CN110666797B - Robot control system and method - Google Patents
Robot control system and method Download PDFInfo
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- CN110666797B CN110666797B CN201910941514.XA CN201910941514A CN110666797B CN 110666797 B CN110666797 B CN 110666797B CN 201910941514 A CN201910941514 A CN 201910941514A CN 110666797 B CN110666797 B CN 110666797B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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]
Abstract
The invention discloses a robot control system and a method, wherein the system comprises an intelligent user end for responding to the operation of an operator and sending a corresponding operation command and an execution device for receiving and responding to the operation command and executing the corresponding operation; the intelligent user side includes: the execution path planning module plans a new execution route to select according to the state of the current execution equipment and the execution process requirement; and the exception management module is used for receiving the exception code, calling the execution path planning module to generate a new execution route and displaying the new execution route on an interface for an operator to select and send to the execution equipment. By means of the technical means of generating the corresponding execution route according to the state, the abnormality and the process requirements of the execution equipment and controlling the execution equipment to respond, the problems that the operation efficiency is influenced due to the fact that the execution of a single program by the execution equipment in the prior art is stopped caused by part abnormality and follow-up program supplement are solved, and the control track replanning of the execution equipment and the motion efficiency maximization of the execution equipment are realized.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a robot control system and a robot control method.
Background
The execution device control system is a management system having its own object and function and composed of a control subject, a control object, and a control medium. The control system means by which any interesting or variable quantities within a machine, mechanism or other device can be maintained and changed in a desired manner. The control system is also implemented to bring the controlled object to a predetermined ideal state. The control system brings the controlled object to a certain desired steady state.
With the development of science and technology, the control of execution equipment is not limited to simple mechanical control operation, even relates to the control of the whole assembly line in a factory, and an automatic control system of the assembly line controls a plurality of moving parts.
Disclosure of Invention
The present invention is directed to solving, at least in part, one of the technical problems in the related art. Therefore, an object of the present invention is to provide a robot control system, which can provide multiple execution routes for selection according to the current state of an execution device, so that the execution device can perform corresponding operations according to operation commands corresponding to the execution routes selected by an operator, so that the whole execution operations of the execution device are more optimized, and the operation efficiency of the execution device is improved.
To this end, a second object of the present invention is to provide a robot control method.
The technical scheme adopted by the invention is as follows:
in a first aspect, the present invention provides a robot control system comprising: the intelligent user terminal is used for replanning an execution action path in response to the operation of an operator and sending a corresponding operation command, and the execution equipment is used for receiving the operation command and responding to the operation command to execute the corresponding operation;
the intelligent user side comprises:
the execution path planning module plans a feasible new execution route selection according to the current state of the execution equipment and the execution process requirement;
and the exception management module is used for receiving the exception code of the execution equipment, calling the execution path planning module, displaying the new execution route on an interface of the intelligent user side for an operator to select, and sending an operation command corresponding to the new execution route to the execution equipment.
Further, the intelligent user side further comprises:
and the refreshing module is used for responding to a refreshing command formed by the refreshing operation of an operator and calling a final display function of the main interface to refresh other application programs.
Further, the operation command includes: an initialization command, a start command, a control command, and a pause command;
the execution device includes:
the initialization module is used for receiving the initialization command of the intelligent user side and carrying out initialization operation;
the starting module is used for starting and receiving a control program from the intelligent user side after receiving a starting command of the intelligent user side;
the control module is used for checking whether the control command meets a checking condition according to the control command in the control program and controlling a moving part of the execution equipment to execute corresponding operation according to the control command;
and the pause module is used for receiving the pause command of the intelligent user side and controlling the control program to stop at the time point of receiving the pause command.
Further, the control command includes: get material order, unloading order, test command and unloading to fixed point command, control module includes:
the material taking unit is used for controlling the moving part to take materials and place the materials on the testing equipment according to the material taking command;
the blanking preparation unit is used for taking away the material on the test equipment according to the blanking command and preparing blanking;
and the blanking execution unit is used for controlling the moving part to blank to a buffer position or a conveyor belt according to the command of blanking to a fixed point.
Further, the execution device further includes:
the detection module is used for detecting whether the operation executed by the motion component is abnormal or not and outputting a detection result;
and the alarm module is used for sending an abnormal code to the intelligent user side according to the detection result, and the intelligent user side displays the alarm content matched with the abnormal code.
In a second aspect, the present invention provides a robot control method, including:
the intelligent user side plans a new execution route to select according to the current state of the execution equipment, the execution process requirement and the abnormal code;
the intelligent user side responds to the execution route selected by the operator, forms a corresponding operation command and sends the operation command to the execution equipment;
and the execution equipment receives and responds to the operation command to execute the corresponding operation.
