CN111624893A - Demonstrator, demonstrator signal transmission method and system - Google Patents
Demonstrator, demonstrator signal transmission method and system Download PDFInfo
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- CN111624893A CN111624893A CN202010743390.7A CN202010743390A CN111624893A CN 111624893 A CN111624893 A CN 111624893A CN 202010743390 A CN202010743390 A CN 202010743390A CN 111624893 A CN111624893 A CN 111624893A
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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
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
- H04N5/765—Interface circuits between an apparatus for recording and another apparatus
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- General Engineering & Computer Science (AREA)
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Abstract
The invention provides a demonstrator, a method and a system for signal transmission of the demonstrator. Displaying the received terminal video signal on a demonstrator; and responding to the received first control interaction signal, and displaying information in the first control interaction signal in a corresponding display area on the demonstrator. And acquiring a signal input by the panel of the demonstrator and converting the signal into a second control interaction signal. And sending the second control interaction signal to the robot controller to control the operation of the robot controller.
Description
Technical Field
The invention relates to the field of industrial robot control, in particular to a demonstrator, a demonstrator signal transmission method and a demonstrator signal transmission system.
Background
At present, industrial robots are widely applied in production, and along with the continuous expansion of the application range of the industrial robots, the requirements of people on motion control and teaching technologies of the industrial robots are continuously improved. The industrial robot demonstrator is a tool for realizing the applications of robot position visual angle monitoring, state monitoring, parameter configuration and the like.
At present, the teaching machines of robot manufacturers generally have two schemes. One is to adopt the independent CPU unit to run the embedded system at the demonstrator terminal, the demonstrator procedure runs on the demonstrator terminal and displays directly; and the transmission of control interaction signals with the robot controller only needs to be carried out through an industrial bus. The CPU unit at the demonstrator end is embedded in the scheme, so that the cost is high; if the CPU performance is reduced in order to control the cost, there is a problem that the program computing ability is poor. The other scheme is as follows: the teaching machine program runs on the robot controller, the VGA video signal line and the control signal line are prolonged to the teaching machine terminal to conduct VGA video display and control signal acquisition, the signal transmission distance of the scheme is short, signals are easily interfered, and the stability is poor.
Disclosure of Invention
The invention provides a demonstrator capable of realizing remote transmission and low in control cost, a signal transmission method of the demonstrator and a signal transmission system of the demonstrator, aiming at overcoming the defects of the prior art.
In order to achieve the above object, the present invention provides a signal transmission method of a teach pendant, which is executed by the teach pendant, comprising:
receiving a terminal video signal and a first control interaction signal sent by a robot controller, wherein the first control interaction signal comprises the running state of the robot or the running state of the robot controller;
displaying the received terminal video signal on a demonstrator; responding to the received first control interaction signal, and displaying information in the first control interaction signal in a corresponding display area on the demonstrator;
acquiring a signal input by a panel of the demonstrator and converting the signal into a second control interaction signal;
and sending the second control interaction signal to the robot controller to control the operation of the robot controller.
According to an embodiment of the present invention, the first control interactive signal and the second control interactive signal are both a first type data transmission signal, and the terminal video signal is a second type data transmission signal.
According to an embodiment of the invention, the first type of data transmission signal and the second type of data transmission signal are transmitted in a differential manner between the robot controller and the teach pendant.
According to an embodiment of the present invention, the first type of data transmission signal is a USB signal, and the second type of data transmission signal is an HDMI signal.
According to an embodiment of the present invention, displaying information in the first control interaction signal in a corresponding display area on the teach pendant includes: displaying the running state of the robot controller or the running state of the robot on a display screen of the demonstrator in the form of characters or patterns; or the robot controller operation state or the robot operation state is displayed in the form of an indicator lamp on a teach pendant panel.
According to one embodiment of the invention, after receiving a terminal video signal and a first control interaction signal sent by a robot controller, decoding the two signals; and after the second control interaction signal is formed, the second control interaction signal is coded and then transmitted to the robot controller.
