CN112276976B - Cloud control platform-based functional robot control system - Google Patents
Cloud control platform-based functional robot control system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/061—Safety devices with audible signals
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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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
The invention discloses a functional robot control system based on a cloud control platform, which comprises: the control ends of the robots are respectively configured to be connected with corresponding functional robots, and after the received control instructions are converted into command signals which can be identified by the functional robots, the functional robots are controlled to operate, and meanwhile, operation logs of the functional robots are collected and stored; the distributed regional cloud is configured with a plurality of cloud servers which are redundant with each other; any cloud server for executing monitoring is communicated with a robot control end, a control instruction is sent to a functional robot through the robot control end, and an operation log stored in the robot control end is called; meanwhile, the working conditions are shared to the redundant cloud servers in real time, so that the redundant cloud servers take over monitoring of the functional robot when faults occur. According to the invention, the operation condition of the functional robot is monitored in real time through the robot control end, so that the stable operation of the functional robot is ensured, and the background remote monitoring is realized.
Description
Technical Field
The invention relates to functional robot control, in particular to a functional robot control system based on a cloud control platform.
Background
With the continuous progress of internet technology, many industries have begun to upgrade new industries, gradually transitioning from traditional mechanical industries to intelligent new industries. Industry 4.0 proposes that many new opportunities start to emerge, whether to make innovative leaders or to lag followers for industry selection. Through the production technology innovation and informatization innovation, the design innovation and marketing innovation are put into more excess, and the more uneven competitive advantage is obtained. Enterprises carry out intelligent transformation, and the problems that the original automation degree is low, the technical workers are too dependent and the like are further solved, so that the corresponding technical level can be further improved, the production efficiency is improved, the error rate is reduced, the delivery period is reduced, and the enterprises produce a higher floor.
The technical development of the functional robot enables the traditional industrial line to be more intelligent, the novel functional robots represented by the spraying robot, the sorting robot and the welding robot not only improve the production capacity of enterprises, but also derive a large number of modern industries represented by the parts of the functional robots and the testing system, and the future of the whole industry is quite clear.
With the rising of technological innovations such as the Internet of things, 5G and cloud technologies, the whole development speed of the intelligent robot industry is accelerated. The technical development of the cloud control platform integrates the original single robot control circuit into on-line unified detection management, so that the workload of maintenance personnel is reduced, the working strength and the maintenance cost are reduced, the production efficiency and the production accuracy of enterprises are further improved, and the cloud control platform is a new mode for developing novel intelligent industry in the future.
Disclosure of Invention
The embodiment of the application provides a functional robot control system based on a cloud control platform, which is used for solving the problem of unstable control of the existing functional robot.
The technical scheme provided by the application is as follows:
A cloud control platform based functional robot control system, comprising:
The robot control terminals are respectively configured to be connected with corresponding functional robots and used for controlling the functional robots to operate after converting received control instructions into command signals which can be identified by the functional robots, and collecting and storing operation logs of the functional robots, wherein the operation logs comprise working time, equipment temperature, pose characteristics and abnormal information;
The distributed area cloud is configured with a plurality of cloud servers which are redundant; any cloud server for executing monitoring is communicated with the robot control end, and the robot control end sends control instructions including remote monitoring, switch control and pose adjustment to the functional robot, and invokes an operation log stored in the robot control end; meanwhile, the working conditions are shared to the cloud servers in a redundant mode in real time, so that when faults occur, the cloud servers in the redundant mode take over monitoring of the functional robot.
Further, the robot control end comprises a control device, wherein the control device at least comprises a microprocessor, a programmable controller and an operation accelerator;
The microprocessor is respectively connected with the programmable controller and the operation accelerator;
Converting a control instruction into an instruction signal which can be recognized by the functional robot through the programmable controller so as to control the corresponding functional robot;
and carrying out cooperative operation on the operation data of the functional robot through the operation accelerator so as to transmit the operation data to the cloud server in real time.
Further, the robot control end comprises a storage device, and the storage device is connected with the microprocessor and used for storing the corresponding operation log of the functional robot in real time.
Further, the robot control end comprises a multi-path sensor, and the multi-path sensor is connected with the microprocessor; the functional robot is provided with a plurality of marking points, and each marking point is collected through the multi-path sensor so as to obtain an operation log of the functional robot including working time, equipment temperature, pose characteristics and abnormal information.
