CN106774191B - Intelligent robot production line scheduling system and method - Google Patents
Intelligent robot production line scheduling system and method Download PDFInfo
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- CN106774191B CN106774191B CN201611065869.XA CN201611065869A CN106774191B CN 106774191 B CN106774191 B CN 106774191B CN 201611065869 A CN201611065869 A CN 201611065869A CN 106774191 B CN106774191 B CN 106774191B
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000012545 processing Methods 0.000 claims abstract description 55
- 238000004891 communication Methods 0.000 claims abstract description 24
- 230000005611 electricity Effects 0.000 claims description 42
- 238000001514 detection method Methods 0.000 claims description 29
- 230000000284 resting effect Effects 0.000 claims description 18
- 238000012546 transfer Methods 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000001186 cumulative effect Effects 0.000 claims description 3
- 230000002045 lasting effect Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- General Factory Administration (AREA)
Abstract
The invention discloses a kind of intelligent robot production line scheduling system and method, including conveyer, the multiple intelligent robot units set gradually along conveyer, each corresponding processing stations of intelligent robot unit, also include camera system, the camera system includes camera and the first controller；Infra-red sensing system, the infra-red sensing system include the first infrared sensor and the second infrared sensor；Control system, the control system include field controller and central processing unit.The present invention is when in use, due to the scheduling using intelligent machine people's production line, it instead of existing manual labor, the lasting processing of workpiece can be realized, make production line more intelligent and automation, acted synergistically by camera system, infra-red sensing system, control system and communication system, the intelligent robot unit on production line can be made quickly to start and standby, power consumption is saved, makes intelligent machine people endurance more preferably.
Description
Technical field
The present invention relates to intelligent robot production line technology field, more specifically, more particularly to a kind of intelligent robot
Production line scheduling system and method.
Background technology
With the quick development of modern industry, robot automation's production line is increasingly wide in the application of field of industrial production
It is general, such as in electronic manufacture, automobile making, processing and packing, goods sorting field.Particularly machine vision technique is on a production line
Utilization, drastically increase the flexibility, intellectuality and automatization level of system.The generally configuration one of such automatic production line
It is individual or it is multiple for the robot that picks or process as specific executing agency；One or more conveyer belt is configured to be used to convey work
Part and packing box；Configure industrial vision system and be used for the different operations such as the positioning, identification, dimensional measurement of workpiece.
With the development of the social economy, the production of the particularization, specialization, randomization of production and processing to automatic production line
Efficiency, production versatility, intelligent and flexibility propose higher requirement, and the rational management use of intelligent robot also shows
It is particularly important, first with the presence of intelligent robot production line dispatch it is unreasonable, waste the situation of electric energy.For this reason, it is necessary to set
Count a kind of high intelligent robot production line scheduling system and method for environmentally friendly power saving automaticity.
The content of the invention
It is an object of the invention to provide a kind of intelligent robot production line scheduling system and method.
In order to achieve the above object, the technical solution adopted by the present invention is as follows：
A kind of intelligent robot production line scheduling system, including conveyer, the multiple intelligence set gradually along conveyer
Energy robot unit, the corresponding processing stations of each intelligent robot unit, it also includes：
Camera system, the camera system include camera and the first controller；
Infra-red sensing system, the infra-red sensing system include the first infrared sensor and the second infrared sensor；
Control system, the control system include field controller and central processing unit；
Communication system, the communication system use wireless communication module；
Each intelligent robot unit also includes base, the action component on base, and is installed on bottom
The electric power system of working power is provided in seat for the intelligent robot unit, the camera and the first controller are arranged on described
On action component, the both sides of the base are mounted on the first infrared sensor and the second infrared sensor, and two neighboring intelligence
The first infrared sensor that can be on robot unit and the second infrared sensor is corresponding is used cooperatively, the field controller
Number is consistent with the number of the intelligent robot unit, and each field controller is installed in its corresponding intelligence machine
On the base of people's unit, the central processing unit is arranged on the section start of conveyer, on each intelligent machine people unit
Field controller is connected by wireless communication module with the central processing unit；
Camera and the first controller on the action component of each intelligent robot unit by data wire with
The field controller corresponding to it is electrical connected；
The first infrared sensor and the second infrared sensor on each intelligent robot unit pass through data wire
Corresponding field controller is electrical connected.
