CN110948480A - Demonstrator input and output function processing system and method and industrial robot - Google Patents
Demonstrator input and output function processing system and method and industrial robot Download PDFInfo
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- CN110948480A CN110948480A CN201911058821.XA CN201911058821A CN110948480A CN 110948480 A CN110948480 A CN 110948480A CN 201911058821 A CN201911058821 A CN 201911058821A CN 110948480 A CN110948480 A CN 110948480A
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
Abstract
The invention belongs to the technical field of industrial robot application, and discloses a demonstrator input/output function processing system and method and an industrial robot, wherein protocol information is sent to inform a controller to read parameters of a current IO board; arranging the state of the IO board through a specified protocol, telling a demonstrator through a TCP return code, and analyzing according to the established protocol to obtain the state data of the IO board after the demonstrator obtains the returned information; then, generating a drawing board by using a program, and correspondingly adding the IO pins to the drawn IO board; arranging the input and output according to the actual situation according to the feedback information, and generating names to corresponding pins; and simultaneously, the pin which is currently used is presented in an extending mode, and the level state of the pin is presented by modifying the color. The invention reduces the error probability in use and increases the fault tolerance rate; the cognition of the user to the IO is increased, and the use of the IO board can be directly realized through an illustration; the training cost is reduced.
Description
Technical Field
The invention belongs to the technical field of industrial robot application, and particularly relates to a demonstrator input/output function processing system and method and an industrial robot.
Background
Currently, the closest prior art: in the application of industrial robots, a demonstrator is an important component, and is a bridge for communicating a robot and a user, so that the information and the operation of the robot are simply and clearly displayed in front of the user, and the operation information of the user is fed back to the robot. However, the demonstrator in the market at present, such as ABB and anhui, which are used for checking the use state of the demonstrator IO, are all checked only by name, or checked by IO explanation, and displayed simply by characters. The using state of the robot IO board cannot be intuitively fed back, and people with certain experience can correspondingly confirm the currently used IO port. And when a general user needs to confirm which lead port the currently used IO is, the cabinet needs to be opened, and the user can know the IO by comparing with the IO displayed on the demonstrator. This is inconvenient and difficult for most users to understand. Moreover, the cabinet is opened, and the electric wires are exposed to the user, so that certain safety risk is also caused. The electromechanical cabinet has the forceful electric power, and the battery is also in naked state, if the electric wire is naked, when the people operates, the mistake touches the electric wire, has the risk of electrocuteeing. And the cabinet is opened, water is accidentally introduced, and the circuit board is damaged.
In summary, the problems of the prior art are as follows:
(1) the prior demonstrator needs a person with certain experience to correspondingly confirm the currently used IO port, which is very inconvenient for most users.
(2) In the prior machine cabinet of the demonstrator, wires are exposed in front of users, and when people operate, the wires are touched by mistake, so that the risk of electric shock is caused; when the cabinet is opened, water enters the cabinet carelessly and the circuit board can be damaged.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a demonstrator input/output function processing system and method and an industrial robot.
The invention is realized in this way, a demonstrator input/output function processing method, the demonstrator input/output function processing method includes the following steps:
firstly, sending protocol information to inform a controller to read parameters of a current IO board;
secondly, arranging the state of the IO board through a specified protocol, telling a demonstrator through a TCP return code, and analyzing according to the established protocol to obtain the state data of the IO board after the demonstrator obtains the returned information;
thirdly, a drawing board is generated by a program, a simulation diagram matched with an IO board of the cabinet is drawn on the drawing board, and IO pins are correspondingly added to the drawn IO board according to IO state information acquired from a controller end;
fourthly, arranging input and output according to the actual situation according to the feedback information, and generating names to corresponding pins; meanwhile, the current used pin is presented in an extending mode, and the level state of the pin is presented by modifying the color;
and fifthly, generating a diagram which is drawn by simulating an actual IO board.
Further, the parameters of the first step include the name of the IO board, the number of pins, how many of the output and input are respectively, and which of the pins are used.