Further, the multi-path sensor comprises a fiber optic gyroscope and a triaxial acceleration sensor; when the functional robot works normally, the functional robot moves in a certain range, and the pose condition of the functional robot is detected through the joint operation of the fiber optic gyroscope and the triaxial acceleration sensor.
Further, the robot control end comprises a conversion circuit and a robot power supply; the conversion circuit is connected with an external power supply;
The conversion circuit comprises a first circuit and a second circuit, wherein the first circuit is connected with a robot power supply and is used for supplying power to the functional robot; the second circuit is connected to the control device and is used for supplying power to the control end of the robot.
Further, the robot control end comprises a scram device, and the scram device is connected into a circuit of the control device and the power supply of the robot and is used for carrying out scram processing on the operation of the functional robot.
Further, the robot control end comprises a wireless communication device, the wireless communication device is connected with the microprocessor, and ZIGBEE technology is adopted, so that the control device communicates with the cloud server through the wireless communication device.
Further, the robot control end comprises an alarm device, and the alarm device is connected with the microprocessor and used for alarming and reminding the functional robot with faults.
The cloud control platform-based functional robot control system provided by the embodiment of the application has at least the following technical effects:
1. According to the cloud control platform-based functional robot control system, the Zigbee technology is used for short-distance communication, and the robot terminal is internally provided with a large-capacity storage space, so that the operation monitoring, emergency stop and pose adjustment of the functional robot on each station can be realized.
2. On the basis of the traditional single control robot, the distributed area cloud is combined, each functional robot control end controller can be used as a terminal node, the operation accelerator in the control center can be used for completing the cooperative operation of each node, the working parameters of the functional robots are stored through the storage space of each node, and the cloud is uploaded, so that the real-time tracking and detection of maintenance personnel are facilitated.
3. According to the cloud control platform-based functional robot control system, a distributed storage and decentralization framework is adopted, and each functional robot control end controller can independently call data, so that the cloud control platform-based functional robot control system is more complete in safety.
Drawings
Fig. 1 is a schematic diagram of a functional robot and a terminal thereof in an embodiment of the present application;
fig. 2 is a structural diagram of a functional robot control system based on a cloud control platform according to an embodiment of the present application;
fig. 3 is a connection block diagram of a functional robot control system based on a cloud control platform according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a distributed redundancy connection scheme according to an embodiment of the present application;
fig. 5 is a block diagram of a robot control end according to an embodiment of the present application;
Fig. 6 is a block diagram of a control device according to an embodiment of the present application.
Reference numerals: the distributed area cloud 100, the robot control end 200, the functional robot 300, the external power supply 400, the marking point 500, the control device 210, the microprocessor 211, the programmable controller 212, the operation accelerator 213, the switching circuit 220, the first line 221, the second line 222, the emergency stop device 230, the robot power supply 240, the storage device 250, the multiplexing sensor 260, the wireless communication device 270, the alarm device 280, the cloud server 110, the first cloud server 111, the second cloud server 112,
Detailed Description
The invention will be further illustrated with reference to specific examples. It should be understood that these examples are for illustrating the present invention only and are not intended to limit the scope of the present invention, and that modifications and adjustments made by those skilled in the art in light of the present invention will still fall within the scope of the present invention in practical applications.
Reference in the present specification to one element being "connected" or "connected" to another element, it may be directly connected or directly connected to the other element, or intervening elements may also be present. In the description of the application, unless explicitly stated or limited, the terms "mounted" and "connected" are used in a broad sense, and should be construed in a broad sense by those skilled in the art.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
The embodiment provides a control system of a functional robot 300 based on a cloud control platform, which comprises: robot control end 200, functional robot 300, and distributed area cloud 100.
Referring to fig. 1, a plurality of robot control terminals 200 in this embodiment are respectively configured to be connected to corresponding functional robots 300, and are configured to control the functional robots 300 to operate after converting a received control instruction into an instruction signal identifiable by the functional robots 300, and collect and store an operation log of the functional robots 300 including a working time period, a device temperature, a pose characteristic, and abnormality information.