According to an embodiment of the invention, the teach pendant signal transmission method further comprises receiving signals input by other terminals to form a second control interaction signal and outputting the second control interaction signal to the robot controller.
On the other hand, the invention also provides a demonstrator, which comprises a receiving module, a display module, an input signal acquisition module and a sending module. The receiving module receives a terminal video signal and a first control interaction signal sent by the robot controller. The display module displays the received terminal video signal on the demonstrator; and responding to the received first control interaction signal, and displaying information in the first control interaction signal in a corresponding display area on the demonstrator. The input signal acquisition module acquires signals input by a panel of the demonstrator or signals input by other terminals to form second control interaction signals. The sending module sends the second control interaction signal to the robot controller to control the operation of the robot controller.
According to an embodiment of the invention, the teach pendant further comprises a decoding module and an encoding module. The decoding module is electrically connected to the receiving module, and encodes the terminal video signal and the first control interaction signal output by the receiving module and outputs the encoded terminal video signal and the first control interaction signal to the display module. The coding module is electrically connected to the input signal acquisition module, and outputs the second control interaction signal to the sending module after coding.
In another aspect, the invention further provides a demonstrator signal transmission system, which is characterized by comprising a robot controller and a demonstrator. The robot controller controls the robot to move and outputs a terminal video signal and a first control interaction signal, wherein the first control interaction signal comprises the running state of the robot or the running state of the robot controller. A receiving module of the demonstrator receives a terminal video signal and a first control interaction signal sent by the robot controller; and meanwhile, the sending module sends the second control interaction signal to the robot controller so as to control the operation of the robot controller.
In summary, the teach pendant, the signal transmission method of the teach pendant and the system provided by the invention have the advantages that the program of the teach pendant runs on the robot controller, and the teach pendant realizes the real-time display of the running state of the robot by receiving the terminal video signal sent by the robot control host. In the scheme, the demonstrator end does not need to be embedded with an independent CPU, so that the cost of the demonstrator is greatly reduced; and the execution of the program of the demonstrator is executed by a high-performance industrial personal computer in the robot controller, the calculation capability of the program is very strong, and the calculation speed is very high, so that the accurate control of the robot action can be better realized. Further, the demonstrator receives a first control interaction signal sent by the robot control host while receiving the video signal, and the first control interaction signal feeds back the running state parameter of the robot or the running parameter of the robot controller to the demonstrator end for displaying.
In addition, the video signals of the terminal are transmitted by adopting differential HDMI signals, the video signals transmitted by the HDMI signals not only comprise audio signals, but also have good anti-interference performance while long-distance transmission is realized by adopting a differential signal transmission mode.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
Fig. 1 is a flowchart illustrating a teach pendant receiving a signal sent by a robot controller in a teach pendant signal transmission method according to an embodiment of the present invention.
Fig. 2 is a flowchart illustrating a teach pendant sending a signal to a robot controller according to a teach pendant signal transmission method provided in an embodiment of the present invention.
Fig. 3 is a schematic block diagram of a teach pendant according to an embodiment of the present invention.
Fig. 4 is a schematic block diagram of a teach pendant signal transmission system according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1, the method for transmitting signals of a teach pendant provided in the present embodiment is executed by a teach pendant, and includes: and receiving a terminal video signal and a first control interaction signal sent by the robot controller (step S10), wherein the first control interaction signal comprises an operation state of the robot or an operation state of the robot controller. Displaying the received terminal video signal on a demonstrator; and in response to the received first control interaction signal, displaying information within the first control interaction signal on a corresponding display area on the teach pendant (step S30). At the same time, the signal input by the teach pendant panel is acquired and converted into a second control interaction signal (step S40). The second control interaction signal is transmitted to the robot controller to control the operation of the robot controller (step S60). The specific principle of the teach pendant signal transmission method provided in the present embodiment will be described in detail below with reference to fig. 1 and 2.
