CN111801197A - Robot external control method, robot and external control system - Google Patents
Robot external control method, robot and external control system Download PDFInfo
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Abstract
A robot external control method includes establishing network connection between a robot and an external control system, presetting a plurality of input variables corresponding to control parameters of the robot in the robot, responding to a write-in request of the external control system to update at least one input variable, and controlling the working state of the robot according to the updated input variable. The method is flexible, simple and convenient, and is suitable for robot control in different scenes. It also relates to a robot and an external control system.
Description
[ technical field ] A method for producing a semiconductor device
The present disclosure relates to automatic control technologies, and in particular, to a robot external control method, a robot, and an external control system.
[ background of the invention ]
A robot (e.g., an industrial robot) is a machine that performs various functions by its own power and control capabilities, and performs work automatically. With the development of the technology, the application of the robot is more and more extensive. In some cases, the robot needs to be able to perform its own task independently, and also needs to work with other robots or devices. In this case, the external control system may be used to control the robot and other devices as a whole, and the control system of the robot itself may be regarded as a subsystem under the external control system.
Currently, robots usually use special IO (input/output) lines to connect with external control systems. That is, it is necessary to specially design a hardware interface for the robot to connect with the external control system, and to connect between the robot and the external control system using a cable. The external control system periodically (or according to instructions) reads corresponding signals from the external control IO port of the robot, or outputs some state information of the robot own control system through the external control IO port.
Therefore, the existing robot external control system needs to occupy a considerable number of IO ports on the robot, and needs to design different IO ports or lines for robots of different models, which involves a great deal of modification of software, hardware and firmware, so that the design cost is high and the flexibility is poor.
[ summary of the invention ]
The application provides a robot external control method, a robot and an external control system, which are used for improving the flexibility of robot control.
In order to solve the technical problem, the application provides an external control method for a robot. The method comprises the following steps: establishing network connection between the robot and an external control system, wherein a plurality of input variables corresponding to control parameters of the robot are preset in the robot; updating at least one of the input variables in response to a write request by the external control system; and controlling the working state of the robot according to the updated input variable.
In order to solve the technical problem, the application provides an external control method for a robot. The method comprises the following steps: establishing a network connection between the external control system and the robot, wherein a plurality of input variables corresponding to control parameters of the robot are preset in the robot; sending a write request to the robot to cause the robot to update the input variables according to the write request; and controlling the working state of the robot according to the updated input variable.
In order to solve the technical problem, the application provides a robot. The robot comprises a processor and a memory, wherein the memory stores program instructions, and the processor can load the program instructions and execute the robot external control method.
In order to solve the technical problem, the application provides an external control system of a robot. The control system comprises a processor and a memory, wherein the memory stores program instructions, and the processor can load the program instructions and execute the robot external control method.
According to the application, the robot and the external control system can communicate with each other through a network, and the external control system can control the operation of the robot by updating the input variables preset in the robot. Therefore, the robot external control method is flexible, simple and convenient and is suitable for robot control in different scenes.
[ description of the drawings ]
Fig. 1 is a schematic flowchart of an embodiment of a robot external control method according to the present application.
Fig. 2 is a schematic flow chart of another embodiment of the external control method for the robot according to the present application.
Fig. 3 is a flowchart illustrating an embodiment of a robot external control method according to the present application.
Fig. 4 is a schematic flowchart of another embodiment of a robot external control method according to the present application.
Fig. 5 is a schematic flow chart of another embodiment of the external control method for the robot according to the present application.
Fig. 6 is a schematic structural diagram of an embodiment of the robot of the present application.
Fig. 7 is a schematic structural diagram of an embodiment of an external control system of a robot according to the present application.
[ detailed description ] embodiments
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating an embodiment of a method for controlling an external robot according to the present disclosure. The method comprises the following steps:
s101: a network connection is established between the robot and an external control system, wherein a plurality of input variables corresponding to control parameters of the robot are preset in the robot.
