KR102127951B1 - Multi-Process Based Welding Robot Control System and it's method - Google Patents

Abstract

The present invention relates to a multi-process-based real-time welding robot control system and a control method thereof, which is connected to a user interface device and a management system through a network to communicate, manages system parameters, manages robot operating performance, analyzes work files and commands, and the like. A robot manager performing a role, and a task executor that analyzes commands and work files transmitted from the robot manager to calculate kinematics and trajectory information about the robot's motion, and processes aperiodic events such as emergency stops and stops Wow, it controls the robot system in real time by receiving the result of the information generated by the job launcher, directly interfaces with various input hardware events to the job launcher and the robot manager, and directly controls the input/output with the robot system. The system is divided into servo controllers that directly control the sensor and the welding machine, and the robot manager periodically checks the normal operation with a separate thread, and the task executor and the servo controller return the normal operation to check the normal operation status and service. By executing and controlling the synchronization between the work launcher and the servo controller by the robot manager, it is controlled by multiple processes so that system efficiency can be improved.

Description

Multi-process based welding robot control system and its control method

The present invention relates to a PC-based welding robot control system, and more specifically, a multi-process based on three processes: a robot manager, a task executor, and a servo controller inside the robot controller. It is driven by and is composed of a teaching device (Teaching Pendant), which is an external device, and relates to a multi-process-based real-time welding robot control system and a control method to promote the efficiency and maintenance of the system by multiple processes.

In the manufacturing process of a ship, automatic welding is performed using a welding robot. The system for controlling the automatic welding robot, as shown in FIG. 1, is a configuration diagram of the welding robot control system.

As shown in the figure, it is composed of a CPU and a network card, etc., and is connected to the OLP server 1 and the monitor PC 2 through a network, and receives a user's welding robot control command to control the welding robot. )Wow; It is composed of system I/O module and servo driver and connected to the host robot controller 1 to control the multi-joint welding robot 8 under the control of the host controller 1 and the welding robot control status information to the host controller 1 ) Is composed of a lower controller (2), each module of the upper controller (1), lower controller (2), and lower controller (2) is connected to the network.

The upper controller 1 and the teaching operator 4 are connected by Ethernet to receive user input. In addition, the OLP data required for welding work is supplied through a separate OLP server (1) through the computer network, and is configured to check the operating status of the robot from the PC of the office through the monitoring server (2).

The lower controller 2 is connected to the welding machine 7, the touch sensor 6, and the robot 8, and transmits a welding command to the welding machine 7, and transmits an operation command of the robot to the robot 7.

However, in the general automatic robot controller 5 made as described above, a robot control program consisting of one process is mounted on the upper controller and the lower controller to control the robot by one process.

Therefore, it is controlled by one process, so the processing speed and responsiveness of the control command are poor, and the program is very complicated.

Korean Patent Publication No. 10-2008-0036685 (2008.04.29)

The present invention is configured to operate based on a total of three processes, a robot manager, a task executer, and a servo controller inside the robot controller to improve system efficiency and increase maintenance convenience. To provide a multi-process based real-time welding robot control system and method.

In addition, the present invention is to provide a multi-process-based real-time welding robot control system and method that facilitates system operation by forming a synchronization structure through message transmission between processes that are divided into three processes.

The present invention, the user interface device and the management system is connected to the network and communicates with, and a robot manager that performs the functions of system parameter management, robot operation performance management, work file and command analysis, etc.;

A task executor that analyzes commands and work files transmitted from the robot manager, calculates kinematics and trajectory information about the robot's motion, and performs processing on aperiodic events such as emergency stop and stop;

Control the robot system in real time by receiving the result of the information generated by the work launcher, directly interface with various input hardware events to the work launcher and the robot manager, and directly control the input/output with the robot system, as well as sensors and It is characterized by being divided into a servo controller that directly controls the welding machine.

In addition, the user interface device according to the present invention,

User interface OLP server that receives the robot control programming data created externally and CAD interface information for the job and the user inputs the robot job data to the robot controller, and the robot control command that allows the user to directly operate the robot. It comprises a teaching manipulator input to the robot controller 100 and a monitoring computer that receives and outputs the robot operation status information from the robot controller for monitoring.