Further, the operation command includes: an initialization command, a start command, a control command, and a pause command;
the specific steps of the executing device receiving and responding to the operation command to execute the corresponding operation are as follows:
the initialization command is received to initialize the execution equipment, and the execution equipment receives the control program sent by the intelligent user side after receiving the starting command;
extracting a control command in the control program, checking whether the control command meets a check condition, if so, controlling a motion part of the execution equipment to execute an operation corresponding to the control command, and if not, moving the control command to the end of the control program to execute a next command;
receiving a pause command of the intelligent user side, controlling the control program to stop at the time point of receiving the pause command, and waiting for a continue command or a stop command;
and if the control program receives the continuous command, the control program continues to run from the suspended time point, and if the control program receives the stop command, the control program jumps to an uninitialized state to wait for the initialization command.
Further, the control command includes: the method comprises the following steps of (1) taking a material command, a blanking command, a test command and a blanking to fixed point command;
if the control command is in accordance with the check condition, controlling a moving part of the execution device to execute an operation corresponding to the control command specifically:
the execution equipment receives the material taking command and controls the moving part to take materials according to the material taking command;
the execution equipment receives the test command and detects whether the moving part is filled with materials or not;
the execution equipment receives the blanking command and controls the moving part to prepare blanking operation;
and the execution equipment receives the command of blanking to a fixed point and controls the moving part to blank to a conveying belt or a buffer position.
Further, a robot control method further includes:
the intelligent user side responds to the refreshing selection of an operator and forms a refreshing command, a final display function of the main interface is called according to the refreshing command to carry out interface display, and meanwhile, other application programs carry out refreshing operation.
Further, a robot control method further includes:
and the execution equipment detects whether the operation corresponding to the control command is finished or not, if the operation is detected to be abnormal, an abnormal code is sent to the intelligent user side, and the intelligent user side displays the alarm content matched with the abnormal code.
The invention has the beneficial effects that:
according to the technical means that the corresponding execution route is generated according to the motion state, the execution process requirement and the abnormal state of the execution equipment, the corresponding operation command is formed according to the execution route and is sent to the execution equipment, and the execution equipment executes the corresponding operation according to the operation command, the technical problem that in the prior art, when the automation system is abnormal, only a single execution route causes low execution efficiency of a motion part is solved, multiple execution route selections are provided, the corresponding operation is executed according to the operation command in the execution route, and the operation efficiency of the robot is improved.
Drawings
FIG. 1 is a block diagram of a robotic control system according to an embodiment of the present invention;
FIG. 2 is a block diagram of a control module in an embodiment of a robotic control system according to the present invention;
fig. 3 is a flowchart of an embodiment of a robot control method of the present invention.
Reference numerals are as follows: 10. an execution device; 11. initializing a module; 12. starting a module; 13. a control module; 131. a material taking unit; 132. a blanking preparation unit; 133. a blanking execution unit; 14. a pause module; 15. a detection module; 16. an alarm module; 20. an intelligent user side; 21. executing a path planning module; 22. an exception management module; 23. and a refreshing module.
Detailed Description
It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict.
The first embodiment is as follows: referring to fig. 1, an embodiment of the present invention discloses a control system for an execution apparatus 10, including: the intelligent user terminal 20 is used for re-planning an execution action route according to the selection of an operator and forming a corresponding operation command, the intelligent user terminal 20 sends the operation command to the execution device, and the execution device 10 is used for receiving the operation command of the intelligent user terminal 20 and responding to the operation command to execute the corresponding operation. Wherein intelligent user side 20 and execution equipment 10 communication connection, the communication connection can adopt wired connection, also can adopt wireless connection, and wired connection is telephone data line, optic fibre data line etc. and wireless connection can be bluetooth wireless communication, WIFI wireless communication and mobile data communication etc. adopts wired connection as communication connection in this embodiment. The intelligent user terminal 20 may be a fixed terminal or a mobile terminal, the fixed terminal may be an integrated desktop computer, and the mobile terminal is preferably a PAD, a smart phone or a mobile portable computer, in this embodiment, the intelligent user terminal 20 is a fixed terminal, specifically, a PC terminal. Wherein the execution device is a robot in this embodiment.