Further, the operating system of the input/output function processing method controller of the demonstrator obtains the state information of the current IO board according to the interface reserved by the IO board, generally according to the number of pins for obtaining IO and the number of pins currently used. And then the data is transmitted to an application program of the controller, and the application program of the controller is sent to a demonstrator end through a communication protocol of TCP/IP.
Further, for an IO graph on the demonstrator, pins and names of the IO graph are simulated to be an actual IO board, and a rectangular bar is drawn according to an actual IO board pattern; and then drawing the DO quantity acquired by the controller to the left side of the rectangular bar, and drawing the DO to the right side of the rectangular bar.
Further, the input and output function processing method of the demonstrator records the coordinate of the pin when the pin is drawn, and generates a name on the left or right of the corresponding coordinate when the pin is used.
Further, the input and output function processing method of the demonstrator sends protocol information to inform the controller to read the parameters of the current IO board, defines a plurality of TCP protocols, the protocols are equivalent to the language for the communication between the demonstrator and the controller, and sends a protocol to tell the controller that the IO board needs the parameters when telling the controller that the IO board needs the parameters; then, the controller will return a protocol to tell the parameters of the IO, the protocol will store the needed parameters in a well-agreed mode, and after the protocol is obtained, the parameters in the protocol are obtained according to the originally customized protocol sequence, wherein the parameters comprise the number of the IO and the use state of the IO pins; after the parameters are acquired, the parameters are stored in a structure body, all pins of IO can be stored in the structure body, the pins are classified to be not output or input, an identification bit is arranged for identifying whether the current pin is used or not, and then a needed IO graph is drawn according to the structure body. If the IO state is not reacquired, the contents within the structure will not change.
Further, the input and output function processing method of the demonstrator changes and explains the IO names set by the user on the picture;
when the illustration of the IO board is used, the color of the extended portion pins on the illustration also changes relatively.
Another object of the present invention is to provide a teach pendant input/output function processing system for implementing the teach pendant input/output function processing method, the teach pendant input/output function processing system including:
the IO board current parameter reading module is used for sending protocol information to inform the controller to read the parameters of the current IO board;
the IO board state data acquisition module is used for arranging the states of the IO boards through a specified protocol, telling the demonstrator through a TCP return code, and analyzing according to the specified protocol to acquire IO board state data after the demonstrator acquires returned information;
the IO pin adding module is used for generating a drawing board, drawing a simulation diagram matched with an IO board of the cabinet on the drawing board, and correspondingly adding the IO pin to the drawn IO board according to IO state information acquired from the controller end;
the pin state presentation module is used for arranging the input and output according to the actual situation according to the feedback information and generating the name to the corresponding pin; meanwhile, the current used pin is displayed in an extending mode, and the level state of the pin is displayed by modifying the color;
and the diagram generating module is used for generating a diagram which is drawn by simulating an actual IO board.
Another object of the present invention is to provide an information data processing terminal that implements the teach pendant input output function processing method.
Another object of the present invention is to provide a computer-readable storage medium including instructions which, when run on a computer, cause the computer to execute the teach pendant input output function processing method.
In summary, the advantages and positive effects of the invention are: the checking of the using state of the IO port of the demonstrator is complex and not intuitive; the used IO pins cannot correspond to the actual IO board pins; without corresponding theoretical knowledge, it is difficult to recognize the use of IO. The method not only gives the use of IO through the text explanation, but also simulates an actual IO board by adding an illustration mode; the diagram shows the current IO pin use status in real time, which identifies the current IO pin use, and when the level of the IO pin changes, the corresponding pin on the diagram shows the corresponding change by changing the color.
The invention adopts an illustration mode and displays the actual state of the IO board in a virtual mode. Has the following advantages: the actual using state of the IO board is visually presented, so that a user can clearly know the using state of the IO board; the plurality of IO boards correspond to the plurality of diagrams, so that the error probability in use is reduced, and the fault tolerance rate is increased; the cognition of the user to the IO is increased, and the use of an IO board can be directly realized through an illustration; and the training cost is reduced.