The management system,

It is characterized in that it is configured to include a shell terminal and a web browser system for maintenance by controlling only a person with authority connected to the robot controller to access the robot system.

The robot manager,

A service terminal connected to the shell terminal and the internal local terminal of the management system to service the robot system;

A network broker for managing and controlling network connection with the user interface device;

A robot service module connected to the service terminal, the network broker, a local GUI, and a CGI connected to a web browser to service an external connection for robot control;

A system parameter management unit for management control of the robot robot;

A job compiler for compiling job instructions;

A command interpreter for interpreting work orders;

It is configured to include a robot management unit that is linked to the robot service module and transmits control of the system parameter management unit, the work compiler, and the command interpolation unit, and compiled work commands and execution commands to the work executor to control and manage the robot. It is characterized by.

The task launcher,

A command interpreter for interpreting a command based on the compiled work command and an execution command received from the robot manager, and a job interpreter for interpreting the work command;

An event processing unit that processes event processing based on input/output signals received from a servo controller based on execution commands and work commands interpreted by the command interpreter and the work interpreter;

A trajectory generation unit generating a motion trajectory signal of the robot by a path compensation signal generated by control and sensor signals of the event processing unit;

A path compensator for generating a path compensation signal based on a sensor signal received through the servo controller and applying a path compensation signal to the trajectory generator;

It characterized in that it comprises a point position conversion unit for transmitting the joint position and welding condition information to the servo controller based on the control of the inverse kinematics (Invers Kinematics) the trajectory signal of the trajectory generation unit.

The servo controller,

A sensor interface unit receiving sensor information from the sensor system of the robot system and transmitting the sensor information to the work launcher;

A welding machine interface unit for controlling a welding machine according to welding conditions by interfacing with a welding machine of the robot system;

A signal input/output management unit connected to an input/output device (TP/UP DIO, application DIO) of the robot system to manage signal input/output with the job executor;

Including a servo control unit comprising a field network interface unit, a position interpolation unit, a motion detection unit, a problem and error check unit for controlling the servo driver of the robot system 30 based on the joint position and welding signal of the work launcher. It is characterized by being configured.

On the other hand, the present invention, in the control method of a multi-process-based real-time welding robot control system, the robot controller is configured to perform independent processes with a robot manager, a task launcher, and a servo controller,

The robot manager, the task launcher, and the servo controller analyze the program execution options to prepare for service execution, and when the task launcher and the servo controller attempt to connect to the robot manager and the connection is completed, an initialization execution command is generated by the robot manager. An entry mode;

An initialization mode in which initialization of the job executor and the servo controller is started by an initialization command of the robot manager, and an initialization completion is returned to the robot manager;

When the robot manager receives an initialization completion reply in the initialization mode and becomes the normal driving state, the robot manager periodically sends a normal operation check signal to the job executor and the servo controller through a separate thread to receive the normal operation reply and connects if the connection is defective. A driving mode that checks the normal driving state while retrying, and performs service execution for each process if the normal driving check is in a good state;

When the termination command is input, the robot manager is characterized in that it consists of an exit mode that performs an exit procedure by issuing an exit command to the job launcher and the servo controller.

The operation mode,

It is characterized by including a manual mode, an automatic mode, and a dry run mode.

The entry mode,

The robot manager includes a program execution option analysis step of parsing an argument by analyzing the program execution option, a system parameter loading step of loading system parameters from a file based on the analyzed parameters, and the loaded system parameters in internal memory. A shared memory generation step of generating the shared memory and storing the parameter data in the shared memory after being stored in the shared memory; After storing the parameters in the shared memory, the robot manager service execution preparation step of creating a service for performing the robot manager service is performed,

The task executor comprises: a program execution option analysis step of parsing parameters by analyzing the program execution options; A task executor service preparation step of generating a task executor service according to the analyzed factors; When the service execution preparation is completed, a robot manager access attempt step is attempted to access the robot manager,

The servo controller includes a program execution option analysis step of parsing the parameters by analyzing the program execution options; A servo controller service preparation step for generating a servo controller service according to the analyzed factors; When the service execution preparation is completed, a robot manager access attempt step is attempted to access the robot manager,

The robot manager receives the connection attempt of the job executor and the servo controller, checks the connection completion, and checks the connection. If there is no connection attempt, the robot manager performs a connection attempt and a completion check step to perform a retry.