In the method for transmitting signals of a teach pendant provided in this embodiment, bidirectional data transmission is implemented between the teach pendant and a robot controller, and the following steps for executing signal processing will be described in the form of numbers for convenience of description. Wherein, steps S10-S30 correspond to the execution steps after the robot controller is received by the teach pendant in FIG. 1; the steps S40-S70 correspond to the execution steps of the teach pendant of FIG. 2 sending a signal to the robot controller. In actual implementation, the sending and receiving of the teach pendant are synchronized.
As shown in fig. 1, the teach pendant receives the terminal video signal and the first control interaction signal transmitted by the robot controller in step S10. The terminal video signal is a real-time running state video image of the robot acquired by the robot controller, and in this embodiment, the video signal further includes audio. The first control interaction signal comprises the current operation state of the robot and the current operation state of the robot controller. The current running state of the robot comprises information such as position parameters and motion parameters of the robot, and the current running state of the robot controller comprises information such as execution progress of a demonstrator program and running parameters of the robot controller. However, the present invention is not limited thereto. In other embodiments, the first control interaction signal may only include the current operation state of the robot or the current operation state of the robot controller.
In this embodiment, the terminal video signal and the first control interaction signal are communicated between the teach pendant and the robot controller by two different data transmission parties, respectively. Specifically, the first control interactive signal as the first type of data transmission signal is a USB signal, and the terminal video signal as the second type of data transmission signal is an HDMI signal. The HDMI signal has strong anti-interference capability while realizing the transmission of high-definition video images. However, the present invention is not limited thereto. In other embodiments, the video signal of the terminal can also be transmitted by using VGA signal.
Further, in this embodiment, the terminal video signal and the first control interaction signal are transmitted in a differential manner. The differential transmission mode has strong anti-interference capability and stable signal transmission, and can realize long-distance transmission. When data transmission is carried out in a differential mode, in order to meet a transmission protocol, a terminal video signal and a first control interaction signal are coded at a robot controller end and then output to a demonstrator. Therefore, the teach pendant receives the terminal video signal and the first control interactive signal (step S10), and then performs step S20 to decode the terminal video signal and the first control interactive signal.
After decoding, step S30 is executed to display the terminal video signal and the first control interaction signal on the teach pendant. For the decoded terminal video signal, the demonstrator displays the terminal video signal on the display screen directly. And for the decoded first control interactive signal, the demonstrator displays the first control interactive signal in a corresponding area by adopting a preset display mode according to specific information in the first control interactive signal. Specifically, when the first control interaction signal contains specific numerical information such as the movement speed of the robot, the information can be superposed on a video image and displayed on a display in a text mode; when the first control interaction signal contains state indication information such as a robot special position (such as an original position of the robot) or special action information (such as a limit action position), the information can be superposed on a video image and can be displayed on a display in a flashing mode in a pattern mode. Further, the indication information of the status type may be displayed by an indicator lamp on the demonstrator panel.
The transmission and the display of the first control interaction signal realize the feedback of the running state information from the robot controller to the demonstrator end, and an operator can directly check the running state of the robot or the robot controller through the demonstrator, so that the robot is very convenient to use and more favorable for the real-time control of the robot.
The demonstrator signal transmission mode provided by the embodiment is bidirectional signal transmission. The teach pendant is used as a sending side of the signal, and the signal transmission mode of the teach pendant comprises a step S40, which is used for acquiring the signal input by the teach pendant panel and converting the signal into a second control interaction signal. The second control interaction signal is then sent to the robot controller (step S60). An operator can input signals through the teach pendant panel to control the operation of the robot controller. The signal input mode of the demonstrator panel comprises the input of a button on the demonstrator panel and the input of a touch button on the display screen.
In this embodiment, the second control interaction signal is also a USB signal and is also transmitted to the robot controller in a differential manner. Therefore, in the present embodiment, the method for transmitting signals of a teach pendant further includes step S50, encoding the formed second control interaction signal, and then executing step S60. However, the present invention is not limited thereto.