The intelligent user side includes: the execution path planning module 21, the exception management module 22 and the refresh module 23, wherein the execution path planning module 21 plans a feasible new execution route according to the current state of the robot and the execution process requirement. The exception management module 22 is configured to receive an exception code for executing the robot, invoke the execution path planning module 21 to generate a new execution route, display the new execution route on an interface for an operator to select, and execute and send a new execution route action to the robot. The refreshing module 23 receives the execution result of the robot and then forms a corresponding refreshing command according to the refreshing operation selected by the operator, the refreshing module 23 calls the main interface function according to the refreshing command to refresh the interface, and the final display function of the main interface is called to display and refresh other application programs to reduce the situation of errors caused by the main interface sending of the intelligent user terminal 20 due to direct refreshing. The execution path planning module 21, the exception management module 22 and the refreshing module 23 are arranged on the intelligent user side 20, so that corresponding execution route selection is performed according to the running state, the execution process and the exception condition of the robot, a corresponding operation command is generated according to the execution route selected by an operator and is sent to the execution equipment, and meanwhile, the interface of the whole intelligent user side is refreshed after the execution is finished. The exception management module 22 allows an exception handling dictionary to be set in advance and stored in the database, and when an exception condition occurs, an execution route of exception handling is called, and meanwhile, selectable values such as "refresh, skip, stop, use default" and the like are provided according to different exception conditions and combinations of different equipment states, and after an operator simply analyzes a field condition, a machine recovery mode most suitable for the current situation is very quickly made to send the corresponding execution route to the execution equipment 10, so that the exception handling efficiency of the system is improved, and the operation efficiency of the system is further improved.
The operation command includes: an initialization command, a start command, a control command, and a pause command, the execution apparatus 10 includes: the intelligent management system comprises an initialization module 11, a starting module 12, a control module 13, a pause module 14, a detection module 15 and an alarm module 16, wherein the initialization module 11 is used for receiving an initialization command of an intelligent user terminal 20 and performing initialization operation according to the initialization command, the starting module 12 is used for starting the starting command of the intelligent user terminal 20 and starting a control program sent by the intelligent user terminal 20, the control module 13 is used for controlling a moving part to execute corresponding operation according to the control command in the control program and detecting whether the control command meets the check condition or not, if the control command meets the check condition, the moving part is controlled to perform different controls according to the control command, so that the moving part is managed uniformly, and confusion is reduced. The pause module 14 is configured to stop the control program at a time point of receiving the pause command after receiving the pause command of the smart client 20, the detection module 15 is configured to detect whether the operation of the moving component is abnormal and output a detection result, the alarm module 16 sends an abnormal code to the smart client 20 according to the detection result, the smart client 20 displays an alarm content matched with the abnormal code, so that an operator can directly make a corresponding solution according to the alarm content of the smart client 20, and the abnormality management module 22 of the smart client 20 re-invokes the execution path planning module 21 according to the abnormal code to generate a new execution route for selection by the operator, so that when an abnormal condition occurs, the operator can process the abnormal condition and generate a plurality of execution routes for selection, thereby improving the execution efficiency of the robot. Whether the moving components are in normal operation can be checked through the arrangement of the detection module 15 and the alarm module 16, so that an operator can grasp that the moving components are in failure when executing corresponding control commands, and meanwhile, corresponding execution route selection is generated corresponding to abnormal conditions, so that the operator can make corresponding maintenance measures according to alarm contents on one hand. On the other hand, the execution efficiency of the moving part is improved by selecting the corresponding execution route to re-control the moving part to execute.
The initialization module 11 is configured to receive an initialization instruction sent by the smart client 20 and perform initialization operation on the execution device 10, when the execution device 10 is in an uninitialized state, the smart client 20 sends an initialization command to the controller of the execution device 10 through wired communication, the execution device 10 performs initialization operation, the execution device 10 is in an initialized state, when the execution device 10 completes initialization operation and returns to an original initial position, the execution device 10 is in an initialized state, and the states of starting initialization, during initialization, and after initialization of the execution device 10 are fed back to the smart client 20 by the controller of the execution device 10 to be displayed, so that an operator can grasp the current initialization state of the execution device 10 through the smart client 20, and can send a next command.
The starting module 12 is configured to receive a starting command sent by the smart client 20, control the execution device 10 to start receiving the control program sent by the smart client 20, start execution of the control program after the execution device 10 is started, and display the running state of the smart client 20.
The intelligent user 20 sends a pause command according to the fact that an operator clicks a stop button, if the execution device 10 is in an initialization or in motion state, the pause module 14 checks whether the intelligent user 20 sends the pause command at any time, if the pause module 14 receives the pause command, the motion part is controlled to stop operating, meanwhile, the intelligent user 20 displays the pause state, meanwhile, the control program of the execution device 10 stays at a time point of receiving the pause command, and meanwhile, the pause module 14 waits for a continue command to continue to execute the program below the pause time point in the control program. If the intelligent user side 20 detects that the operator clicks the resume button on the interface of the intelligent user side 20, the intelligent user side 20 forms a resume command and sends the resume command to the execution device 10, the control module 13 in the execution device 10 resumes to continue executing the program in the control program, meanwhile, the intelligent user side 20 displays the state in the initialization or running process, and the control module 13 continues to execute the program below the pause time point in the control program. The operation commands further include a stop command, when the execution device 10 is in a suspended state, the control module 13 of the execution device 10 waits for a continue command, if the execution device 10 receives the stop command, the control module 13 controls the moving part to stop working, the control module 13 returns to an uninitialized state, and simultaneously the control module 13 waits for an initialization command, after receiving the stop command, the control module 13 can facilitate an operator to directly stop all operations of the moving part to return to the uninitialized state when encountering an emergency, and wait for the initialization command to restart the control of the moving part.