Referring to fig. 2-3, the distributed regional cloud 100 in the present embodiment is configured with a plurality of cloud servers 110 that are redundant to each other; any cloud server 110 for executing monitoring is communicated with the robot control end 200, and a control instruction comprising remote monitoring, switch control and pose adjustment is sent to the functional robot 300 through the robot control end 200, and an operation log stored in the robot control end 200 is called; meanwhile, the working conditions are shared to the redundant cloud server 110 in real time, so that when a fault occurs, the redundant cloud server 110 takes over monitoring of the functional robot 300.
The distributed area cloud 100 in this embodiment includes a plurality of cloud servers 110, and each robot control end 200 is connected to the distributed area cloud 100 and in data communication with one of the cloud servers 110. The user terminal can learn the working condition of any functional robot 300 by accessing any cloud server 110. The user terminal may be a smart phone, tablet computer or other terminal device. Further, each cloud server 110 accesses to a remote application platform to share the working condition of the functional robot 300 in real time, which, of course, if the operation log of a certain functional robot 300 needs to be checked, the cloud server 110 needing to be monitored correspondingly calls the operation log stored by the corresponding robot control end 200 of the functional robot 300 and shares the operation log with all redundant cloud servers 110.
Further, referring to fig. 4, the cloud servers 110 in the distributed area cloud 100 are redundant and can communicate with each other, including the first cloud server 111, the second cloud server 112, the third cloud server 113, and the fourth cloud server 114, and after the plurality of robot control ends 200 access the distributed area cloud 100, they can communicate with any one cloud server 110 in the distributed area cloud 100. The robot control end comprises 200-1, 200-2, 200-3 and 200-4; when any cloud server 110 monitors a certain functional robot 300, it communicates with its corresponding robot control end 200 to send control instructions and receive the operation log of the functional robot 300, and at the same time, share the working conditions to the cloud servers 110 of other redundant settings in the distributed area cloud 100. Further, any cloud server 110 can monitor one or more functional robots 300, and a user can know the real-time dynamics of all the functional robots 300 by accessing any cloud server 110 in combination with the monitoring conditions shared by other cloud servers 110. Meanwhile, in order to learn the operation condition of any functional robot 300, the monitored cloud server 110 invokes the work log stored in the corresponding robot control end 200 to learn, so that maintenance personnel can conveniently track in real time and improve the data transmission rate.
For example, assume that the distributed area cloud 100 includes a first cloud server 111 and a second cloud server 112 that are redundant to each other. Of course, the distributed area cloud 100 is not just the first cloud server 111 and the second cloud server 112, and this embodiment illustrates redundancy setting. The first cloud server 111 and the second cloud server 112 can normally communicate with all the robot control terminals 200. When the first cloud server 110 performs monitoring, it communicates with one or more robot control terminals 200, and performs monitoring on the corresponding functional robots 300 through the robot control terminals 200, including sending control instructions including remote monitoring, on-off control, and pose adjustment, calling running logs stored in the robot control terminals 200, and receiving the working conditions of the functional robots 300 uploaded by the robot control terminals 200 in real time. Meanwhile, since the first cloud server 111 and the second cloud server 112 are redundant, the first cloud server 111 shares the monitoring situation to the second cloud server 112 with redundancy in real time, and at this time, although the second cloud server 112 does not communicate with the robot control end 200, the monitoring situation shared by the first cloud server 111 is received in real time. Therefore, if the first cloud server 111 fails in communication, the second cloud server 112 directly takes over the monitoring of the functional robot 300.
Referring to fig. 5, the robot control end 200 in the present embodiment includes a control device 210, a storage device 250, a conversion circuit, an emergency stop device 230, a robot power supply 240, a multi-path sensor 260, an alarm device 280, and a wireless communication device 270.
Referring to fig. 6, the robot control end 200 in the present embodiment includes a control device 210, where the control device 210 includes at least a microprocessor 211, a programmable controller 212, and an operation accelerator 213; microprocessor 211 is connected to programmable controller 212 and operation accelerator 213, respectively; the microprocessor 211 converts the received control instruction into an instruction signal recognizable to the functional robot 300 through the programmable controller 212 to control the corresponding functional robot 300; the microprocessor 211 performs cooperative operation on the operation data of the functional robot 300 through the operation accelerator 213, so as to transmit the operation data to the cloud server 110 in real time.