The entry mode,

The operation executor and the servo controller attempt to connect to the robot manager 110, and if connection fails due to failure in connection until a predetermined time limit is reached, it is characterized in that it proceeds to the termination mode and ends.

In the present invention, the welding robot control system is composed of three processes inside the controller for each main function of the process, and each service is performed to have a modular structure for each function, so the efficiency of the system and the convenience of maintenance are improved. have.

In addition, the present invention has an effect of smoothly improving the operation of the system by forming a synchronization structure through message transfer between processes.

Figure 1

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a configuration diagram of a multi-process based real-time welding robot control system according to the present invention.

In the robot controller 100 for controlling the robot system 30 under the control of the user interface device 10 and the management system 20,

A robot manager 110 connected to the user interface device 10 and the management system 20 over a network for communication, and performing functions such as system parameter management, robot operation performance management, work file and command analysis;

A task executor 120 that analyzes commands and work files transmitted from the robot manager 110 to calculate kinematics and trajectory information about the motion of the robot, and performs processing on aperiodic events such as emergency stop and stop;

Receiving the result of the information generated by the task launcher 110, controlling the robot system 30 in real time, directly interfacing various input hardware events to the task launcher and robot manager, and communicating with the robot system 30. It is characterized by being divided into a servo controller (130) that directly controls the input/output and a sensor and a welding machine.

The user interface device 10,

The user interface OLP server 11 that receives the robot control programming data created externally and the CAD interface information for the work and the user inputs the robot work data to the robot controller 100, and allows the user to directly operate the robot. Consists of a teaching manipulator (12) that receives a robot control command and inputs it to the robot controller (100) and a monitoring computer (13) that receives and monitors robot operation status information from the robot controller (100). It is characterized by.

The management system 20,

The shell terminal 21 and the web browser system 22 for controlling and managing the robot controller 100 so that only the authorized person can access the robot system is connected to the robot controller 100, and for the control and management of the robot It comprises a storage medium 23, such as a flash disk for storing and managing data.

3 is a detailed configuration diagram of a robot manager of a multi-process based real-time welding robot control system according to the present invention.

A service terminal 111 connected to the shell terminal 21 and the internal local terminal 112 of the management system 20 to service the robot system;

A network broker 113 that manages and controls network connection with the user interface device 10;

A robot service module 115 connected to the service terminal 111, the network broker 113, the local GUI 112, and the CGI 114 connected to the web browser 22 to service an external connection for control of the robot 115 )and;

A system parameter management unit 116 for management control of the robot robot;

A job compiler 118 for compiling job instructions;

A command interpreter 119 for interpreting work orders;

The work executor 120 controls the system parameter management unit 116, the work compiler 118, and the command interpreter 119 in cooperation with the robot service module 115 to compile and compile the work command and execution command. It characterized in that it is configured to include a robot management unit 117 to transmit to the management control of the robot.

4 is a detailed configuration diagram of a task executor of a multi-process based real-time welding robot control system according to the present invention.

A command interpreter 121 for interpreting commands based on the compiled work command and execution command received from the robot manager 110, and a job interpreter 122 for interpreting the work command;

An event that processes event processing based on the input and output signals received from the servo controller 130 based on execution commands and work commands interpreted from the command interpreter 121 and the work interpreter 122. A processing unit 123;

A trajectory generation unit 124 generating a motion trajectory signal of the robot by a path compensation signal generated by the control and sensor signals of the event processing unit 123;

A path compensation unit 125 for generating a path compensation signal based on a sensor signal received through the servo controller 130 and applying a path compensation signal to the trajectory generation unit 124;

Consists of a point position conversion unit (127) that transmits the joint position and welding condition information to the servo controller (130) under the control of the Invers Kinematics (161). It is characterized by.

5 is a detailed configuration diagram of a servo controller of a multi-process based real-time welding robot control system according to the present invention.

A sensor interface unit 131 which receives sensor information from the sensor system 31 of the robot system 30 and delivers it to the work launcher 120;

A welding machine interface unit 132 that interfaces with the welding machine 32 of the robot system 30 to control the welding machine according to welding conditions;

A signal input/output management unit 133 connected to an input/output device (TP/UP DIO, application DIO) 33 of the robot system 30 to manage signal input/output with the job launcher 120;

Field network interface unit 134a, position interpolation unit 134b, motion detection unit 134c for controlling the servo driver 34 of the robot system 30 based on the joint position and welding signal of the job executor 127 ), and the servo control unit 134 including the problem and error checking unit 134d.