The robot involved in the present application may be various types of robots, such as a welding robot, an assembly robot, a palletizing robot, etc., used in an industrial field. In some embodiments, the robot may have a separate control system, in which case the robot's own control system may control the specific actions of the robot according to the instructions of the external control system. Appropriate communication circuits may be provided in both the robot and the external control system to establish network connections, either by wire or wirelessly. Among them, a plurality of input variables corresponding to control parameters of the robot may be preset in the robot. These input variables may be defined in any suitable data structure and data type as long as there is a unified description and identification of both the robot and the external control system. For example, a number of input variables may be stored in an array $ EXT _ CTRL _ DI [ n ] of integer (int-type), where n represents the total number of input variables.
In some embodiments, the control parameters of the robot may include, but are not limited to, at least one of the following parameters: start/stop, pause/restart, load program or alarm, etc. For example, if the control parameter "start/stop" is represented by an integer variable, a value of 1 may be defined for start and a value of 0 for stop in both the robot and the external control system. It is to be understood that different values of the input variables and/or their corresponding meanings for each control parameter may be defined as desired, and are not limited herein.
S102: the at least one input variable is updated in response to a write request by the external control system.
The external system may periodically (or in response to instructions) issue control instructions to the robot over the network, for example, the period may be 50ms, 100ms, 200ms, etc. If the control command includes a write request of the input variable, the robot can update the value of the defined input variable in response to the write request. For example, if a value 0 indicates "pause" and a value 1 indicates "restart" for an input variable corresponding to the control parameter "pause/restart", the external control system may send a write request requesting to change the value of the input variable corresponding to "pause/restart" to 0 if it is necessary to pause the robot while it is running. Conversely, when the robot is in the pause state and needs to be restarted, the external control system may send a write request to change the value of the input variable corresponding to "pause/restart" to 1.
In some embodiments, the robot and the external control system are connected through a network by establishing a socket port. Two programs on the network exchange data via a bidirectional communication link, one end of which is called a socket. At this time, the external control system may assign values to a plurality of input variables by calling a write function (write or write ()) in the socket function. If the input variables are stored in the integer array, the values of some or all of the input variables in the array may be adjusted according to a write request from the external control system.
S103: and controlling the working state of the robot according to the updated input variable.
According to the updated input variable, the robot can adjust its own working state accordingly, for example, when the value of the input variable corresponding to the control parameter "start/stop" of the robot is updated from 1 (corresponding start) to 0 (corresponding stop), the robot's own control system can stop the robot's working according to the input variable. On the other hand, if the input variable is changed from 0 to 1, the control system of the robot itself may start the operation of the robot.
The various control parameters described above are for purposes of example only. The user may select other control parameters as desired and define different input variables for these control parameters. Aiming at robots of different types and models, the control of the robot can be realized only by adjusting the definition of control parameters in an external control system and the robot without independently designing special software, hardware and firmware interfaces.
According to the present embodiment, communication between the robot and the external control system may be performed through a network, and the external control system may control the operation of the robot by updating input variables preset in the robot. Therefore, the robot external control method is flexible, simple and convenient and is suitable for robot control in different scenes.
Referring to fig. 2, fig. 2 is a schematic flowchart illustrating a robot external control method according to another embodiment of the present application. The method comprises the following steps:
s201: a network connection is established between the robot and an external control system, wherein a plurality of input variables corresponding to control parameters of the robot and a plurality of output variables corresponding to state parameters of the robot are preset in the robot.
In this embodiment, in addition to the input variables, the robot may be provided with a plurality of output variables corresponding to the state parameters of the robot in advance. Similar to the input variables, these output variables may be defined in any suitable data structure and data type, so long as there is a unified description and identification of both the robot and the external control system. For example, a number of output variables may be stored in an array $ EXT _ CTRL _ DO [ m ] of integer (int type), where m represents the total number of output variables.
In some embodiments, the state parameters of the robot may include, but are not limited to, at least one of the following parameters: the running state of the channel program, whether an alarm exists, the alarm number, the current control mode and the like. For example, if the status parameter "alarm or not" is represented by an integer variable, a value of 0 may be defined in both the robot and the external control system to indicate no alarm and a value of 1 to indicate alarm. It is to be understood that different values of the output variables corresponding to the state parameters and/or their corresponding meanings may be defined as required, and are not limited herein.