Preferably, the electric power system includes supplying cell, battery management system, electric power detection module and electricity display system
System, the battery management system and electric power detection module are connected with supplying cell, the electric quantity display system and electric power detection
Module connects, and the battery management system is used for the keying for controlling supplying cell, and the electric quantity display system is used for according to electricity
The result of detection module detection shows the actual electricity of supplying cell.
Preferably, the battery management system has the power supply state of supplying cell, off-position, resting state and standby
State；When supplying cell is in power supply state, when action component is failure to actuate in the first setting time, the supplying cell is by supplying
Electricity condition is converted to holding state, and when action component is failure to actuate in the second setting time, the supplying cell is by holding state
Resting state is converted to, when action component is failure to actuate in the 3rd setting time, the supplying cell is converted to by resting state
Off-position.
Preferably, first setting time is 20ms, and second setting time is 10ms, the 3rd setting time
For 5ms.
Preferably, the electric quantity display system includes electricity computing module and real-time display module, and the electricity calculates mould
Block is used to connect electric power detection module and real-time display module.
Preferably, the electric power detection module includes being used for the voltage detecting electricity for detecting supplying cell open-circuit voltage V in real time
Road, and for detecting supplying cell output current A current detection circuit in real time, the electricity computing module is used for according to electricity
The open-circuit voltage V that pressure detection circuit is detected calculates the first electricity D1, and the electricity computing module is used for cumulative calculation simultaneously
Integrating electric value obtained by current detection circuit, and the second electricity D2 is worth to according to integrating electric, the electricity calculates mould
Block is additionally operable to that actual charge value is calculated according to formula D reality=(0.3 × D1+0.7D2)/2.
Preferably, the wireless communication module uses ZigBee module or WiFi module.
Preferably, it is also equipped with illuminating lamp on the camera in the camera system.
The present invention also provides a kind of dispatching method of intelligent robot production line scheduling system, and it comprises the following steps：
S1, the workpiece processed will be needed to be placed on conveyer, when workpiece is transported to the intelligence of corresponding first processing stations
When at energy robot unit, the intelligent robot unit is shot by the camera on action component, and the picture that will be photographed
It is sent on the first controller, the first controller is again by data line transfer to field controller；
S2, field controller start the electric power system of intelligent robot unit on the first processing stations, the intelligent robot
Unit action component starts to be processed workpiece, while starts the infrared sensor of intelligent robot unit first of the station,
And just start information by wireless communication module by data information transfer to central processing unit, central processing unit make positioned at second plus
The electric power system of intelligent robot unit is in holding state on work station；
S3, when the work pieces process on the first processing stations is completed, shot by camera on action component, and will clap
The picture taken the photograph is sent on the first controller, by the way that on data line transfer to field controller, field controller is red by first
Outer sensor is closed, and central processing unit is by wireless communication module by the on the intelligent robot unit on the second processing stations
Two infrared sensors are opened, and after a setting time is reached, make the power supply system of the intelligent robot unit on the second processing stations
System is in power supply state, starts to be processed workpiece with drive actions component；
S4, conveyer operation, continue to perform according to step S1-S3, until completing whole stations processing of workpiece.
Preferably, in step S2 and S3, when supplying cell is in power supply state, action component starts workpieces processing,
When action component is failure to actuate in the first setting time, the supplying cell is converted to holding state by power supply state, in standby shape
During state, action component can restore electricity state at any time；When action component is failure to actuate in the second setting time, the supplying cell
Resting state is converted to by holding state, in resting state, action component needs one to continue wake up procedure to wake up power supply electricity
Pond enters power supply state；When action component is failure to actuate in the 3rd setting time, the supplying cell is converted to by resting state
Off-position, in off-position, action component needs restarting supplying cell to enter power supply state.