Referring to fig. 1 and 2, the control module 13 directly extracts a control command in the control program, where the control command includes: get material order, unloading order, test command and unloading to fixed point command, control module 13 includes: a material taking unit 131, a blanking preparation unit 132, and a blanking execution unit 133, wherein the moving part includes: the clamping jaw of the execution device 10, cylinder, wherein the execution device 10 has two clamping jaws and defines first clamping jaw and second clamping jaw respectively, and the first clamping jaw is used for snatching new material, and this new material is the material that has not tested, and the second clamping jaw is used for getting old material, and this old material is the material that has already tested, promptly first clamping jaw snatchs after the test by the second clamping jaw after snatching new material. The material taking unit 131 is configured to control the first clamping jaw to capture the material at a fixed point according to a material taking command, where the material taking command is PICKLINE in a control program, and the control module 13 sends the PICKLINE command to the smart client 20 for displaying, so that an operator can check the operating state of the clamping jaw through a page of the smart client 20.
The material taking unit 131 controls the first testing device to detect whether the first clamping jaw has the material after the material taking of the first clamping jaw is completed, and controls the second testing device to detect whether the second clamping jaw has the material after the testing of the second clamping jaw is completed. If the first testing device detects that the first clamping jaw has the material, and the second testing device detects that the second clamping jaw has no material, the material taking unit 131 controls the first clamping jaw to take the material at the fixed point again, and the fixed point is a feeding conveyor point, at this moment, the first testing device detects that the first clamping jaw has the material, and the second testing device detects that the second clamping jaw has no material. If the conditions that the first clamping jaw has materials and the second clamping jaw has no materials are not met, the material taking unit 131 stops taking the materials and delays the operation until the control program is executed. After the first testing device and the second testing device are tested, after the blanking preparation unit 132 receives the final results of the first testing device and the second testing device, the results are that the first clamping jaw has materials and the second clamping jaw has no materials, the material taking unit 131 controls the first clamping jaw to place the materials on the first testing device, and controls the second clamping jaw to take away the tested materials of the first testing device, at this time, the states of the first clamping jaw and the second clamping jaw are that the first clamping jaw has no materials and the first testing device has no materials, and the states are displayed through an interface of the intelligent user side 20. The second jaw and the second test device have materials. The overall situation is: if the first clamping jaw is charged and the second clamping jaw is not charged, the blanking preparation unit 132 controls the first clamping jaw to place the material on the first test equipment, and the first test equipment performs the test at the same time, the state of the execution equipment 10 is changed to that the first clamping jaw is charged, the second clamping jaw is charged and the first test equipment is charged, if the first test equipment is charged, the blanking preparation unit 132 controls the second clamping jaw to take away the material on the first test equipment, and the state of the execution equipment 10 is that the first clamping jaw is charged, the second clamping jaw is charged and the first test equipment is charged. And if the first clamping jaw and the second clamping jaw do not meet the conditions that the first clamping jaw is empty and the first clamping jaw is filled in the process of executing the blanking preparation unit, inserting a blanking preparation command to the end of a control program, and executing the blanking preparation command after a new round of execution. The blanking execution unit 133 receives the states of the first jaw and the second jaw in the material taking unit 131, that is, the first jaw has material and the second jaw has no material, and deduces that the first jaw has no material and the second jaw has material, the blanking execution unit 133 controls the second jaw to lower the material in the blanking buffer position, and the main interface of the intelligent user terminal 20 displays the states of the first jaw and the second jaw having no material, if the blanking of one of the jaws is completed, the blanking command of the first jaw and the second jaw is deleted, the blanking execution unit 133 sends the blanking command to the cylinder and controls the cylinder to take material from the blanking buffer position, if the cylinder takes material, the blanking execution unit 133 controls the cylinder to blank to the conveyor belt, if the cylinder finishes blanking, the blanking execution unit 133 controls the second jaw to blank the blanking buffer position, and the blanking execution unit 133 repeatedly executes the second jaw and the cylinder to perform circular blanking, so that the material taking and blanking automation is labor-saving. Meanwhile, if one of the material taking unit 131, the blanking preparation unit 132 and the blanking execution unit 133 finds that the execution condition is not satisfied before execution, the control command is delayed to execute other control commands, and the control command is put at the end of the control program to know that the next cycle is executed again, so that the situation that a certain link cannot satisfy the execution condition to cause that other control commands cannot be executed continuously is prevented, and the execution of the control command is accelerated.