S202: the at least one input variable is updated in response to a write request by the external control system.
S203: and controlling the working state of the robot according to the updated input variable.
Steps S202 and S203 are similar to steps S102 and S103, and are not described herein again.
S204: and updating at least one output variable according to the working state of the robot.
The robot can periodically or non-periodically detect the working state of the robot. When a change in the operating state is detected, the robot may update its corresponding output variable. For example, for an output variable corresponding to the state parameter "whether there is an alarm" if a value 0 indicates "no alarm" and a value 1 indicates "alarm", the robot may set the value of the output variable to 1 when an alarm occurs during the operation of the robot, and the robot may set the value of the output variable to 0 when there is no alarm or the alarm is removed from the robot.
S205: and informing the updated output variable to the external control system in response to the read request of the external control system.
The external system may periodically (or in response to instructions) issue control instructions to the robot over the network, for example, the period may be 50ms, 100ms, 200ms, or the like. If the control command includes a read request for the output variable, the robot may respond to the read request to notify the external control system of the value of the output variable. Alternatively, in one read request, the external control system may request to read the values of all the output variables at one time, or may request to read only the values of a part of the output variables.
In some embodiments, the robot and the external control system are connected through a network by establishing a socket port. At this time, the external control system may obtain updated values of the plurality of input variables by calling a read function (read or read ()) in the socket function. If the output variables are stored in the integer array, the robot can inform the external control system of the values of part or all of the output variables in the array according to the reading request of the external control system.
The various state parameters described above are for purposes of example only. The user may select other state parameters as desired and define different output variables for these state parameters. Aiming at robots of different types and models, the acquisition of the running state of the robot can be conveniently realized only by adjusting the definition of the state parameters in an external control system and the robot without independently designing special software, hardware and firmware interfaces.
According to the embodiment, the robot and the external control system can communicate with each other through a network, and the external control system can control the operation of the robot by updating the input variables preset in the robot and can acquire the values of the output variables preset in the robot so as to know the operating state of the robot. Therefore, the robot external control method is flexible, simple and convenient and is suitable for robot control in different scenes.
Referring to fig. 3, fig. 3 is a schematic flowchart illustrating an embodiment of a method for controlling an external robot according to the present application. The method comprises the following steps:
s301: a network connection is established between an external control system and a robot in which a plurality of input variables corresponding to control parameters of the robot are preset.
S302: and sending a write request to the robot so that the robot updates the input variable according to the write request.
S303: and controlling the working state of the robot according to the updated input variable.
The present embodiments relate to a robot external control method that may be used to adjust control parameters of a robot using an external control system. One example of an external control system is a central control machine at an industrial site that may control the overall operation of multiple robots and/or equipment at the industrial site. The principle and concept involved in the steps of this embodiment have been explained in detail in the embodiments shown in fig. 1 and fig. 2, and specific information can be referred to the steps of the foregoing embodiments.
Referring to fig. 4, fig. 4 is a schematic flowchart illustrating a robot external control method according to another embodiment of the present application. The method comprises the following steps:
s401: a network connection is established between an external control system and a robot in which a plurality of input variables corresponding to control parameters of the robot and a plurality of output variables corresponding to state parameters of the robot are preset.
S402: and sending a write request to the robot so that the robot updates the input variable according to the write request.
S403: and controlling the working state of the robot according to the updated input variable.
S404: and sending a reading request to the robot to acquire at least one output variable updated by the robot according to the working state.
The embodiment relates to an external control method for a robot, which can be used for adjusting control parameters of the robot and acquiring state parameters of the robot by using an external control system. The principle and concept involved in the steps of this embodiment have been explained in detail in the embodiments shown in fig. 1 and fig. 2, and specific information can be referred to the steps of the foregoing embodiments.
Referring to fig. 5, fig. 5 is a schematic flowchart illustrating a robot external control method according to another embodiment of the present application.