Further, each robot control end 200 may be used as a terminal node, and the operation accelerator 213 may be used to complete the cooperative cloud of each node, and upload the operation condition of the corresponding functional robot 300 to the distributed area cloud 100, so as to enable an operator to learn the operation condition of each functional robot 300 by accessing each cloud server 110. Especially when being applied to the production line, the distributed storage and decentralization architecture is adopted, and data can be independently fetched through each robot control end 200, so that the system is safer and more complete.
The control device 210 in this embodiment includes a storage device 250, where the storage device 250 is connected to the microprocessor 211, and is used for storing the operation log of the corresponding functional robot 300 in real time. Further, the storage device 250 in this embodiment has a large storage space, performs cloud storage to store the running log of the functional robot 300 in real time, and is also used for buffering the current running condition so as to transmit to the cloud server 110 being monitored.
The control device 210 in this embodiment includes a multi-way sensor 260, and the multi-way sensor 260 is connected to the microprocessor 211. A plurality of marking points 500 are arranged on the corresponding functional robot 300, and each marking point 500 is acquired through the multi-path sensor 260 to obtain the pose posture of the functional robot 300, so that the operation log of the functional robot 300 including the working time length, the equipment temperature, the pose characteristics and the abnormal information is obtained. Further, the multi-path sensor 260 includes a fiber optic gyroscope and a tri-axis acceleration sensor; when the robot normally works, the working arm of the functional robot 300 performs a rotational motion within a certain range, and the pose condition of the functional robot 300 is detected by the combined operation of the fiber optic gyroscope and the triaxial acceleration sensor.
In one embodiment, the functional robot 300 includes a mechanical arm and a driving mechanism, and the position and posture condition of the functional robot 300 is collected, that is, the position and posture condition of the mechanical arm is collected, when the functional robot 300 works normally, the mechanical arm is in a certain range of rotation motion under the driving action of the driving mechanism, and when the driving mechanism is abnormal in the running process of the functional robot 300, that is, the current position and posture angle and speed of the mechanical arm change sharply. The drive mechanism in this embodiment may be, but is not limited to, a stepper motor. Further, a plurality of marking points 500 are arranged on the mechanical arm, and the running gesture of the mechanical arm is presented through the space positions of the marking points 500. In this embodiment, the optical fiber gyroscope and the triaxial acceleration sensor operate together to obtain the rotation angle data of the current mechanical arm, and the rotation angle data is transmitted to the microprocessor 211 for processing, and the logic processing algorithm built in the microprocessor 211 is used for comparing and correcting errors to obtain the correct operation posture data of the mechanical arm so as to further control the movement of the mechanical arm. In this embodiment, after angle measurement is performed through the fiber optic gyroscope and the triaxial acceleration sensor, calculation is performed by using a kalman filtering principle, wherein a system state equation is as follows: x t＝Axt-1+But-1+εt-1; the control equation is: y t＝Cxt+γt; the gyroscope detects the rotation angular velocity and deduces the rotation angle through a self-contained program, and the triaxial acceleration sensor measures the acceleration on the acceleration axis and calculates based on the acceleration:
calculating an angle error Then, the gain k t is calculated again, and finally the current state of the functional robot 300 is updated, so that an optimized angle result is finally obtained, and the movement of the functional robot 300 is controlled.
The robot control terminal 200 in the present embodiment includes a conversion circuit and a robot power supply 240; the conversion circuit is connected with the external power supply 400. Power is obtained through an external power supply 400. The conversion circuit comprises a first circuit 221 and a second circuit 222, wherein the first circuit 221 is connected to the robot power supply 240 for supplying power to the functional robot 300 to drive the functional robot 300 to operate; the second line 222 is connected to the control device 210 for supplying power to the robot control terminal 200, and further, to the components of the control device 210.
The robot control end 200 in this embodiment includes a scram device 230, and the scram device 230 is connected to a circuit connected to the robot power supply 240 by the control device 210, so as to perform scram processing on the operation of the functional robot 300.
The robot control end 200 in this embodiment includes a wireless communication device 270, where the wireless communication device 270 is connected to the control device 210, and the ZIGBEE technology is adopted, so that the control device 210 communicates with the cloud server 110 through the wireless communication device 270.
