CN113986431B - Visual debugging method and system for automatic robot production line - Google Patents
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Abstract
The invention belongs to the technical field of robot process automation, and particularly relates to a visual debugging method and system for an automatic production line of a robot. The invention adopts the mode of preprocessing the debug data, and before the debug work is carried out, the accuracy of the debug data is judged in advance, the error of the debug data is found in time and is modified, and the whole flow of the pipeline is not required to be traced back.
Description
Technical Field
The invention belongs to the technical field of robot process automation, and particularly relates to a visual debugging method and system for an automatic robot production line.
Background
Along with the rapid development of industrial science and technology, traditional manual assembly line has been replaced by the robot, the robot assembly line has been realized automaticly, it can process the product according to predetermined procedure when carrying out production operation, it is tired not to know, also be difficult for taking place the mistake, make the product processing progress not only can be corresponding acceleration, can also guarantee that the product damage rate after the processing is accomplished is lower, the automatic production line of future robot still has better development prospect, and the robot is at the beginning of the operation or when the product processing demand that needs to process needs to change, often need debug the robot, the debugging process is all operated through visual flow, and then let the robot can adapt to the production line processing flow.
The existing visual debugging work of the robot automatic production line needs to trace back the whole process needing to be debugged repeatedly, so that the required algorithm quantity in the debugging process is increased, the requirements on a processor are correspondingly improved, the repeated tracing back can prolong the debugging time, and the time for the robot automatic production line to be put into use is prolonged.
Disclosure of Invention
The invention aims to provide a visual debugging method and system for an automatic robot production line, which can preprocess debugging data and ensure the accuracy of the debugging data.
The technical scheme adopted by the invention is as follows:
a visual debugging method and system for an automatic production line of a robot comprises an HMI interface, a debugging module, a data analysis module and a data conversion module:
the HMI interface is set as a touch screen and is used for displaying data and sending commands;
the debugging module is used for modifying data in the robot production line, and the modified data is input through an HMI interface;
the data analysis module is used for analyzing data in the robot production line, then the analyzed data is uploaded to the data conversion module, and finally the analyzed data is uploaded to the HMI interface for display through the data conversion module;
the data conversion module is used for converting the data in the debugging module and the data analysis module, and then uploading the converted data to the HMI interface for display.
The HMI interface comprises a display unit, an input unit and a data storage unit, wherein the display unit is used for displaying debugging data and converted data, the input unit is used for inputting the debugging data and sending commands, and the data storage unit is used for storing various data required in a robot production line.
The data analysis module comprises a block chain unit and an analysis unit, wherein the block chain unit corresponds to each flow of the robot production line, the analysis unit is used for analyzing the data set in the block chain unit, and the analysis unit can be used for independently analyzing the data set in one block chain or simultaneously analyzing the data sets in a plurality of related block chain units.
And the HMI interface is also provided with a transfer interface, and the transfer interface is used for transmitting external data to the debugging module.
The visual debugging method of the automatic production line of the robot is suitable for the visual debugging system of the automatic production line of the robot, and comprises the following steps:
step 1: the HMI interface directly inputs the debugging data into the debugging module, and then the input debugging data is sent to the data analysis module;
step 2: the data analysis module analyzes the debugging data and then sends the debugging data to the data conversion module, and the data conversion module converts the data into an image and a text file and sends the image and the text file to the HMI interface for display;
step 3: and displaying the data after the debugging is completed on the HMI interface.
In the step 1, the data input into the debugging module directly can be replaced by the data input into the adjusting module through the switching interface.
The debugging module in the step 1 receives the modified data and then automatically transmits the modified data to the data conversion module, the data conversion module is observed to synchronously convert the modified data, the converted data generate image and text data and are displayed through an HMI interface, and whether the data are implemented or not is judged according to the image and the text file;
if yes, the modified data are sent to a data analysis module;
if not, deleting the modified data, and then inputting debugging data into the debugging module again for debugging.