According to the present invention, the control program of the robot control system is based on three processes: a robot manager (110), a task executor (120), and a servo controller (130). It is composed.

The user transmits the robot's work data through the OLP server 11, monitors the operation state of the robot through the monitoring PC 13, and directly controls the robot's operation using the teaching operator 12. With the management system 20, only a person with authority using the shell terminal 21 and the web browser 22 for maintenance can access the robot system.

The robot manager 110 is in charge of communication with the external device, and performs functions such as system parameter management, robot operation performance management, and job file and command interpretation for delivery to the job launcher 120.

6 is a functional explanatory diagram for each process for explaining the present invention, and FIG. 7 is a functional explanatory diagram between the robot manager according to the present invention, a job executor, and a servo controller.

Message synchronization and shared memory are used for process synchronization and data sharing. The message plays a role as a communication means between processes and mainly plays a role of request and result of service, information transmission, and event occurrence. The shared memory is used to share data such as robot information definition, process execution status, system mode, work file storage, and robot status information between processes.

The robot manager 110 manages various data, such as work support data and robot shape information, and work support data includes home location information, user coordinate system information, welding condition information, and the like, and the robot shape information includes a robot shape, Robot motion information, axis motion information, motor type, encoder resolution, origin data, sensor information, etc. are included.

The robot manager 110 controls access to the robot service module 115 from the external shell terminal 21 or the local terminal 112 through the service terminal 111, and the network broker 113 is a user interface device The network is controlled to access the robot service module 115 through the OLP server 11 of the (10) and the teaching operator 12, and the robot service module through the CGI 114 through the web browser 22. It is possible to access the 115 and perform robot management control. Of course, the robot service module 115 is also connected to the robot service module 115 through the local terminal 112 and the local GUI 112-1, thereby enabling robot maintenance and control.

The robot service module 115 performs robot control and management through the system parameter management unit 116, the robot management unit 117, the work compiler 118, and the command interpretation unit 119. As shown in FIG. 6, as the execution environment service, process execution/termination management, execution mode management, system parameter management, and shared memory management are performed.

Communication services include terminal services through the service terminal 111, communication with external devices such as a teaching manipulator, GUI through the network broker 113, and inter-process communication between the task launcher 120 and the servo controller 130, It provides communication services such as Ethernet, Telnet, FTP, and SSH with the OLP server. The job file service performs job file syntax parsing, job file loading, job file cache, and reload, and the robot management service performs servo on, break command, home position service, and key processing service, and statistics are provided by other services. Perform services (working hours, etc.). This is performed by the robot service module 115 through the system parameter management unit 116, the robot management unit 116, the work compiler 118, and the command interpretation unit 119, and uses the storage medium 23 as a shared memory. .

The task launcher 120 calculates information related to the motion of the robot. By interpreting commands and work files transmitted from the robot manager 110, kinematic and trajectory information for the robot's motion is calculated, and processing is performed for aperiodic events such as emergency stop and stop.

As a job instruction processing performed by the event processing unit 123 by analysis information of the command interpreter 121 and the job interpreter 122, preprocessing, label table generation (branch), and job command processing are performed. do. As a runtime service, kinematic analysis through the inverse kinematics department 161, motion path generation through the trajectory generation unit 124, and path compensation through the path compensation unit 125. Collection function (sensor), point position conversion unit 127 Perform joint operation service through and perform emergency stop function (motion, welding, etc.) as an emergency function service.

The servo controller 130 receives the result of the information generated by the job launcher 120 and controls the robot in real time. Position data per unit time is transmitted to the servo driver 34 through an industrial field network (EtherCAT, Mechatrolink, Profinet, Powerlink, SSCNET, etc.) used to transmit control information, and the actual motor is controlled. The hardware event is directly interfaced to the task launcher 120 and the robot manager 110. In addition, it directly controls the various inputs and outputs, and serves to directly control the sensor system 31 and the welding machine 32.