The robot control end 200 in this embodiment includes an alarm device 280, where the alarm device 280 is connected to the microprocessor 211, and is used for alarming and reminding the functional robot 300 that has a fault. In this embodiment, when the data of the functional robot 300 is abnormal, an alarm is immediately sent out, and the emergency stop device 230 is automatically or manually turned on, so that the power of the abnormal functional robot 300 is turned off on the basis of ensuring the normal operation of all the functional robots 300, thereby ensuring the safety.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. A functional robot control system based on cloud control platform, characterized by comprising:
The robot control terminals are respectively configured to be connected with corresponding functional robots and used for controlling the functional robots to operate after converting received control instructions into command signals which can be identified by the functional robots, and collecting and storing operation logs of the functional robots, wherein the operation logs comprise working time, equipment temperature, pose characteristics and abnormal information;
The distributed area cloud is configured with a plurality of cloud servers which are redundant; any cloud server for executing monitoring is communicated with the robot control end, and the robot control end sends control instructions including remote monitoring, switch control and pose adjustment to the functional robot, and invokes an operation log stored in the robot control end; meanwhile, the working conditions are shared to the cloud servers in a redundant mode in real time, so that when faults occur, the cloud servers in the redundant mode take over monitoring of the functional robot;
the robot control end comprises a control device, wherein the control device at least comprises a microprocessor, a programmable controller and an operation accelerator;
The microprocessor is respectively connected with the programmable controller and the operation accelerator;
Converting a control instruction into an instruction signal which can be recognized by the functional robot through the programmable controller so as to control the corresponding functional robot;
and carrying out cooperative operation on the operation data of the functional robot through the operation accelerator so as to transmit the operation data to the cloud server in real time.
2. The cloud-controlled-platform-based functional robot control system according to claim 1, wherein the robot control end comprises a storage device, and the storage device is connected with the microprocessor and is used for storing the corresponding operation log of the functional robot in real time.
3. The cloud-controlled platform based functional robot control system of claim 1, wherein the robot control end comprises a multi-path sensor, the multi-path sensor being connected with the microprocessor; the functional robot is provided with a plurality of marking points, and each marking point is collected through the multi-path sensor so as to obtain an operation log of the functional robot including working time, equipment temperature, pose characteristics and abnormal information.
4. The cloud-controlled platform based functional robotic control system of claim 3, wherein the multi-path sensor comprises a fiber optic gyroscope and a tri-axis acceleration sensor; when the functional robot works normally, the functional robot moves in a certain range, and the pose condition of the functional robot is detected through the joint operation of the fiber optic gyroscope and the triaxial acceleration sensor.
5. The cloud-controlled platform based functional robot control system of claim 1, wherein the robot control terminal comprises a conversion circuit and a robot power supply; the conversion circuit is connected with an external power supply;
The conversion circuit comprises a first circuit and a second circuit, wherein the first circuit is connected with a robot power supply and is used for supplying power to the functional robot; the second circuit is connected to the control device and is used for supplying power to the control end of the robot.
6. The cloud-based functional robot control system of claim 5, wherein the robot control terminal comprises a scram device, and the scram device is connected to a circuit of the control device connected to the robot power supply, and is used for scram processing of the functional robot operation.
7. The cloud platform based functional robot control system of claim 1, wherein the robot control end comprises a wireless communication device, the wireless communication device is connected with the microprocessor, and the ZIGBEE technology is adopted, so that the control device communicates with a cloud server through the wireless communication device.
8. The cloud-controlled-platform-based functional robot control system of claim 1, wherein the robot control end comprises an alarm device connected with the microprocessor for alerting the functional robot to a failure.
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| CN113325688A (en) * | 2021-05-07 | 2021-08-31 | 哈尔滨宇龙自动化有限公司 | Cloud-based redundant PLC control method and control system |
| CN113325757B (en) * | 2021-05-21 | 2022-04-15 | 珠海格力电器股份有限公司 | Industrial robot control system |
| CN113359586A (en) * | 2021-06-22 | 2021-09-07 | 筑橙科技(深圳)有限公司 | Real-time monitoring method and system for outer wall construction robot |
| CN114070870A (en) * | 2021-10-22 | 2022-02-18 | 国网上海市电力公司 | Internet of things remote control system of intelligent terminal |
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