Compared with prior art, the advantage of the invention is that：In the use of the present invention, due to using intelligent machine people's production line
Scheduling, instead of existing manual labor, the lasting processing of workpiece can be realized, make production line more intelligent and automatic
Change, acted synergistically by camera system, infra-red sensing system, control system and communication system, the intelligence on production line can be made
Robot unit quickly start and it is standby, save power consumption, make intelligent machine people endurance more preferably.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the frame diagram of intelligent robot production line scheduling system of the present invention.
Fig. 2 is the electric power system frame diagram of intelligent robot production line scheduling system of the present invention.
Fig. 3 is the production line structure chart of intelligent robot production line scheduling system of the present invention.
Fig. 4 is the intelligent robot standalone architecture schematic diagram in intelligent robot production line scheduling system of the present invention.
Fig. 5 is the camera structure figure in intelligent robot production line scheduling system of the present invention.
Description of reference numerals：1st, conveyer；2nd, intelligent robot unit；3rd, camera；4th, the first controller；5th, first
Infrared sensor；6th, the second infrared sensor；7th, field controller；8th, central processing unit；9th, base；10th, action component；11、
Illuminating lamp.
Embodiment
The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, apparent is clearly defined so as to be made to protection scope of the present invention.
Refering to shown in Fig. 1-Fig. 5, the present invention provides a kind of intelligent robot production line scheduling system, including conveyer 1,
The multiple intelligent robot units 2 set gradually along conveyer 1, the corresponding processing stations of each intelligent robot unit 2,
Conveyer 1 is used for the transport to workpiece, and the groove position corresponding with workpiece or fixture can be set on conveyer 1 and is added to fix
Work workpiece, in addition to：Camera system, infra-red sensing system, control system and communication system.
The camera system includes the controller 4 of camera 3 and first, and camera 3 can be carried out to the image of workpieces processing
Collection passes to field controller 7 by the first controller 4, to instruct the normal work of intelligent robot unit 2.
The infra-red sensing system includes the first infrared sensor 5 and the second infrared sensor 6, the first infrared sensor 5
It is used cooperatively with the second infrared sensor 6 on the intelligent robot unit 2 of adjacent stations, to control opening for intelligent robot 2
Close.
The control system includes field controller 7 and central processing unit 8, and field controller 7 can control intelligence machine
The normal work of people's unit 2, central processing unit 8 are used to control the cooperating of intelligent robot unit 2 in the entire production line.
The communication system uses wireless communication module, without wiring, directly using being wirelessly transferred, makes production line more whole
It is clean attractive in appearance.
Each intelligent robot unit 2 also includes base 9, the action component 10 on base 9, and installation
In the electric power system for providing working power in base 9 for the intelligent robot unit 2, the controller 4 of camera 3 and first is pacified
On the action component 10, the both sides of the base 9 are mounted on the first infrared sensor 5 and the second infrared sensor,
And the first infrared sensor 5 on two neighboring intelligent robot unit 2 and the second infrared sensor 6 is corresponding is used cooperatively,
The number of the field controller 7 is consistent with the number of the intelligent robot unit 2, and each field controller 7 is pacified
On the base 9 of its corresponding intelligent robot unit 2, the central processing unit 8 is arranged on the section start of conveyer 1,
Field controller 7 on each intelligent machine people unit 2 is connected by wireless communication module with the central processing unit 8
Connect.
The controller 4 of camera 3 and first on the action component 10 of each intelligent robot unit 2 passes through data
The corresponding field controller 7 of line is electrical connected.
The first infrared sensor 5 and the second infrared sensor 6 on each intelligent robot unit 2 pass through data
The corresponding field controller 7 of line is electrical connected.