The step 2 of analyzing the modified data by the data analysis module and sending the data to the data conversion module comprises the following steps:
s1: transmitting the modified data to a corresponding blockchain unit;
s2: the block chain unit reads data and automatically replaces original data to generate a new data set;
s3: the analysis unit analyzes the new data set, and the analyzed data set is automatically sent to the data conversion module;
s4: the data conversion module converts the new data set into an image and text file.
Before the HMI interface inputs the modified data, the HMI interface transmits the original data in the blockchain unit to an analysis unit, the analysis unit analyzes the original data set, the analyzed data set is transmitted to a data conversion module, the data conversion module converts the data set into an image and a text file, and the image and the text file are automatically backed up to a data storage unit.
The step S1 of transmitting the modified data to the corresponding blockchain unit includes the following steps:
s101: calling an image and text file generated by original data of a blockchain unit in the data storage unit, wherein the image and text file is displayed by a display unit;
s102: the image and text generated by the modified data and the image and text file generated by the original data set are respectively uploaded to a data conversion module;
s103: the data conversion module converts the image and text generated by the modified data and the image and text file generated by the original data set into a matched comparison file;
s104: and judging the block chain unit corresponding to the modified data according to the comparison file.
The invention has the technical effects that:
the invention adopts a mode of preprocessing the debug data, and before the debug work is carried out, the accuracy of the debug data is judged in advance, and the error of the debug data is found in time and is modified, so that the subsequent instruction input during the debug of the robot pipeline can not be in error, the process of the whole pipeline is not required to be traced back, the requirement on a processor is lower, and a huge amount of algorithm support is not required;
the invention adopts a mode of comparing the image and the text file, can intuitively and accurately find out errors of the debugging data, and can also determine the flow nodes corresponding to the debugging data, namely the blockchain units mentioned in the text, according to the comparison file, so that the debugging of the corresponding flow nodes can be rapidly completed, and finally, the invention can be directly applied to the whole flow.
Drawings
FIG. 1 is a schematic diagram of a system architecture of a robotic automation line provided by an embodiment of the present invention;
FIG. 2 is a schematic workflow diagram of a robotic automation line provided by an embodiment of the present invention;
fig. 3 is a schematic workflow diagram of a data conversion module according to an embodiment of the present invention.
Detailed Description
The present invention will be specifically described with reference to examples below in order to make the objects and advantages of the present invention more apparent. It should be understood that the following text is intended to describe only one or more specific embodiments of the invention and does not limit the scope of the invention strictly as claimed.
As shown in fig. 1, a visual debugging system of a robot automatic production line comprises an HMI interface, a debugging module, a data analysis module and a data conversion module,
wherein the HMI interface is set as a touch screen, the HMI interface is used for displaying data and sending commands, the HMI interface can be connected with the PLC system, so that real-time data in the production line can be synchronized to the HMI interface for display, the HMI interface comprises a display unit, an input unit and a data storage unit, the display unit is used for displaying debugging data and converted data, the input unit is used for inputting the debugging data and sending commands, the input unit can be arranged in the HMI interface, a keyboard can be externally connected through the data line, the data storage unit is used for storing various data required in the robot production line, functional keys such as 'send', 'delete', 'save' and 'debug' are also arranged on the HMI interface, specific functional keys can be set according to actual requirements,
the debugging module is used for modifying data in the robot production line, the modified data are input through the HMI interface, the data analysis module is used for analyzing the data in the robot production line, the HMI interface is further provided with a transfer interface, the transfer interface is used for transmitting external data to the debugging module, if the data or the data group to be replaced are prepared in advance, the data or the data group can be directly imported into the debugging module through the transfer interface, the step of inputting the data is reduced, the debugging process is accelerated, the data analysis module can use a Java code analyzer or a Python code analyzer, the analyzed data are uploaded to the data conversion module, and finally the data are uploaded to the HMI interface for display through the data conversion module, the data conversion module is used for converting the data in the debugging module and the data analysis module, the data conversion module can convert the data or the data group into images and text, the image file can intuitively assist a user in judging the range or trend of the change of the data, the text file increases the readability, so that the user can easily understand the converted data and then the converted data is uploaded to the HMI interface for display.
