The control method according to claim 4, wherein the determining the target operation strategy of the working device according to the first detection signal, the current operation state, and the switching state includes:

and determining that the target operation strategy is to stop operation under the condition that the first detection signal is determined to be a living body, the current operation state is in operation and the switch state is on.

6. A control method according to claim 3, wherein the production line further comprises a safety door and a safety door lock provided on the safety door, the determining the target operation strategy of the working device according to the first detection signal and the current operation state comprises:

determining that the current running state is in the process of stopping running or overhauling;

acquiring a second detection signal of the second detection device and a switching state of the safety door lock;

determining that the second detection signal is an object-free state and the switch state is a closed state;

and determining the target operation strategy according to the first detection signal.

7. The control method of claim 6, wherein the determining the target operating strategy from the first detection signal comprises:

Determining the target operation strategy as stopping operation under the condition that the first detection signal is determined to be the living body; or alternatively

And determining that the target operation strategy is to stop operation under the condition that the first detection signal is determined to be the living body and the equipment starting signal is received.

8. The control method according to claim 1, wherein the number of the first detecting devices is plural and is set at intervals, the control method further comprising:

acquiring a preset detection range of each first detection device;

dividing the operation area according to the preset detection range to obtain a plurality of divided operation areas;

when living bodies exist in the plurality of divided work areas, determining a target operation strategy of the work equipment in a first work area as a stop operation, wherein the first work area is the work area in which the living bodies exist in the plurality of divided work areas.

9. The control method according to claim 8, characterized in that the control method further comprises:

acquiring the interval distance between a second operation area and a first operation area, wherein the second operation area is an operation area without living bodies in the plurality of divided operation areas;

And determining a target operation strategy of the working equipment in the second working area according to the interval distance.

10. The control method according to claim 9, wherein the determining the target operation policy of the working equipment in the second working area according to the separation distance includes:

and determining the target operation speed of the operation equipment in the second operation area according to the interval distance based on the pre-stored corresponding relation between the distance and the operation speed, wherein the corresponding relation is a positively correlated relation.

11. The control method according to claim 1, characterized in that the control method further comprises:

acquiring a position distance between a living body and the working equipment when the first detection signal is that the living body exists;

and determining a target operation strategy of the working equipment according to the position distance.

12. The control method according to claim 11, wherein the determining the target operation policy of the working equipment according to the location distance includes:

dividing a plurality of concentric circle areas by taking the working equipment as a circle center and a plurality of preset distances as radiuses, wherein the plurality of concentric circle areas comprise an early warning area, a deceleration area and a shutdown area which are distributed from the near to the far according to the distances;

Determining respective concentric circle regions corresponding to the position distances among the plurality of concentric circle regions;

and determining a target operation strategy of the operation equipment according to the corresponding concentric circle region, wherein the target operation strategy is determined to be sending out an early warning prompt when the corresponding concentric circle region is the early warning region, the target operation strategy is determined to be reducing the operation speed when the corresponding concentric circle region is the deceleration region, and the target operation strategy is determined to be stopping when the corresponding concentric circle region is the stopping region.

13. The control method of claim 1, wherein the first detection device comprises at least one of an infrared vision camera, a millimeter wave human body sensor, and a laser night vision camera.

14. A control method according to claim 3, characterized in that the second detection device comprises a safety light curtain and/or a laser scanner.

15. A processor configured to perform the control method for a production line according to any one of claims 1 to 14.

16. A control device for a production line, comprising:

The processor of claim 15.

17. A production line, comprising:

a working device;

the operation area is used for the operation equipment to operate;

a first detection device for detecting whether a living body exists in the work area; and

the control device for a production line according to claim 16.

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