As shown in fig. 5, after the robot system starts up, the external scan thread of the external control system starts to turn on the external control. At the moment, a background channel of the robot is opened, so that communication between the external control system and the robot is realized through a network communication socket. According to the requirement, the external control system can call a write () function through a network communication socket so as to assign a value to an input variable array $ EXT _ CTRL _ DI prestored in the robot, and then the robot can be controlled to execute corresponding actions according to the input variable by scanning the input variable in the $ EXT _ CTRL _ DI array. Or, according to needs, the external control system may call a read () function through a network communication socket to obtain an output variable in the $ EXT _ CTRL _ DI array, and then may feed back the operating state of the robot system to the external control system by scanning the output variable in the $ EXT _ CTRL _ DI array. And then, judging whether the external control thread is finished, if so, finishing the work of the robot system, otherwise, continuing to return to the step of calling the write () or read () function until the work of the external control system is finished. At this time, the robot completes or partially completes the work task assigned to the robot according to the instruction of the external control system.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a robot 500 according to an embodiment of the present invention. The robot 500 includes a processor 501, memory 502, and communication circuitry 503.
Therein, the communication circuit 503 of the robot 500 is used for communicating with other devices, e.g. it may be used for communicating with an external control system in a wired or wireless manner. The memory 502 holds program instructions that can be loaded by the processor 501 and executed to perform the robot external control method of any of the embodiments described above. It will be appreciated that in other embodiments, the memory 502 may be provided in the same physical device as the processor 501, and the robot 500 may be coupled to a network to perform the methods of any of the above embodiments.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an external control system 600 of a robot according to an embodiment of the present invention. The control system 600 includes a processor 601, a memory 602, and communication circuitry 603.
The communication circuit 603 of the control system 600 is used for communicating with other devices, for example, it can be used for communicating with the robot in a wired or wireless manner. The memory 602 holds program instructions that can be loaded by the processor 601 and executed to perform the robot external control method of any of the embodiments described above. It will be appreciated that in other embodiments, the memory 602 may be provided in the same physical device as the processor 601, and the method of any of the above embodiments may be performed by the control system 600 in conjunction with a network.
The functions described in the above embodiments, if implemented in software and sold or used as a separate product, may be stored in a device having a storage function, i.e., the present invention also provides a storage device storing a program. The program data in the storage device including, but not limited to, a usb disk, an optical disk, a server, a hard disk, or the like can be executed to implement the control method of the robot and/or the control system in the above-described embodiments.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (20)
- An external robot control method, comprising:establishing network connection between the robot and an external control system, wherein a plurality of input variables corresponding to control parameters of the robot are preset in the robot;updating at least one of the input variables in response to a write request by the external control system; andand controlling the working state of the robot according to the updated input variable.
- The robot external control method according to claim 1, wherein a plurality of output variables corresponding to state parameters of the robot are also preset in the robot;the method further comprises the following steps:updating at least one output variable according to the working state of the robot;and informing the updated output variable to the external control system in response to the read request of the external control system.
- A method of external control of a robot as claimed in claim 2, wherein the input variables are stored in a first array of integer type and the output variables are stored in a second array of integer type.
- The robot external control method according to claim 3, characterized in that:the step of establishing a network connection between the robot and an external control system comprises: establishing socket port connection between the robot and an external control system;the step of updating at least one of the input variables in response to a write request from the external control system comprises: responding to a write function called by the external control system, and assigning values to part or all of the input variables in the first array;the step of transmitting the updated output variable to the external control system in response to the read request of the external control system includes: and responding to a read function called by the external control system, and informing part or all of the output variables in the second array to the external control system.
- The robot external control method according to any one of claims 1 to 4, characterized in that:the control parameters of the robot include: at least one of start/stop, pause/restart, load program, or alarm.
- An external robot control method, comprising:establishing a network connection between the external control system and the robot, wherein a plurality of input variables corresponding to control parameters of the robot are preset in the robot;sending a write request to the robot to cause the robot to update the input variables according to the write request; andand controlling the working state of the robot according to the updated input variable.