The servo control performed by the servo control unit 134 performs servo time management, servo on, brake management, servo command management, and absolute encoder management. That is, the communication with the servo drivers 34 through the field network interface unit 134a, the operation of the servo and position control of each servo through the position interpolation unit 134b, and through the motion monitoring unit 134c Motion monitoring is performed, and error monitoring is performed through the problem and error check unit 134d.

Input/output management is controlled by the input/output signal management unit 133, and is connected to the input/output device 33 of the robot system 30 to perform emergency stop management (multiple emergency stop, system IO management DIO, AIO virtualization management).

The welding service is controlled by the welding machine interface unit 132, and performs a welding machine virtualization function, a welding current/voltage command, and a welding current/voltage feedback function.

As a system safety service, the motor controller fault processing, the welding machine failure processing, the TE and the reading function are performed by the problem and error checking unit 134d of the servo control unit 134.

The sensor interface unit 131 is connected to the sensor system 31 to perform sensor virtualization functions to interface sensor information.

And, the user interface device unit 10 of the manipulation controller 12 is a communication service, and services for robot controller connection, controller command input, controller communication reconnection, controller communication termination, and as a work file service, work file modification and We provide a service for migrating and loading job files. Also, as a system monitoring view service, it performs system monitoring information transmission, I/O monitoring information transmission, and location value monitoring, and processes a UP interface and a manual mode interface work file interface as a user interface service.

In this way, the teaching operator 12 receives a sequence related to the operation of the robot by the user. In order to execute services such as robot movement and welding, work files and necessary information are set by receiving user input. To enable input/modification from the user, a graphic-based user interface is provided and is configured to process input through keys. Work files are created, managed and stored in the order of robot operation.

QNX, one of the real-time operating systems, was actually applied to the robot controller 100, and WinCE was applied to the teaching controller 12. The detailed functions of each module are as follows.

In order to synchronize and share data between the processes of the robot manager 110 and the task launcher 120 and the servo controller 130, a flash disk is used as the message passing and shared memory, that is, the storage medium 23. The message plays a role as a communication means between processes and mainly plays a role of request and result of service, information transmission, and event occurrence. The shared memory is used to share data such as robot information definition, process execution status, system mode, work file storage, and robot status information between processes.

The robot manager 110 manages various data, such as work support data and robot shape information, and work support data includes home location information, user coordinate system information, welding condition information, and the like, and the robot shape information includes a robot shape, Robot motion information, axis motion information, motor type, encoder resolution, origin data, sensor information, etc. are included.

8 is a control flow diagram of a multi-process-based real-time welding robot control system according to the present invention, and FIG. 9 is an inter-process control flow chart of a multi-process-based real-time welding robot control system according to the present invention.

As shown in FIG. 8, the control procedure performed by the robot controller 100 first parses an argument that can add a function other than the function of the original program by program parameter analysis (S11). Perform the relevant execution first. Next, after loading the system parameters, which are composed of separate files by the system parameter loading (S12), into the shared memory, the service channel creation (S13) creates a channel for message passing that can receive service input from an external device. Be prepared for service.

Thereafter, when a service request including a service request of another entity is received from the external device (S14), the related service is executed (S15) and processed, and the result is returned in the service result execution reply (S16). If the type of service is a termination command (S17), the termination mode is entered and the termination process is performed by the termination procedure (S18).

9 is an explanatory diagram of a synchronization process and execution and shutdown management procedures for each system mode of each process of a multi-process-based real-time welding robot control system according to the present invention.

The robot manager 110, the task launcher 120, and the servo controller 130 are made to perform independent processes, and the entry mode (S100), the initialization mode (S200), the operation mode (S300), and the termination mode (S400) It is controlled in order.

In the present invention, the robot manager 110 loads system parameters by program analysis, creates and stores a shared memory to prepare for the execution of the robot manager service, and the task executor performs program execution option analysis to prepare the task launcher service execution. And attempts to connect to the robot manager, and the servo controller 130 prepares to execute the servo controller service by analyzing the program execution option, attempts to access the robot manager, and the robot manager, after preparing to execute the robot manager service, executes Upon receiving the connection attempt of the servo controller, the connection is completed and the entry mode (S100) is issued.

When the service execution preparation for each process is completed in the entry mode (S100), when the job launcher 120 and the servo controller 130 are connected to the robot manager 110, the job executor is initiated by the initialization command of the robot manager 110. Initialization of the 120 and the servo controller 130 starts, and the completion of the initialization mode S200 is completed by returning the initialization completion to the robot manager 110.