Drawings
FIG. 1 is a schematic structural diagram of a teach pendant input/output function processing system according to an embodiment of the present invention;
in the figure: 1. an IO board current parameter reading module; 2. an IO board state data acquisition module; 3. an IO pin adding module; 4. a pin status presenting module; 5. an illustration generation module.
Fig. 2 is a flowchart of a method for processing input/output functions of a teach pendant according to an embodiment of the present invention.
Fig. 3 is a flowchart of the usage of the input/output function processing system of the teach pendant according to the embodiment of the present invention.
FIG. 4 is a diagram illustrating the practice of the present invention;
in the figure: DI beginning is input port, DO beginning is output port; the extended graph indicates that the current pin is in use and the color indicates the current use status of the pin.
Fig. 5 is an IO state display diagram of the ABB demonstrator provided in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a demonstrator input/output function processing system and method and an industrial robot, and the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the input/output function processing system of a teach pendant according to an embodiment of the present invention includes:
and the IO board current parameter reading module 1 is used for sending protocol information to inform the controller of reading the current IO board parameter.
And the IO board state data acquisition module 2 is used for arranging the states of the IO boards through a specified protocol, telling the demonstrator through TCP return codes, and analyzing according to the specified protocol to acquire IO board state data after the demonstrator acquires the returned information.
And the IO pin adding module 3 is used for generating a drawing board, firstly drawing a simulation diagram of an IO board matched with the cabinet on the drawing board, and correspondingly adding the IO pin to the drawn IO board according to the IO state information acquired from the controller terminal.
The pin state presentation module 4 is used for arranging the input and output according to the actual situation according to the feedback information and generating the name to the corresponding pin; and simultaneously, the pin which is currently used is presented in an extending mode, and the level state of the pin is presented by modifying the color.
And the diagram generating module 5 is used for generating a diagram which is drawn by simulating an actual IO board.
As shown in fig. 2, the method for processing input/output functions of a teach pendant according to an embodiment of the present invention includes the following steps:
s201: sending protocol information to inform a controller to read parameters of the current IO board, wherein the specific parameters comprise the name of the IO board, the number of pins, the number of output and input pins and the number of the used pins;
s202: arranging the state of the IO board through a specified protocol, telling a demonstrator through a TCP return code, and analyzing according to the established protocol to obtain the state data of the IO board after the demonstrator obtains the returned information;
s203; then, a drawing board is generated by a program, a simulation diagram matched with an IO board of the cabinet is drawn on the drawing board, and IO pins are correspondingly added to the drawn IO board according to IO state information acquired from a controller end;
s204: arranging the input and output according to the actual situation according to the feedback information, and generating names to corresponding pins; meanwhile, the current used pin is presented in an extending mode, and the level state of the pin is presented by modifying the color;
s205: and generating a diagram which is drawn by simulating an actual IO board.
The technical solution of the present invention is further described below with reference to the accompanying drawings.
As shown in fig. 3, a method for using a teach pendant input/output function processing system according to an embodiment of the present invention includes: starting a demonstrator, entering an IO monitoring interface, selecting an IO board, clicking a diagram, and checking an IO board simulation diagram.
The teaching aid is a medium for controlling the robot by a user, converts interface operation of the user into a set protocol to tell the robot, and enables the robot to execute user operation instructions. And the middle ones are opaque to the user. In the invention, IO is visually displayed in a graphic mode, so that a user can check the state of an actual IO board without opening a cabinet, and redundant operation of the user is reduced.