When the moving part of the execution device 10 completes the operation command, the execution result is output, the execution result includes abnormal information or motion state information of the robot, the intelligent user end 20 outputs a refresh selection after receiving the execution result, the intelligent user end 20 forms a refresh command after selecting the refresh selection according to the operator, and the refresh module 23 calls a main interface final display function and refreshes display information of the interface or a use state of a manual interaction control button according to the refresh command, wherein the manual interaction control function includes an initialization program function, a start program function, a pause program function, a stop program function, a robot state detection function and an alarm program function. Since the smart client 20 will control the moving components of the execution device 10 to execute the corresponding operation commands after being started, the robot will display the moving data on the main interface of the smart client 20 during the operation process, and if the smart client 20 directly corresponds to the application program refresh, the display efficiency of the main interface of the smart client 20 will be affected, and the operation complexity is also increased for the control operation in different states. The intelligent user terminal 20 sets a global delegation method for the display controls corresponding to all information of the execution device 10, the global delegation method includes an intermediate function of the main interface, when the intermediate function of the main interface is updated by an application program, the main interface is directly called to finally display the function to display the interface of the intelligent user terminal 20, and other application programs are updated, so that confusion of the main interface of the intelligent user terminal 20 is avoided, and the updating efficiency of the display controls of all information of the robot is improved.
If the moving part of the execution device 10 executes the control command in the control program, the detection module 15 detects whether the moving part completes the action of the control command according to the detection condition, if the action executed by the moving part does not meet the detection condition, it means that the action executed by the moving part is abnormal, the alarm module 16 resets a global alarm identifier to zero, and then sends an abnormal code to the intelligent user end 20 through the network command, wherein the intelligent user end 20 has a preset alarm content list matched with the abnormal code, after the intelligent user end 20 receives the abnormal code, the intelligent user displays the alarm content corresponding to the abnormal code, and pops up two options of continuation and quit according to the alarm content, and the operator can select according to the two options of continuation and quit popped up by the intelligent user end 20. If the operator can choose to continue after the alarm content is displayed by the smart client 20, the execution device 10 continues to execute the content in the application program, and if the operator exits, the smart client 20 sends a stop command to the execution device 10 to control the moving part to stop all operations. If the global alarm identifier received by the execution equipment 10 is not zero and is 1, rechecking whether the action of the moving part meets the detection condition, if the detection condition is met, controlling the moving part to continue executing, and if the alarm is not met, sending an abnormal code to the intelligent user list to alarm. If the execution device 10 receives the global alarm flag 2, the operation of the moving parts of the execution device 10 is directly terminated, and the states of the smart client 20 and the execution device 10 become the uninitialized state. The detection module 15 and the alarm module 16 detect the abnormality of the motion component, and if the abnormality is found, the intelligent user terminal 20 displays the alarm content matched with the abnormal code, so that the operator can directly know whether the motion component is abnormal from the intelligent user terminal 20, and then the maintenance operation can be performed in time.
To sum up, the initialization module starts to control the moving part to reset to a safe position after receiving an initialization command sent by an intelligent user side, the starting module starts the moving part after receiving the starting command and receives a control program from the intelligent user side, the control module extracts the control command in the control program, meanwhile, the material taking unit controls the first clamping jaw to grab and take the material on the material conveying belt according to the material taking command in the control command, then the blanking preparation unit controls the first clamping jaw to place the material on first testing equipment for testing, the tested material is grabbed by the second clamping jaw and blanking is prepared, the blanking execution unit controls the second clamping jaw to place the material to a blanking buffer position, and the cylinder is controlled to place the material in the blanking buffer position to the conveying belt after the second clamping jaw is placed, so that the material grabbing, detecting and blanking are circulated, and the control of the moving part is systematized and programmed.
Example two: the invention discloses a robot control method, which comprises the following steps:
the intelligent user side plans a new execution route selection according to the current state of the execution equipment, the execution process requirement and the abnormal code, responds to the execution route selected by the operator, forms a corresponding operation command and sends the operation command to the execution equipment;
the intelligent user side generates each operation command in the operation route according to the current state of the execution equipment and the execution operation route corresponding to the execution process sound field and the execution operation route selected by the operator, receives the abnormal code when the execution equipment is abnormal in operation, regenerates a new execution route according to the abnormal code, displays the new execution route on an interface of the intelligent user side for selection of the operator, and provides the new execution route for the execution equipment to execute the corresponding operation.