Specifically, the electric power system includes supplying cell, battery management system, electric power detection module and electricity display system
System, the battery management system and electric power detection module are connected with supplying cell, the electric quantity display system and electric power detection
Module connects, and the battery management system is used for the keying for controlling supplying cell, and the electric quantity display system is used for according to electricity
The result of detection module detection shows the actual electricity of supplying cell.
Specifically, the battery management system has the power supply state of supplying cell, off-position, resting state and standby
State；When supplying cell is in power supply state, action component starts workpieces processing, when action component is in the first setting time
It to be failure to actuate, the supplying cell is converted to holding state by power supply state, when action component is failure to actuate in the second setting time,
The supplying cell is converted to resting state by holding state, when action component is failure to actuate in the 3rd setting time, the power supply
Battery is converted to off-position by resting state.
Specifically, first setting time is 20ms, second setting time is 10ms, the 3rd setting time
For 5ms, in actual use, the time can be adjusted as needed, it is only necessary to ensure that the first setting time is more than second
Setting time, the second setting time are more than the 3rd setting time.
Specifically, the electric quantity display system includes electricity computing module and real-time display module, the electricity calculates mould
Block is used to connect electric power detection module and real-time display module.
Specifically, the electric power detection module includes being used for the voltage detecting electricity for detecting supplying cell open-circuit voltage V in real time
Road, and for detecting supplying cell output current A current detection circuit in real time, the electricity computing module is used for according to electricity
The open-circuit voltage V that pressure detection circuit is detected calculates the first electricity D1, and the electricity computing module is used for cumulative calculation simultaneously
Integrating electric value obtained by current detection circuit, and the second electricity D2 is worth to according to integrating electric, the electricity calculates mould
Block is additionally operable to that actual charge value is calculated according to formula D reality=(0.3 × D1+0.7D2)/2.
The method of general measure electricity includes open circuit voltage method and current integration method, and open circuit voltage method is opening according to battery
Road voltage (quantity of state), to estimate the state of battery, but precision is low.And current integration method is by measuring the electric current at each moment
Add up again and calculate discharge capacity and although it is understood that dump energy, its precision is high, but has certain accumulated error.And this
The actual charge value that two methods of invention set open circuit voltage method and current integration method are calculated, electric power detection standard can be improved
True property, obtain actual charge value, rather than virtual electricity.
Specifically, the wireless communication module uses ZigBee module or WiFi module, in addition also can be according to need
Ask and establish the corresponding LAN of production line, avoid interacting between each production line.
Preferably, illuminating lamp 11 is also equipped with camera 3 in the camera system, in night or dark
When, illuminating lamp can illuminate to camera, not influence the using effect of production line.
The operation principle of the present invention is described further below in conjunction with the accompanying drawings：
First, the workpiece for needing to process is placed on conveyer 1, when workpiece is transported to corresponding first processing stations
When at intelligent robot unit 2, the intelligent robot unit 2 is shot by the camera 3 on action component 10, and will be photographed
Picture be sent on the first controller 4, the first controller 4 is again by data line transfer to field controller 7.
Secondly, field controller 7 starts the electric power system of intelligent robot unit 2 on the first processing stations, the intelligent machine
Device people's unit action component 10 starts to be processed workpiece, while starts the first red of the intelligent robot unit 2 of the station
Outer sensor 5, and will start information by wireless communication module by data information transfer to central processing unit 8, central processing unit 8
The electric power system positioned at intelligent robot unit 2 on the second processing stations is set to be in holding state.
Then, when the work pieces process on the first processing stations is completed, shot by the camera 3 on action component 10,
And the picture photographed is sent on the first controller 5, by data line transfer to field controller, field controller 7
First infrared sensor is closed, central processing unit is by wireless communication module by the intelligent robot list on the second processing stations
The second infrared sensor 6 on machine is opened, and after a setting time is reached, makes the intelligent robot unit on the second processing stations
2 electric power system is in power supply state, starts to be processed to workpiece with drive actions component 10
Finally, conveyer is run, and continues to perform according to step above-mentioned steps, until the whole stations for completing workpiece add
Work.