The method is mainly realized by that a demonstrator transmits in a TCP/IP network mode, when the demonstrator is started up, protocol information is sent to inform a controller to read the parameters of the current IO board, wherein the specific parameters comprise the name of the IO board, the number of pins, the number of the pins which are used and the number of the pins which are used respectively in output and input. Then the states of the IO boards are arranged through a specified protocol, and a teaching aid is informed through TCP return codes. And after the demonstrator acquires the returned information, analyzing according to a set protocol to acquire IO board state data. And then, generating a drawing board by using a program, firstly drawing a simulation diagram of an IO board matched with the cabinet on the drawing board, then correspondingly adding IO pins to the drawn IO board according to IO state information acquired from a controller end, simultaneously arranging input and output according to actual conditions according to feedback information, and generating names to the corresponding pins, such as DI1 and DO 1 on the diagram. And simultaneously, the pin which is currently used is displayed in an extending mode, and the level state of the pin is displayed by modifying the color. Finally, a diagram simulating the actual IO board drawing is generated as shown in FIG. 3.
In a preferred embodiment of the present invention, the operating system of the controller obtains the state information of the current IO board according to the interface reserved in the IO board, generally according to the number of pins for obtaining IO and the number of pins currently used. And then the data is transmitted to an application program of the controller, and the application program of the controller is sent to a demonstrator end through a communication protocol of TCP/IP.
In the preferred embodiment of the present invention, for the IO diagram on the teach pendant, the pins and names are both analog to the actual IO board, so they are all represented by way of drawing only. Firstly, a rectangular bar is drawn according to the actual IO board style, then the DO quantity acquired on the controller is drawn to the left side of the rectangular bar, and the DO is drawn to the right side of the rectangular bar, so that the reason for checking the states of the DI and the DO by a user is convenient.
In a preferred embodiment of the invention, the coordinates of a pin are recorded when the pin is drawn, and when the pin is used, a name is generated to the left or right of the corresponding coordinate.
In the preferred embodiment of the invention, protocol information is sent to inform a controller to read the parameters of the current IO board, a plurality of TCP protocols are defined, the protocols are equivalent to the language for the communication between a demonstrator and the controller, and when the controller is told to need the parameters of the IO board, a protocol is sent to tell the controller to need the IO parameters. And then, the controller returns a protocol to inform the parameters of the IO, the protocol stores the required parameters in a well-agreed mode, and after the protocol is obtained, the parameters in the protocol are obtained according to the initially customized protocol sequence, wherein the parameters comprise the number of the IO and the use state of the IO pins. After the parameters are acquired, the parameters are stored in a structure body, all pins of IO can be stored in the structure body, the pins are classified to be not output or input, an identification bit is arranged for identifying whether the current pin is used or not, and then a needed IO graph is drawn according to the structure body. If the IO state is not reacquired, the contents within the structure will not change.
Meanwhile, the traditional IO display mode is combined, the IO name change and explanation set by the user are presented on the picture, for example, when the user modifies the name of the pin, the name will be presented on the picture (for example, editname of DI1 in FIG. 4), which can help the user memorize the role of each pin by self-defining the name. Even if user operation is changed, the functions of all the pins can be visually shown, and the complexity of a handover task is reduced.
When the illustration of the IO board is used, the color of the extended portion pins on the illustration also changes relatively. Compared with the traditional demonstrator which displays IO information through characters (as shown in FIG. 5), the method has the advantage that users are easy to miss information acquisition due to the repeated list display. The graphical mode can better help a user to check the current IO use state, prevent forgetting to close the pins and reduce misoperation.
It should be noted that the embodiments of the present invention can be realized by hardware, software, or a combination of software and hardware. The hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or specially designed hardware. Those skilled in the art will appreciate that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, such code being provided on a carrier medium such as a disk, CD-or DVD-ROM, programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier, for example. The apparatus and its modules of the present invention may be implemented by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., or by software executed by various types of processors, or by a combination of hardware circuits and software, e.g., firmware.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A method for processing input and output functions of a demonstrator is characterized by comprising the following steps:
firstly, sending protocol information to inform a controller to read parameters of a current IO board;
secondly, arranging the state of the IO board through a specified protocol, telling a demonstrator through a TCP return code, and analyzing according to the established protocol to obtain the state data of the IO board after the demonstrator obtains the returned information;
thirdly, a drawing board is generated by a program, a simulation diagram matched with an IO board of the cabinet is drawn on the drawing board, and IO pins are correspondingly added to the drawn IO board according to IO state information acquired from a controller end;
fourthly, arranging input and output according to the actual situation according to the feedback information, and generating names to corresponding pins; meanwhile, the current used pin is presented in an extending mode, and the level state of the pin is presented by modifying the color;
and fifthly, generating a diagram which is drawn by simulating an actual IO board.