Specifically, when debugging, a user inputs or imports modified data into the debugged module, presses the sending button to send the modified data to the appointed module, or directly sends the modified data to the data conversion module or directly sends the modified data to the data analysis module, the modified data is directly sent to the data analysis module to check the feasibility of the data, and after the modified data is directly sent to the data analysis module, the user presses the debugging button to automatically debug the data, and meanwhile, the modified data or the original data can be processed by deleting and storing the button.
It should be noted that, the image file includes a dynamic image and a static image, the text file includes a chart file and a text file, when in use, a user can select according to actual requirements, for example, if the water adding amount in the robot automation process needs to be adjusted, the chart file can be selected for display, and a line graph or a bar graph can be specifically selected, so that the change degree of the water adding amount before and after adjustment can be intuitively judged.
The data analysis module comprises a block chain unit and an analysis unit, wherein the block chain unit corresponds to each flow of the robot production line, a data set capable of independently running is stored in the block chain unit, a connection data set associated with other block chain units is also stored in the block chain unit, the analysis unit is used for analyzing the data set in the block chain unit, the analysis unit can independently analyze the data set in one block chain or simultaneously analyze the data sets in a plurality of related block chain units, the analysis unit can analyze modified data, and the modified data is integrated into the data set in the block chain.
As shown in fig. 2, a visual debugging method for a robot automatic production line is suitable for the visual debugging system for the robot automatic production line, and comprises the following steps: step 1: the user directly inputs the debugging data into the debugging module through the HMI interface, then the user sends the input debugging data to the data analysis module, and the data analysis module can analyze and integrate the debugging data, step 2: the data analysis module analyzes the debugging data and then sends the debugging data to the data conversion module, the data conversion module converts the data into images and text files and sends the images and the text files to the HMI interface for display, and step 3: the HMI interface displays the data after the debugging is completed, the user observes the data after the debugging is completed and backups the data into the data storage unit without errors, and the data can be directly called out for comparison if the debugging is needed.
It should be noted that, in the step 1, the data input into the debugging module directly may be replaced by the data input into the adjusting module through the interface, and the external data may be directly input into the data analyzing module under the condition of no error determination, so as to accelerate the debugging process.
As shown in fig. 3, before the user inputs the modified data through the HMI interface, the user sends the original data set in the blockchain unit to the parsing unit through the HMI interface operation, the parsing unit parses the original data set, the parsed data set is sent to the data conversion module, the data conversion module converts the data set into an image and a text file, the image and the text file are automatically backed up to the data storage unit, the debugging module in step 1 receives the modified data and then automatically transmits the modified data to the data conversion module, the process is used for checking the feasibility of the modified data, avoiding the phenomenon of program crash caused by the introduction of erroneous data, simultaneously checking the data in advance to facilitate timely modification, so that after the data is input in error, the debugging work does not need to integrally perform cyclic debugging, the data conversion module synchronously converts the modified data, the converted data generates the image and the text data and displays the text data through the HMI interface, at this time, the user takes out the image and the text file of the original data set which are backed up in advance in the data conversion module, the image and the text file generated by the last modified data are compared with the image and the text file generated by the original data set, the image and the text file generated by the original data conversion module, the image and the text file generated by the original data set are compared, the image and the text file generated by the original data conversion module, and the original data are compared, after the user is used for judging whether the user has changed and the original data is compared with the image and the text file,
if yes, the modified data are sent to a data analysis module;
if not, deleting the modified data, and then inputting debugging data into the debugging module again for debugging.
It should be noted that, when the modified data is input in error, the data conversion module cannot generate images and text files, at this time, the HMI interface pops up an error report, and the data conversion module automatically analyzes and marks the position of the error instruction.