Lasting processing to workpiece is realized by above step, after a step is machined, passes through site processor
Corresponding intelligent machine people's unit is closed, holding state is made it into, energy consumption can be effectively reduced.
In the course of work of the present invention, when supplying cell is in power supply state, action component starts workpieces processing, works as action
Component is failure to actuate in the first setting time, and the supplying cell is converted to holding state by power supply state, in holding state, is moved
Making component can restore electricity state at any time；When action component is failure to actuate in the second setting time, the supplying cell is by standby
State Transferring is resting state, and in resting state, action component needs one to continue wake up procedure to wake up supplying cell entrance
Power supply state；When action component is failure to actuate in the 3rd setting time, the supplying cell is converted to power-off shape by resting state
State, in off-position, action component needs restarting supplying cell to enter power supply state.
The present invention instead of existing manual labor, can be realized workpiece due to the scheduling using intelligent machine people's production line
Lasting processing, make production line more intelligent and automation, by camera system, infra-red sensing system, control system and
Communication system acts synergistically, and can make the quick startup of the intelligent robot unit on production line and standby, saving power consumption,
Make intelligent machine people endurance more preferably.
Although being described in conjunction with the accompanying embodiments of the present invention, patent owner can be in appended claims
Within the scope of make various deformations or amendments, as long as no more than the present invention claim described by protection domain, all should
Within protection scope of the present invention.
Claims (10)
1. intelligent robot production line scheduling system, including conveyer, the multiple intelligence machines set gradually along conveyer
People's unit, the corresponding processing stations of each intelligent robot unit, it is characterised in that：Also include,
Camera system, the camera system include camera and the first controller；
Infra-red sensing system, the infra-red sensing system include the first infrared sensor and the second infrared sensor；
Control system, the control system include field controller and central processing unit；
Communication system, the communication system use wireless communication module；
Each intelligent robot unit also includes base, the action component on base, and is installed in base
The electric power system of working power is provided for the intelligent robot unit, the camera and the first controller are arranged on the action
On component, the both sides of the base are mounted on the first infrared sensor and the second infrared sensor, the first infrared sensor and
The second infrared sensor on the intelligent robot unit of adjacent stations is used cooperatively, to control opening for intelligent robot unit
Close, the number of the field controller is consistent with the number of the intelligent robot unit, and each field controller is pacified
On the base of its corresponding intelligent robot unit, the central processing unit is arranged on the section start of conveyer, each
Field controller on the intelligent machine people unit is connected by wireless communication module with the central processing unit；
Camera and the first controller on the action component of each intelligent robot unit is right with it by data wire
The field controller answered is electrical connected；
The first infrared sensor and the second infrared sensor on each intelligent robot unit pass through data wire and its
Corresponding field controller is electrical connected.
2. intelligent robot production line scheduling system according to claim 1, it is characterised in that：The electric power system includes
Supplying cell, battery management system, electric power detection module and electric quantity display system, battery management system and the electric power detection mould
Block is connected with supplying cell, and the electric quantity display system is connected with electric power detection module, and the battery management system is used to control
The keying of supplying cell processed, the result that the electric quantity display system is used to be detected according to electric power detection module show supplying cell
Actual electricity.
3. intelligent robot production line scheduling system according to claim 2, it is characterised in that：The battery management system
Power supply state, off-position, resting state and holding state with supplying cell；When supplying cell is in power supply state,
When action component is failure to actuate in the first setting time, the supplying cell is converted to holding state by power supply state, works as action group
When part is failure to actuate in the second setting time, the supplying cell is converted to resting state by holding state, when action component is
When being failure to actuate in three setting times, the supplying cell is converted to off-position by resting state.
4. intelligent robot production line scheduling system according to claim 3, it is characterised in that：First setting time
For 20ms, second setting time is 10ms, and the 3rd setting time is 5ms.
5. intelligent robot production line scheduling system according to claim 2, it is characterised in that：The electric quantity display system
Including electricity computing module and real-time display module, the electricity computing module is used to connect electric power detection module and real-time display
Module.