The execution equipment receives and responds to the operation command to execute the corresponding operation, and the specific operation of the execution equipment for executing the operation command is as follows:
receiving an initialization command sent by an intelligent user side to perform initialization operation on execution equipment, and receiving a control program sent by the intelligent user side after the execution equipment receives a starting command of the intelligent user side;
the intelligent user side and the execution equipment are in an uninitialized state before starting, the intelligent user side sends an initialization command to the execution equipment, the execution equipment receives the initialization command to perform initialization, meanwhile, the main interface of the intelligent user side displays that the execution equipment is in an initialized state, after the execution equipment executes the initialization command, the execution equipment performs a reset action to control the moving part to return to a safe position, then the initialization command of the execution equipment is completed, and meanwhile, the intelligent user side displays that the state of the execution equipment is initialized. The intelligent user side detects that an operator clicks a start button to form a start command and sends the start command to the execution equipment, the execution equipment starts to operate formally, the intelligent user side displays the motion state of the execution equipment as in operation, and meanwhile the execution equipment receives a control program sent by the intelligent user side and executes corresponding actions according to the control program.
The execution equipment extracts the control command in the control program and checks whether the control command meets the check condition, if the control command meets the check condition, the execution equipment controls the motion part to execute the operation corresponding to the control command, and if the control command does not meet the check condition, the execution equipment moves the control command to the tail of the control program to execute the next command; wherein the control command comprises: the material taking, detecting and blanking integrated control system comprises a material taking command, a blanking command, a testing command and a command of blanking to a fixed point, moving parts of the execution equipment comprise clamping jaws and cylinders, and the clamping jaws and the cylinders are controlled to cyclically control the clamping jaws and the cylinders to carry out repeated blanking after the clamping jaws and the cylinders are controlled to control the testing equipment to detect whether materials exist or not so as to complete material taking, detecting and blanking integrated control and prevent confusion.
If the control command is in accordance with the checking condition, controlling the moving part to execute the operation corresponding to the control command specifically comprises the following steps:
the method comprises the steps that execution equipment receives a material taking command, a moving part is controlled to take materials according to the material taking command, two clamping jaws in the moving part are provided with a first clamping jaw and a second clamping jaw which are defined respectively, the first clamping jaw and the second clamping jaw are controlled to take the materials according to the material taking command, the materials taken by the first clamping jaw are unmeasured materials, the materials taken by the second clamping jaw are tested materials, if the first clamping jaw and the second clamping jaw meet the condition that the two clamping jaws do not have the materials, a sensor on a conveyor belt is triggered to inform the first clamping jaw to take the materials at a fixed point, the fixed point is a feeding conveyor belt, the materials are taken from the feeding conveyor belt, meanwhile, the execution equipment generates a material taking command PICKLINE and sends the material taking command to an intelligent user side, and a main interface of the intelligent user side displays the PICKLINE, namely the execution equipment is in a material taking state. And after the first clamping jaw takes the material, the material taking command is inserted into the tail of the control program to start executing the next program if the state is achieved and the material taking command is not met.
The execution equipment receives the test command, detects whether the moving part is provided with materials or not, receives the test command and simultaneously receives the states of the first clamping jaw and the second clamping jaw, namely the first clamping jaw is provided with materials and the second clamping jaw is not provided with materials, simultaneously the first test equipment is provided with materials, controls the first clamping jaw to place the materials on the first test equipment for testing, simultaneously displays that the first test equipment is testing on a main interface of the intelligent user side, the states are changed into the states of the first clamping jaw being provided with materials, the second clamping jaw being provided with materials and the first test equipment being provided with materials, controls the second clamping jaw to take the materials on the first test equipment away after the first test equipment finishes testing, and then the states at the moment are changed into the states of the first clamping jaw being provided with materials, the second clamping jaw being provided with materials and the first test equipment being provided with materials, thereby the materials are placed on the second clamping jaw after the testing of the materials is finished. And if the states of the first clamping jaw and the second clamping jaw do not meet the requirements of the first clamping jaw on material and the second clamping jaw on no material when the test command is received, inserting the test command to the tail of the corresponding control program, and directly executing the next control command.
Referring to fig. 3, the execution equipment receives a blanking command, controls the moving part to prepare for blanking operation, and receives a blanking-to-fixed point command and controls the second clamping jaw to blank to a blanking buffer position. If the first clamping jaw and the second clamping jaw are in the states of no material in the first clamping jaw and no material in the second clamping jaw, the second clamping jaw is controlled to place the tested material in a blanking buffer position until the first clamping jaw and the second clamping jaw are in the states of no material in the first clamping jaw and no material in the second clamping jaw, then the cylinder is controlled to obtain the material in the blanking buffer position and then to be blanked to a conveying belt, the second clamping jaw is controlled to be blanked to the blanking buffer position after blanking of the cylinder is completed, therefore, the first clamping jaw is used for taking new material, the second clamping jaw is used for taking the tested material, and the cylinder is used for placing the material in the conveying belt after blanking of the second clamping jaw so as to enable the material to be placed fast and save manpower.