The step 2 of analyzing the modified data by the data analysis module and sending the data to the data conversion module comprises the following steps: s1: the modified data are transmitted to the corresponding blockchain units, the modified data can be input one by one or in batches according to the blockchain units to be debugged, and then the modified data are respectively imported into the blockchain units corresponding to the modified data, and S2: the block chain unit reads data and automatically replaces the original data to generate a new data set, after the original data is replaced, the HMI interface prompts the processing prompt of the original data, wherein the processing prompt comprises two options of 'save' and 'delete', if the storage is selected, the original data is automatically transmitted to the data storage unit, if the deletion is selected, the original data is permanently deleted from the block chain unit, and S3: the analysis unit analyzes the new data set, the analyzed data set is automatically sent to the data conversion module after being integrated, and after the analysis of the new data set is completed, the completion of the debugging work of the blockchain unit is indicated, and at the moment, the completion of the debugging of the robot assembly line is indicated as S4: the data conversion module converts the new data set into image and text files, and the image and text files are automatically backed up to the data storage unit for subsequent retrieval.
It should be noted that, in step S1, transmitting the modified data to the corresponding blockchain unit includes the following steps: s101: and calling an image and text file generated by original data of the blockchain unit in the data storage unit, displaying the image and text file through an HMI interface, and uploading the image and text file to a data conversion module, wherein S102 is as follows: the image and text generated by the modified data and the image and text file generated by the original data set are respectively uploaded to a data conversion module, and S103: the data conversion module converts the image and text generated by the modified data and the image and text file generated by the original data set into a matched comparison file, and S104: and judging the block chain unit corresponding to the modified data according to the comparison file.
It should be further noted that, the data conversion module is performed based on a SIFT algorithm in the process of converting the image comparison file, SIFT is an algorithm in the prior art, and is not described in detail herein, two image files calculate respective feature vectors according to SIFT, then the euclidean distance of the feature vectors of the key points is used as similarity determination measure of the key points in the two images, a certain key point in the image generated by the original data is taken, two key points closest to the original data in the image generated by the modified data are found by traversing, bytes of the modified data are less than bytes of the original data, so that it is convenient to find the key points, if the next close distance is less than a certain threshold value, it is determined that a pair of matching points are not matched, otherwise, when the text comparison file is converted by the data conversion module, the data which are not matched after comparison can be displayed in different colors and the same color is matched.
The working principle of the invention is as follows: the user directly inputs the debugging data into the debugging module through the HMI interface, the data in the debugging module is firstly uploaded to the data conversion module for checking, after checking, the user sends the inputted debugging data to the data analysis module, the data analysis module analyzes and integrates the debugging data, the data analysis module analyzes and sends the debugging data to the data conversion module, the data conversion module converts the data into images and text files and sends the images and text files to the HMI interface for displaying, the HMI interface displays the debugged data, the user observes the debugged data and backups the debugged data to the data storage unit, and the debugged data can be directly called out for comparison if the user needs to debug.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention. Structures, devices and methods of operation not specifically described and illustrated herein, unless otherwise indicated and limited, are implemented according to conventional means in the art.
Claims (9)
1. A visual debugging system of automatic production line of robot, its characterized in that: the system comprises an HMI interface, a debugging module, a data analysis module and a data conversion module:
the HMI interface is set as a touch screen and is used for displaying data and sending commands;
the debugging module is used for modifying data in the robot production line, and the modified data is input through an HMI interface;
the data analysis module is used for analyzing data in the robot production line, then the analyzed data is uploaded to the data conversion module, and finally the analyzed data is uploaded to the HMI interface for display through the data conversion module;
the data conversion module is used for converting the data in the debugging module and the data analysis module, and then uploading the converted data to the HMI interface for display;
the data analysis module comprises a block chain unit and an analysis unit, wherein the block chain unit corresponds to each flow of the robot production line, the analysis unit is used for analyzing a data set in the block chain unit, and the analysis unit can be used for independently analyzing the data set in one block chain or simultaneously analyzing the data sets in a plurality of related block chain units;
the data conversion module is used for converting image comparison files based on a SIFT algorithm, the two image files calculate respective feature vectors according to SIFT, then Euclidean distance of feature vectors of key points is used as similarity judgment measurement of the key points in the two images, certain key points in the image are generated by taking original data, the two key points closest to the original data in the image generated by the modified data are found through traversal, bytes of the modified data are less than bytes of the original data, in the two key points, if the next close distance is divided by the closest distance to be less than a certain threshold value, a pair of matching points are judged, otherwise, the matching points are not matched, and when the text comparison files are converted, the data conversion module displays the compared and not matched data in different colors and displays the matched same color.