6. intelligent robot production line scheduling system according to claim 5, it is characterised in that：The electric power detection module
Including the voltage detecting circuit for detecting supplying cell open-circuit voltage V in real time, and for detecting supplying cell output in real time
Electric current A current detection circuit, the open-circuit voltage V that the electricity computing module is used to be detected according to voltage detecting circuit are calculated
Go out the first electricity D1, the electricity computing module while the integrating electric value being used for obtained by cumulative calculation current detection circuit,
And the second electricity D2 is worth to according to integrating electric, the electricity computing module is additionally operable to according to formula D reality=(0.3*D1+
Actual charge value 0.7D2)/2 is calculated.
7. intelligent robot production line scheduling system according to claim 1, it is characterised in that：The wireless communication module
Using using ZigBee module or WiFi module.
8. intelligent robot production line scheduling system according to claim 2, it is characterised in that：In the camera system
Illuminating lamp is also equipped with camera.
9. according to the dispatching method of system described in claim 1-7 any one, it comprises the following steps：
S1, the workpiece processed will be needed to be placed on conveyer, when workpiece is transported to the intelligent machine of corresponding first processing stations
When at device people's unit, the intelligent robot unit is shot by the camera on action component, and the picture photographed is sent
Onto the first controller, the first controller is again by data line transfer to field controller；
S2, field controller start the electric power system of intelligent robot unit on the first processing stations, the intelligent robot unit
Action component starts to be processed workpiece, while starts the infrared sensor of intelligent robot unit first of the station, and just
Start information by wireless communication module by data information transfer to central processing unit, central processing unit make positioned at second processing work
The electric power system of intelligent robot unit is in holding state on position；
S3, when the work pieces process on the first processing stations is completed, shot by camera on action component, and will photograph
Picture be sent on the first controller, by data line transfer to field controller, field controller is by the first infrared biography
Sensor is closed, and central processing unit is red by second on the intelligent robot unit on the second processing stations by wireless communication module
Outer sensor is opened, after a setting time is reached, at the electric power system that makes intelligent robot unit on the second processing stations
In power supply state, start to be processed workpiece with drive actions component；
S4, conveyer operation, continue to perform according to step S1-S3, until completing whole stations processing of workpiece.
10. dispatching method according to claim 9, it is characterised in that：In step S2 and S3, it is in and supplies in supplying cell
During electricity condition, action component starts workpieces processing, and when action component is failure to actuate in the first setting time, the supplying cell is by supplying
Electricity condition is converted to holding state, and in holding state, action component can restore electricity state at any time；When action component is second
When being failure to actuate in setting time, the supplying cell is converted to resting state by holding state, and in resting state, action component needs
Want one to continue wake up procedure and enter power supply state to wake up supplying cell；When action component is failure to actuate in the 3rd setting time
When, the supplying cell is converted to off-position by resting state, and in off-position, action component needs to restart power supply electricity
Pond could enter power supply state.
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| CN201611065869.XA CN106774191B (en) | 2016-11-28 | 2016-11-28 | Intelligent robot production line scheduling system and method |
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| CN201611065869.XA CN106774191B (en) | 2016-11-28 | 2016-11-28 | Intelligent robot production line scheduling system and method |
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| JP7156818B2 (en) * | 2018-05-15 | 2022-10-19 | 川崎重工業株式会社 | Robot system and its operation method |
| CN109240252B (en) * | 2018-11-23 | 2021-05-14 | 成都卡诺普智能装备有限公司 | Production line process control management method based on CAN communication |
| CN112192571B (en) * | 2020-10-10 | 2022-04-22 | 浙江树人学院（浙江树人大学） | Distributed cooperative control system for production workshop |
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| JP5375297B2 (en) * | 2009-04-16 | 2013-12-25 | 株式会社安川電機 | Robot system |
| US8606400B2 (en) * | 2011-06-20 | 2013-12-10 | Kabushiki Kaisha Yaskawa Denki | Robot system |
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