The execution equipment receives a pause command of the intelligent user side, controls the control program to stop at a time point when the pause command is received, waits for a continue command or a stop command, detects that an operator clicks a pause button to form the pause command, controls the moving part of the execution equipment to stop moving according to the pause command, controls the program to stop at the time point when the pause command is received, and executes the equipment to stop moving and wait for the continue command;
if the execution equipment receives a continuation command, the control program continues to run from the time point of pause, if the execution equipment receives a stop command, the execution equipment jumps to an uninitialized state to wait for an initialization command, and when the execution equipment receives the continuation command, the original operation is recovered, and the motion part is controlled to continue to move; if the execution equipment receives the stop command, the control moving part is reset to the original position, and the control moving part can not be executed again until the reinitialization command, so that an operator can correspondingly control the execution equipment according to the emergency.
The intelligent client receives the refresh command and calls a main interface final display function to perform interface display, and other application programs perform refresh operation, wherein the intelligent client defines a global delegation method which points to an intermediate function of the main interface, and in the intermediate function of the main interface, the intelligent client directly calls the main interface final display function to display the function when the main interface code of the intelligent client refreshes, so that the interface refresh of the intelligent client is improved.
The execution equipment detects whether the operation corresponding to the control command is completed, if the operation is detected to be abnormal, the abnormal code is sent to the intelligent user side, the intelligent user side displays the alarm content matched with the abnormal code, meanwhile, the intelligent user side regenerates the corresponding execution route after receiving the abnormal code and provides and displays the execution route on an interface, and the operation command corresponding to the new execution route is sent to the execution equipment after the operator selects the new execution route, so that the operator can conveniently select the proper execution route to continue to control the robot to execute the operation command after mastering the abnormal condition, and the execution efficiency of the moving part of the robot is improved. When the control of the execution equipment is in an initialized or running state, when a moving part in the execution equipment executes a certain action, whether the movement of the moving part meets a detection condition is detected through a sensor, if the movement of the moving part does not meet the detection condition, the movement operation of the moving part is abnormal, an abnormal code is sent to the intelligent user side, and because an alarm content list matched with the abnormal code is stored in advance in the intelligent user side, the alarm content matched with the abnormal code is displayed according to the abnormal code after the intelligent user side receives the abnormal code, so that an operator can conveniently display the alarm content through a main interface of the intelligent user side to take corresponding maintenance measures. The intelligent user side can make a corresponding alarm according to the alarm content and pop up two options of continuing and quitting, and the intelligent user side forms a corresponding control command according to the selection of an operator and sends the control command to the execution equipment to control the execution equipment to continue executing the corresponding control command or directly quit, wherein the quitting is also equivalent to a stopping command to control the moving part of the execution equipment to reset to enter an uninitialized state. The abnormal motion condition of the moving part is detected and abnormal display is carried out through the intelligent user side, so that an operator can conveniently control the execution equipment correspondingly according to the alarm content.
In summary, a corresponding execution route is generated according to the motion state, the execution process and the abnormal condition of the robot, and is sent to the robot to control the motion part to execute according to the operation command in the execution route, the robot receives the control program and then extracts the corresponding control command, the robot performs corresponding control on the material extracting command, the detection command, the blanking command and the blanking-to-fixed point command in the control command, and the robot controls the first clamping jaw, the second clamping jaw and the cylinder according to the corresponding control command, so as to complete the unified material taking, detection and blanking operations of the execution equipment, reduce confusion caused by a plurality of controls, and improve the control efficiency of the motion part.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A robotic control system, comprising: the intelligent user terminal is used for replanning an execution action path in response to the operation of an operator and sending a corresponding operation command, and the execution equipment is used for receiving the operation command and responding to the operation command to execute the corresponding operation; the intelligent user side is in communication connection with the execution equipment, and the operation command comprises: a start command and a control command;
the intelligent user side comprises:
the execution path planning module plans a feasible new execution route selection according to the current state of the execution equipment and the execution process requirement;
the exception management module is used for receiving the exception code of the execution equipment, calling the execution path planning module, displaying the new execution route on an interface of the intelligent user side for an operator to select, and sending an operation command corresponding to the new execution route to the execution equipment;
the starting module is used for starting and receiving a control program from the intelligent user side after receiving a starting command of the intelligent user side;
and the control module is used for checking whether the control command meets the checking condition according to the control command in the control program and controlling a moving part of the execution equipment to execute corresponding operation according to the control command.