2. The method of processing input/output functions of a teach pendant according to claim 1, wherein the parameters of the first step include a name of an IO board, a number of pins, how many of the respective outputs and inputs are and which of the respective pins have been used.
3. The input/output function processing method of the demonstrator of claim 1, wherein the operating system of the input/output function processing method controller obtains the state information of the current IO board according to the interface reserved by the IO board, generally according to the number of pins for obtaining IO and the number of pins currently used; and then the data is transmitted to an application program of the controller, and the application program of the controller is sent to a demonstrator end through a communication protocol of TCP/IP.
4. The input/output function processing method of a teach pendant according to claim 1, wherein, for an IO diagram on the teach pendant, pins and names simulate an actual IO board, a rectangular bar is drawn according to an actual IO board pattern; and then drawing the DO quantity acquired by the controller to the left side of the rectangular bar, and drawing the DO to the right side of the rectangular bar.
5. The teach pendant input output function processing method according to claim 1, wherein the coordinate of the pin is recorded when the pin is drawn, and when the pin is used, a name is generated on the left or right of the corresponding coordinate.
6. The input/output function processing method of a teach pendant according to claim 1, wherein the input/output function processing method of the teach pendant sends protocol information to inform a controller to read parameters of a current IO board, defines a plurality of TCP protocols, the protocols are equivalent to a language for the communication between the teach pendant and the controller, and sends a protocol to inform the controller of IO parameters when the controller is informed of IO board requirements; then, the controller will return a protocol to tell the parameters of the IO, the protocol will store the needed parameters in a well-agreed mode, and after the protocol is obtained, the parameters in the protocol are obtained according to the originally customized protocol sequence, wherein the parameters comprise the number of the IO and the use state of the IO pins; after the parameters are obtained, storing the parameters into a structure body, storing all pins of IO in the structure body, classifying the pins which are not output or input, and having an identification bit for identifying whether the current pin is used, and drawing a needed IO graph according to the structure body; if the IO state is not reacquired, the contents within the structure will not change.
7. The teach pendant input output function processing method according to claim 1, wherein the teach pendant input output function processing method presents IO name change and interpretation set by a user on a picture;
when the illustration of the IO board is used, the color of the extended portion pins on the illustration also changes relatively.
8. A teach pendant input/output function processing system for implementing the teach pendant input/output function processing method according to any one of claims 1 to 7, the teach pendant input/output function processing system comprising:
the IO board current parameter reading module is used for sending protocol information to inform the controller to read the parameters of the current IO board;
the IO board state data acquisition module is used for arranging the states of the IO boards through a specified protocol, telling the demonstrator through a TCP return code, and analyzing according to the specified protocol to acquire IO board state data after the demonstrator acquires returned information;
the IO pin adding module is used for generating a drawing board, drawing a simulation diagram matched with an IO board of the cabinet on the drawing board, and correspondingly adding the IO pin to the drawn IO board according to IO state information acquired from the controller end;
the pin state presentation module is used for arranging the input and output according to the actual situation according to the feedback information and generating the name to the corresponding pin; meanwhile, the current used pin is displayed in an extending mode, and the level state of the pin is displayed by modifying the color;
and the diagram generating module is used for generating a diagram which is drawn by simulating an actual IO board.
9. An information data processing terminal for implementing the input/output function processing method of the teaching machine according to any one of claims 1 to 7.
10. A computer-readable storage medium comprising instructions which, when executed on a computer, cause the computer to perform the teach pendant input output function processing method of any of claims 1-7.
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| CN111949591A (en) * | 2020-08-12 | 2020-11-17 | 珠海格力电器股份有限公司 | Demonstrator display method, demonstrator, processor and movable equipment |
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