When the initialization mode (S200) is completed, the robot manager 110 periodically transmits a normal driving check signal to the job launcher 120 and the servo controller 130 through separate threads to check the normal driving reply status, and access If the status is bad, the normal operation state is checked while retrying the connection. If the normal operation check is in a good state, service execution is performed for each process to perform the operation mode (S300). The operation mode performs manual, automatic, and dry run modes.

Thereafter, when the termination command is input, the robot manager 110 issues the termination command to the job executor 120 and the servo controller 130 to perform the termination procedure. At this time, the task executor 120 and the servo controller 130 perform safety termination of all resources and devices.

In the entry mode (S100), the robot manager 110,

The program execution option analysis step (S111) for parsing an argument by analyzing the program execution option, the system parameter loading step (S112) for loading system parameters from the file by the analyzed factor, and the loaded system parameters After creating the shared memory after storing it in the internal memory, the shared memory creation step (S113) in which the parameter data is stored in the shared memory, and the robot manager that generates the service for performing the robot manager service after storing the parameters in the shared memory Perform the service execution preparation step (S114),

The task launcher 120,

The program execution option analysis step (S121) for parsing the parameters by analyzing the program execution options, the job executor service execution preparation step (S122) for generating the job executor service based on the analyzed factors, and when the service execution preparation is made, the A robot manager access attempt step (S123) of attempting to access the robot manager 110 is performed,

The servo controller 130,

When the program execution option analysis step (S131) for parsing the parameters by analyzing the program execution options and the servo controller service execution preparation step (S132) for generating the servo controller service by the analyzed factors, and when the service execution preparation is made, the A robot manager access attempt step (S133) of attempting to access the robot manager 110 is performed,

The robot manager 110 receives a connection attempt (S115) between the job launcher 120 and the servo controller 130, checks the connection completion (S116), and confirms the connection, and if there is no connection attempt, attempts to connect again. And a completion check step.

In the entry mode (S100), the job launcher 120 and the servo controller (S130) attempt to connect to the robot manager 110 and fail to connect because the connection cannot be made until a predetermined time limit is reached. Proceed to the end mode (S400) and end.

In this entry mode (S100), the robot manager 110 parses arguments by program execution option analysis (S111), and loads system parameters from the file by loading the system parameters (S112) to the internal memory. After saving, the shared memory is created by the shared memory generation (S113) and the parameter data is stored in the shared memory. Then, a service for performing a robot manager (abbreviated as'RM' in FIG. 9) service is generated (S114), a task launcher (abbreviated as'TE' in FIG. 9) and a servo controller ('SC' in FIG. 9). Receive a connection attempt (S115), and check the connection completion (S116) to check the connection and, if there is no connection attempt, retry.

The task launcher 120 and the servo controller 130 parse the arguments by analyzing program execution options (S121) and S131 in the same manner as the robot manager 110, and prepare their own service to prepare the task executor service execution (S122) ) And the servo controller are ready for execution (S132), each attempts to connect to the robot manager (RM) (S123) (S133), and when the time exceeds the specified limit, the connection attempt is terminated (S124) (S134), Perform a process to terminate the process. This is the entry mode.

In the initialization mode (S200), if the job launcher 120 (TE) and the servo controller 130 (SC) have successfully connected to the robot manager 110 (RM) (S116), then the robot manager 110 has the remaining two The process execution task 120 (TE) and the servo controller 130 (SC) are transmitted to the initialization execution command, and the task executor 120 and the servo controller 130 enter an internal initialization operation when the command is normally received, The initialization completion result is returned to the robot manager 110. This is the initializing mode.

In the driving mode (S300), the robot manager 110 periodically transmits an alive check message to check whether the other two processes are normally running through separate threads, thereby performing a normal driving check (S311). The job executor 120 and the servo controller 130 perform normal drive reply (S321) (S331) by the normal drive check signal, and the robot manager 110 determines the connection state is good based on the normal drive reply. (S312), and if there is no normal driving reply, it is determined that there is a problem with the connection, and the connection is retried. It is configured so that it does not interfere with the processing of the service, because it runs independently of the thread that processes the service. When a normal connection is established, service execution is performed for each process (S313) (S323) (S333).