In this embodiment, the method for transmitting the pointer signal further includes step S70, receiving signals input by other terminals and outputting the signals to the robot controller as the second control interaction signal. For example, the teach pendant has a USB interface, and other terminals may be connected to the teach pendant through the USB interface and input a USB signal to the teach pendant, and the teach pendant may output the USB signal as a second control interaction signal to the robot controller through steps S50 and S60, thereby implementing remote control by a third party. However, the present invention is not limited thereto. In other embodiments, when other terminals input non-USB signals to the teach pendant, the input signal acquiring module needs to convert the input signals into USB type second control interaction signals.
In the signal transmission method for the demonstrator provided by the embodiment, the robot controller and the demonstrator transmit the terminal video signal by the HDMI signal, and an independent CPU is not required to be arranged at the demonstrator end, so that the cost of the demonstrator is greatly reduced; and the differential data transmission mode realizes the long-distance communication between the two. The transmission of the first control interaction signal realizes the real-time checking of the running state of the robot at the end of the demonstrator and the running state of the robot controller, and further expands the functions of the demonstrator.
Corresponding to the above-mentioned signal transmission method of the teach pendant, as shown in fig. 3, the present invention further provides a teach pendant 100, which comprises a receiving module 1, a decoding module 2, a display module 3, an input signal acquiring module 4, an encoding module 5 and a transmitting module 6. The receiving module 1 receives a terminal video signal and a first control interaction signal sent by a robot controller. The decoding module 2 is electrically connected to the receiving module 1, and encodes the terminal video signal and the first control interaction signal output by the receiving module 1 and outputs the encoded terminal video signal and the first control interaction signal to the display module 3. The display module 3 displays the decoded terminal video signal on a demonstrator; and responding to the received first control interaction signal, and displaying information in the first control interaction signal in a corresponding display area on the demonstrator. The input signal acquisition module 4 acquires signals input by a panel of the teach pendant or signals input by other terminals and forms second control interaction signals. The sending module 6 sends the second control interaction signal to the robot controller to control the operation of the robot controller.
The working principle of the teach pendant 100 provided in this embodiment is as in steps S10 to S60 in this embodiment, which is not described herein again.
Correspondingly, as shown in fig. 4, the present embodiment further provides a teach pendant signal transmission system, which includes a robot controller 200 and the teach pendant 100 described above. The robot controller 200 controls the robot to move and outputs a terminal video signal and a first control interactive signal, the first control interactive signal including an operation state of the robot or an operation state of the robot controller. A receiving module 1 of the teach pendant 100 receives a terminal video signal and a first control interaction signal sent by the robot controller 200; meanwhile, the transmission module 6 transmits a second control interaction signal to the robot controller 200 to control the operation state of the robot controller 200.
Specifically, the robot controller 200 outputs a terminal video signal and a first control interaction signal, and the two signals are encoded and transmitted to the teach pendant 100 in a differential form. The receiving module 1 of the demonstrator 100 receives the two signals, and the decoding module 2 decodes the two received signals and displays the two signals through the display module 3.
The input signal acquiring module 4 acquires signals input by a demonstrator panel or other terminals, forms second control interaction signals, encodes the second control interaction signals by the encoding module 5, and then the sending module 6 outputs the encoded second control interaction signals to the robot controller 200.
In summary, the teach pendant, the signal transmission method of the teach pendant and the system provided by the invention have the advantages that the program of the teach pendant runs on the robot controller, and the teach pendant realizes the real-time display of the running state of the robot by receiving the terminal video signal sent by the robot control host. In the scheme, the demonstrator end does not need to be embedded with an independent CPU, so that the cost of the demonstrator is greatly reduced; and the execution of the program of the demonstrator is executed by a high-performance industrial personal computer in the robot controller, the calculation capability of the program is very strong, and the calculation speed is very high, so that the accurate control of the robot action can be better realized. Further, the demonstrator receives a first control interaction signal sent by the robot control host while receiving the video signal, and the first control interaction signal feeds back the running state parameter of the robot or the running parameter of the robot controller to the demonstrator end for displaying. An operator can visually check the current execution state of the robot or the robot controller on the demonstrator without inquiring the robot controller, and the robot controller is more favorably controlled.