- The robot external control method according to claim 6, wherein a plurality of output variables corresponding to state parameters of the robot are also preset in the robot;the method further comprises the following steps:and sending a reading request to the robot to acquire at least one output variable updated by the robot according to the working state.
- The external robot control method of claim 7, wherein the input variables are stored in a first array of integer types and the output variables are stored in a second array of integer types.
- The robot external control method according to claim 8, characterized in that:the step of establishing a network connection between the external control system and the robot comprises: establishing socket port connection between the robot and an external control system;the step of sending a write request to the robot to cause the robot to update the input variables according to the write request comprises: assigning values to part or all of the input variables in the first array by calling a write function;the step of sending a reading request to the robot to obtain at least one output variable updated by the robot according to the working state comprises the following steps: and acquiring part or all of the output variables in the second array by calling a read function.
- The robot external control method of claim 9, wherein the steps of calling the write function and calling the read function are performed at a certain cycle.
- A method for external control of a robot according to claim 10, wherein said period is equal to 100 ms.
- A method for external control of a robot according to any of claims 6-11, wherein the control parameters of the robot comprise: at least one of start/stop, pause/restart, load program, or alarm.
- A robot comprising communication circuitry for communicating with an external control system, a processor and a memory, the memory storing program instructions, the processor being loadable with the program instructions and operative to perform a method of external control of the robot, the method comprising:establishing a network connection between the robot and the external control system, wherein a plurality of input variables corresponding to control parameters of the robot are preset in the robot;updating at least one of the input variables in response to a write request by the external control system; andand controlling the working state of the robot according to the updated input variable.
- A robot according to claim 13, wherein a plurality of output variables corresponding to state parameters of the robot are also preset in the robot;the method further comprises the following steps:updating at least one output variable according to the working state of the robot;and informing the updated output variable to the external control system in response to the read request of the external control system.
- A robot as recited in claim 14, wherein:the input variables are stored in a first array of integer types, and the output variables are stored in a second array of integer types;the step of establishing a network connection between the robot and an external control system comprises: establishing socket port connection between the robot and an external control system;the step of updating at least one of the input variables in response to a write request from the external control system comprises: responding to a write function called by the external control system, and assigning values to part or all of the input variables in the first array;the step of transmitting the updated output variable to the external control system in response to the read request of the external control system includes: and responding to a read function called by the external control system, and informing part or all of the output variables in the second array to the external control system.
- A robot as claimed in any of claims 13-15, wherein:the control parameters of the robot include: at least one of start/stop, pause/restart, load program, or alarm.
- An external control system for a robot, comprising communication circuitry for communicating with the robot, a processor and a memory, the memory storing program instructions, the processor being loadable with the program instructions and executing a method for external control of a robot, the method comprising:establishing a network connection between the external control system and the robot, wherein a plurality of input variables corresponding to control parameters of the robot are preset in the robot;sending a write request to the robot to cause the robot to update the input variables according to the write request; andand controlling the working state of the robot according to the updated input variable.
- An external control system of a robot according to claim 17, wherein a plurality of output variables corresponding to state parameters of the robot are also preset in the robot;the method further comprises the following steps:and sending a reading request to the robot to acquire at least one output variable updated by the robot according to the working state.
- The external control system of a robot as claimed in claim 18, wherein:the input variables are stored in a first array of integer types, and the output variables are stored in a second array of integer types;the step of establishing a network connection between the external control system and the robot comprises: establishing socket port connection between the robot and an external control system;the step of sending a write request to the robot to cause the robot to update the input variables according to the write request comprises: assigning values to part or all of the input variables in the first array by calling a write function;the step of sending a reading request to the robot to obtain at least one output variable updated by the robot according to the working state comprises the following steps: and acquiring part or all of the output variables in the second array by calling a read function.
- An external control system of a robot as claimed in claims 16-19, characterized in that:the control parameters of the robot include: at least one of start/stop, pause/restart, load program, or alarm.
Applications Claiming Priority (1)
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| PCT/CN2018/123628 WO2020132902A1 (en) | 2018-12-25 | 2018-12-25 | External control method for robot, robot, and external control system |
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