2. The robot control system according to claim 1, wherein the smart client further comprises:
and the refreshing module is used for responding to a refreshing command formed by the refreshing operation of an operator and calling a final display function of the main interface to refresh other application programs.
3. A robot control system according to claim 1, characterized in that the operation commands comprise: an initialization command and a pause command;
the execution device includes:
the initialization module is used for receiving the initialization command of the intelligent user side and carrying out initialization operation;
and the pause module is used for receiving the pause command of the intelligent user side and controlling the control program to stop at the time point of receiving the pause command.
4. A robot control system according to claim 3, characterized in that the control commands comprise: get material order, unloading order, test command and unloading to fixed point command, control module includes:
the material taking unit is used for controlling the moving part to take materials and place the materials on the testing equipment according to the material taking command;
the blanking preparation unit is used for taking away the material on the test equipment according to the blanking command and preparing blanking;
and the blanking execution unit is used for controlling the moving part to be blanked to a buffer position or a conveying belt according to the blanking to fixed point command.
5. A robot control system according to claim 3, characterized in that the execution apparatus further comprises:
the detection module is used for detecting whether the execution operation of the motion part is abnormal or not and outputting a detection result;
and the alarm module is used for sending an abnormal code to the intelligent user side according to the detection result, and the intelligent user side displays the alarm content matched with the abnormal code.
6. A robot control method is characterized in that an intelligent user side is in communication connection with execution equipment, and an operation command comprises the following steps: a start command and a control command, the method comprising:
the intelligent user side plans a new execution route to select according to the current state of the execution equipment, the execution process requirement and the abnormal code;
the intelligent user side responds to the execution route selected by the operator, forms a corresponding operation command and sends the operation command to the execution equipment;
the intelligent user side receives the abnormal code of the execution equipment, the new execution route is displayed on an interface of the intelligent user side for an operator to select, and an operation command corresponding to the new execution route is sent to the execution equipment;
the execution equipment receives and responds to the operation command to execute corresponding operation; starting and receiving a control program from the intelligent user side after receiving a starting command of the intelligent user side; and according to the control command in the control program, checking whether the control command meets a checking condition or not, and controlling a moving part of the execution equipment to execute corresponding operation according to the control command.
7. A robot control method according to claim 6, characterized in that said operation commands comprise: an initialization command and a pause command;
the specific steps of the executing device receiving and responding to the operation command to execute the corresponding operation are as follows:
receiving the initialization command to perform initialization operation on the execution equipment;
if the control command is not in accordance with the check condition, moving the control command to the end of the control program to execute the next command;
receiving a pause command of the intelligent user side, controlling the control program to stop at the time point of receiving the pause command, and waiting for a continue command or a stop command;
and if the continuing command is received, the control program continues to run from the time point of pause, and if the stopping command is received, the control program jumps to the uninitialized state to wait for the initialization command.
8. A robot control method according to claim 7, characterized in that the control commands comprise: the method comprises the following steps of (1) taking a material command, a blanking command, a test command and a blanking to fixed point command;
if the control command is in accordance with the check condition, controlling a moving part of the execution device to execute an operation corresponding to the control command specifically comprises:
the execution equipment receives the material taking command and controls the moving part to take materials according to the material taking command;
the execution equipment receives the test command and detects whether the moving part is provided with materials or not;
the execution equipment receives the blanking command and controls the moving part to prepare blanking operation;
and the execution equipment receives the command of blanking to a fixed point and controls the moving part to blank to a conveying belt or a buffer position.
9. The robot control method according to claim 6, further comprising:
the intelligent user side responds to the refreshing selection of an operator and forms a refreshing command, a final display function of the main interface is called according to the refreshing command to carry out interface display, and meanwhile, other application programs carry out refreshing operation.
10. A robot control method according to claim 7, further comprising:
and the execution equipment detects whether the operation corresponding to the control command is finished or not, if the operation is detected to be abnormal, an abnormal code is sent to the intelligent user side, and the intelligent user side displays the alarm content matched with the abnormal code.
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| CN103368795B (en) * | 2013-07-26 | 2016-12-28 | 深圳市佳晨科技有限公司 | Self-feeding, test and sorting system and operation method thereof |
| DE102015204641B4 (en) * | 2014-06-03 | 2021-03-25 | ArtiMinds Robotics GmbH | Method and system for programming a robot |
| DE102015001741A1 (en) * | 2015-02-11 | 2016-08-11 | Kuka Roboter Gmbh | Method and system for operating a multi-axis machine, in particular a robot |
| CN110281242B (en) * | 2019-06-28 | 2022-02-22 | 炬星科技（深圳）有限公司 | Robot path updating method, electronic device, and computer-readable storage medium |
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