In addition, the video signals of the terminal are transmitted by adopting differential HDMI signals, the video signals transmitted by the HDMI signals not only comprise audio signals, but also have good anti-interference performance while long-distance transmission is realized by adopting a differential signal transmission mode.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A signal transmission method for a teach pendant, performed by the teach pendant, comprising:
receiving a terminal video signal and a first control interaction signal sent by a robot controller, wherein the first control interaction signal comprises the running state of a robot or the running state of the robot controller;
displaying the received terminal video signal on a demonstrator; responding to the received first control interaction signal, and displaying information in the first control interaction signal in a corresponding display area on the demonstrator;
acquiring a signal input by a panel of the demonstrator and converting the signal into a second control interaction signal;
and sending the second control interaction signal to the robot controller to control the operation of the robot controller.
2. The demonstrator signal transmission method of claim 1, wherein the first control interaction signal and the second control interaction signal are both a first type of data transmission signal, and the terminal video signal is a second type of data transmission signal.
3. The teach pendant signal transmission method of claim 2, wherein the first type of data transmission signal and the second type of data transmission signal are transmitted differentially between the robot controller and the teach pendant.
4. The demonstrator signal transmission method according to claim 2, wherein the first type of data transmission signal is a USB signal and the second type of data transmission signal is an HDMI signal.
5. The teach pendant signal transmission method of claim 1, wherein displaying the information within the first control interaction signal in a corresponding display area on the teach pendant comprises: displaying the running state of the robot controller or the running state of the robot on a display screen of the demonstrator in the form of characters or patterns; or the robot controller operation state or the robot operation state is displayed in the form of an indicator lamp on a teach pendant panel.
6. The teach pendant signal transmission method according to claim 1, wherein the terminal video signal and the first control interaction signal transmitted from the robot controller are received and then decoded; and after the second control interaction signal is formed, the second control interaction signal is coded and then transmitted to the robot controller.
7. The teach pendant signal transmission method of claim 1, further comprising receiving signals input from other terminals to form a second control interaction signal and outputting the second control interaction signal to the robot controller.
8. A teach pendant, comprising:
the receiving module is used for receiving the terminal video signal and the first control interaction signal sent by the robot controller;
the display module displays the received terminal video signal on the demonstrator; responding to the received first control interaction signal, and displaying information in the first control interaction signal in a corresponding display area on the demonstrator;
the input signal acquisition module is used for acquiring signals input by a panel of the demonstrator or signals input by other terminals to form second control interaction signals;
and the sending module is used for sending the second control interaction signal to the robot controller so as to control the operation of the robot controller.
9. The teach pendant of claim 8 further comprising:
the decoding module is electrically connected with the receiving module and used for encoding the terminal video signal and the first control interaction signal output by the receiving module and outputting the encoded terminal video signal and the first control interaction signal to the display module;
and the coding module is electrically connected to the input signal acquisition module and outputs the second control interaction signal to the sending module after coding.
10. A teach pendant signal transmission system comprising:
the robot controller is used for controlling the robot to move and outputting a terminal video signal and a first control interaction signal, wherein the first control interaction signal comprises the running state of the robot or the running state of the robot controller; and
the teach pendant of any one of claims 8 to 9, wherein a receiving module of the teach pendant receives a terminal video signal and a first control interaction signal sent by the robot controller; and meanwhile, the sending module sends the second control interaction signal to the robot controller so as to control the operation of the robot controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010523320 | 2020-06-10 | ||
| CN2020105233200 | 2020-06-10 |
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| CN111624893A true CN111624893A (en) | 2020-09-04 |
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| CN110757464A (en) * | 2019-11-21 | 2020-02-07 | 东莞固高自动化技术有限公司 | Industrial robot demonstrator, operation system, control system and control method |
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| CN210464592U (en) * | 2019-08-26 | 2020-05-05 | 武汉天仪海波仪器有限公司 | Mobile terminal patrols sewer water level monitoring alarm system |
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| US5705906A (en) * | 1994-12-15 | 1998-01-06 | Fanuc Ltd | Robot teaching pendant |
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