If the initialization is normally completed and the connection is normal, the operation mode (S300) can be largely controlled in a manual mode, an automatic mode, and a dry run mode. The manual mode is a mode in which the user can move the robot to a desired position and posture through a key input through the jog service, edit and modify work files, control input/output, and receive various data. The automatic mode is a mode that automatically executes the currently active work file until there is a separate input. In the automatic mode, the welding function is included. The dry run mode performs an operation except for the welding function in the automatic mode. The modes that normally perform the robot's operation functions are manual mode, automatic mode, and dry run mode.

The emergency stop mode can operate at any time in the entire system mode, and upon receipt of input, all functions, such as robot operation, input/output, and welding, are stopped and configured to perform normal functions again when released.

Finally, in the termination mode (S400), when the robot manager 110 receives an exit command from another external device such as a teaching operator, a shell terminal, or a GUI, the exit command is transmitted to the task launcher 120 and the servo controller 130. When all the termination procedures of the executor 120 and the servo controller 130 are normally performed, the robot manager enters the termination procedure.

10: user interface unit 11: OLP server
12: teaching manipulator 13: monitoring computer
20: management system 21: shell terminal
22: Web browser 23: Storage medium
30: robot system 31: sensor system
32: welding machine 33: input and output device
34: servo driver
100: robot controller 110: robot manager
120: job launcher 130: servo controller

Claims (10)