2. The robotic automated production line visualization debugging system of claim 1, wherein: the HMI interface comprises a display unit, an input unit and a data storage unit, wherein the display unit is used for displaying debugging data and converted data, the input unit is used for inputting the debugging data and sending commands, and the data storage unit is used for storing various data required in a robot production line.
3. The robotic automated production line visualization debugging system of claim 1, wherein: and the HMI interface is also provided with a transfer interface, and the transfer interface is used for transmitting external data to the debugging module.
4. A visual debugging method of a robot automatic production line, which is applicable to the visual debugging system of the robot automatic production line of any one of claims 1-3, and is characterized in that: the method comprises the following steps:
step 1: the HMI interface directly inputs the debugging data into the debugging module, and then the input debugging data is sent to the data analysis module;
step 2: the data analysis module analyzes the debugging data and then sends the debugging data to the data conversion module, and the data conversion module converts the data into an image and a text file and sends the image and the text file to the HMI interface for display;
step 3: and displaying the data after the debugging is completed on the HMI interface.
5. The visual debugging method for the automatic production line of the robot according to claim 4, wherein the visual debugging method comprises the following steps of: in the step 1, the data input into the debugging module directly can be replaced by the data input into the adjusting module through the switching interface.
6. The visual debugging method for the automatic production line of the robot according to claim 4, wherein the visual debugging method comprises the following steps of: the debugging module in the step 1 receives the modified data and then automatically transmits the modified data to the data conversion module, the data conversion module is observed to synchronously convert the modified data, the converted data generate image and text data and are displayed through an HMI interface, and whether the data are implemented or not is judged according to the image and the text file;
if yes, the modified data are sent to a data analysis module;
if not, deleting the modified data, and then inputting debugging data into the debugging module again for debugging.
7. The visual debugging method for the automatic production line of the robot according to claim 4, wherein the visual debugging method comprises the following steps of: the step 2 of analyzing the modified data by the data analysis module and sending the data to the data conversion module comprises the following steps:
s1: transmitting the modified data to a corresponding blockchain unit;
s2: the block chain unit reads data and automatically replaces original data to generate a new data set;
s3: the analysis unit analyzes the new data set, and the analyzed data set is automatically sent to the data conversion module;
s4: the data conversion module converts the new data set into an image and text file.
8. The visual debugging method for the automatic production line of the robot according to claim 4, wherein the visual debugging method comprises the following steps of: before the HMI interface inputs the modified data, the HMI interface transmits the original data in the blockchain unit to an analysis unit, the analysis unit analyzes the original data set, the analyzed data set is transmitted to a data conversion module, the data conversion module converts the data set into an image and a text file, and the image and the text file are automatically backed up to a data storage unit.
9. The visual debugging method for the automatic production line of the robot according to claim 4, wherein the visual debugging method comprises the following steps of: the step S1 of transmitting the modified data to the corresponding blockchain unit includes the following steps:
s101: calling an image and text file generated by original data of a blockchain unit in the data storage unit, wherein the image and text file is displayed by a display unit;
s102: the image and text generated by the modified data and the image and text file generated by the original data set are respectively uploaded to a data conversion module;
s103: the data conversion module converts the image and text generated by the modified data and the image and text file generated by the original data set into a matched comparison file;
s104: and judging the block chain unit corresponding to the modified data according to the comparison file.
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