In the robot controller 100 for controlling the robot system 30 under the control of the user interface device 10 and the management system 20,
A robot manager 110 connected to the user interface device 10 and the management system 20 over a network for communication, and performing functions such as system parameter management, robot operation performance management, work file and command analysis;
A task executor 120 that analyzes commands and work files transmitted from the robot manager 110 to calculate kinematics and trajectory information about the motion of the robot, and performs processing on aperiodic events such as emergency stop and stop;
Receiving the result of the information generated by the task launcher 110, controlling the robot system 30 in real time, directly interfacing various input hardware events to the task launcher and robot manager, and communicating with the robot system 30. A multi-process based real-time welding robot control system characterized by being divided into a servo controller (130) that directly controls the input/output and a sensor and a welding machine.
The user interface device (10) according to claim 1,
The user interface OLP server 11 that receives the robot control programming data created externally and the CAD interface information for the work and the user inputs the robot work data to the robot controller 100, and allows the user to directly operate the robot. Consists of a teaching controller (12) that receives a robot control command and inputs it to the robot controller (100) and a monitoring computer (13) that receives and outputs robot operation status information from the robot controller (100) for monitoring. Real-time welding robot control system based on multiple processes, characterized in that.
The method of claim 1, wherein the management system (20),
Multiple connected to the robot controller 100, characterized in that it comprises a shell terminal 21 and a web browser system 22 for maintenance by controlling only the authorized person to access the robot system Process-based real-time welding robot control system.
According to claim 1, The robot manager 110,
A service terminal 111 that is connected to the shell terminal 21 and the internal local terminal 112 of the management system 20 to service the robot system;
A network broker 113 that manages and controls network connection with the user interface device 10;
A robot service module 115 connected to the service terminal 111, the network broker 113, the local GUI 112, and the CGI 114 connected to the web browser 22 to service an external connection for control of the robot 115 )and;
A system parameter management unit 116 for management control of the robot robot;
A job compiler 118 for compiling job instructions;
A command interpreter 119 for interpreting work orders;
The work executor 120 controls the system parameter management unit 116, the work compiler 118, and the command interpreter 119 in cooperation with the robot service module 115 to compile and compile the work command and execution command. Real-time welding robot control system based on a multi-process characterized in that it comprises a robot management unit 117 to control the management of the robot by transmitting to.
The method of claim 1, wherein the task launcher 120,
A command interpreter 121 for interpreting commands based on the compiled work command and execution command received from the robot manager 110, and a job interpreter 122 for interpreting the work command;
An event that processes event processing based on the input and output signals received from the servo controller 130 based on execution commands and work commands interpreted from the command interpreter 121 and the work interpreter 122. A processing unit 123;
A trajectory generation unit 124 generating a motion trajectory signal of the robot by a path compensation signal generated by the control and sensor signals of the event processing unit 123;
A path compensation unit 125 for generating a path compensation signal based on a sensor signal received through the servo controller 130 and applying a path compensation signal to the trajectory generation unit 124;
Includes a point position conversion unit 127 that transmits the joint position and welding condition information to the servo controller 130 based on the control of the invers kinematics 161 to the trajectory signal of the trajectory generation unit 124 Real-time welding robot control system based on multiple processes, characterized by consisting of.
According to claim 1, The servo controller 130,
A sensor interface unit 131 which receives sensor information from the sensor system 31 of the robot system 30 and delivers the sensor information to the job launcher 120;
A welding machine interface unit 132 that interfaces with the welding machine 32 of the robot system 30 to control the welding machine according to welding conditions;
A signal input/output management unit 133 connected to an input/output device (TP/UP DIO, application DIO) 33 of the robot system 30 to manage signal input/output with the job launcher 120;
Field network interface unit 134a, position interpolation unit 134b, motion detection unit 134c for controlling the servo driver 34 of the robot system 30 based on the joint position and welding signal of the job executor 127 ), a problem- and error-checking unit (134d) comprising a servo control unit 134, a multi-process based real-time welding robot control system characterized in that it comprises a.
In the control method of a multi-process based real-time welding robot control system, the robot controller is configured to perform independent processes with the robot manager 110, the task launcher 120, and the servo controller 130, respectively.
The robot manager 110 and the job launcher 120 and the servo controller 130 analyze the program execution options to prepare for service execution, and the job launcher 120 and the servo controller 130 connect to the robot manager 110 When the connection is completed by attempting to, the entry mode (S100) in which an initialization execution command is generated by the robot manager 110;
An initialization mode (S200) in which the initialization of the job launcher 120 and the servo controller 130 is started by the initialization command of the robot manager 110, and the initialization completion is returned to the robot manager 110;
When the robot manager 110 receives an initialization completion reply in the initialization mode (S200), and the robot manager 110 is in a normal driving state, the robot manager 110 is periodically normal to the task launcher 120 and the servo controller 130 through separate threads. A driving mode (S300) for transmitting a driving check signal and receiving a normal driving reply, checking a normal driving state while retrying the connection if the connection is defective, and performing service execution for each process when the normal driving check is in a good state;
When the termination command is input, the robot manager 110 issues a termination command to the job executor 120 and the servo controller 130 to perform the termination procedure (S400). Real-time welding robot control system control method
The method of claim 7, wherein the operation mode (S200),
Control method of a multi-process based real-time welding robot control system, which includes a manual mode, an automatic mode, and a dry run mode.
The method of claim 7, wherein the entry mode (S100),
The robot manager 110,
A program execution option analysis step (S111) of parsing an argument by analyzing the program execution option,
System parameter loading step (S112) for loading the system parameters from the file by the analyzed factors,
A step S113 of generating a shared memory to store the loaded system parameters in an internal memory and then to generate a shared memory to store parameter data in the shared memory;
After storing the parameters in the shared memory, the robot manager service preparation step (S114) for generating a service for performing the robot manager service is performed,

The task launcher 120,
A program execution option analysis step (S121) of parsing the parameters by analyzing the program execution option;
A task launcher service execution preparation step (S122) for generating a task launcher service according to the analyzed factors;
When the service execution preparation is made, a robot manager access attempt step (S123) of attempting to connect to the robot manager 110 is performed,

The servo controller 130,
A program execution option analysis step (S131) of parsing the parameters by analyzing the program execution option;
Servo controller service execution preparation step (S132) for generating a servo controller service according to the analyzed factors;
When the service execution preparation is made, a robot manager connection attempt step (S133) of attempting to connect to the robot manager 110 is performed,

The robot manager 110 receives the connection attempt (S115) between the job launcher 120 and the servo controller 130, checks the connection completion (S116), and confirms the connection, and if there is no connection attempt, attempts to connect again. And a control method of a multi-process based real-time welding robot control system, characterized by performing a completion check step.
The method of claim 9, wherein the entry mode (S100),
The job launcher 120 and the servo controller (S130),
A multi-process based real-time welding robot control characterized by attempting to connect with the robot manager 110 and failing to connect until a predetermined time limit is reached, and then proceeding to the termination mode (S400) and terminating. How to control the system.

Images