CN112692834A - Control method, system and storage medium for robot operation and maintenance service - Google Patents
Control method, system and storage medium for robot operation and maintenance service Download PDFInfo
- Publication number
- CN112692834A CN112692834A CN202110007896.6A CN202110007896A CN112692834A CN 112692834 A CN112692834 A CN 112692834A CN 202110007896 A CN202110007896 A CN 202110007896A CN 112692834 A CN112692834 A CN 112692834A
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- robot
- equipment
- serviced
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- 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
Abstract
The invention discloses a control method, a system and a storage medium for robot operation and maintenance service, wherein the method comprises the following steps: acquiring equipment data acquired by the intelligent box; determining the equipment type, the equipment type to be serviced and the equipment position to be serviced according to the equipment data, wherein the equipment type to be serviced comprises equipment fault maintenance and equipment maintenance; acquiring the current position of the robot; determining a target operation path of the robot according to the current position of the robot and the position to be served of the equipment; determining a robot action instruction according to the equipment type and the equipment type to be serviced; and when the robot is controlled to run to the position to be served by the equipment according to the target running path, controlling the robot to finish operation and maintenance service according to the robot action instruction. The invention can realize the function of generating the motion path of the robot in real time according to the real-time position to be served of the equipment, improve the working efficiency of each robot and reduce the cost of the robot. The invention can be widely applied to the technical field of robots.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a control method, a control system and a storage medium for robot operation and maintenance service.
Background
At present, robots are widely applied in the fields of industrial production, maintenance and the like. For example, pooh machining, manufacturing, welding, heat treatment, surface coating, loading and unloading, assembly, inspection, warehouse stacking, equipment maintenance, and the like. At present, in the working process of a robot, the working process of the robot is effectively controlled by presetting the running path, the action and the like of the robot. However, in the industrial production process, the related equipment and procedures are numerous, so that the working efficiency of the robot is greatly limited by the control mode of the robot at present, and the cost of the robot is increased.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a control method, a control system and a storage medium for robot operation and maintenance service, which can effectively improve the working efficiency of the robot and reduce the cost of the robot.
According to the embodiment of the first aspect of the invention, the control method of the robot operation and maintenance service comprises the following steps:
acquiring equipment data acquired by the intelligent box;
determining the equipment type, the equipment type to be serviced and the equipment position to be serviced according to the equipment data, wherein the equipment type to be serviced comprises equipment fault maintenance and equipment maintenance;
acquiring the current position of the robot;
determining a target operation path of the robot according to the current position of the robot and the position to be served of the equipment;
determining a robot action instruction according to the equipment type and the equipment type to be serviced;
and when the robot is controlled to run to the position to be served by the equipment according to the target running path, controlling the robot to finish operation and maintenance service according to the robot action instruction.
The control method for the operation and maintenance service of the robot according to the embodiment of the invention at least has the following beneficial effects: the method comprises the steps of determining the equipment type, the equipment to-be-serviced type and the equipment to-be-serviced position through the acquired equipment data acquired by the intelligent box in real time, acquiring the current position of the robot, determining the target operation path of the robot according to the current position of the robot and the equipment to-be-serviced position, determining the action instruction of the robot according to the equipment type and the equipment to-be-serviced type, controlling the robot to operate to the equipment to-be-serviced position according to the target operation path, and controlling the robot to complete operation and maintenance service according to the action instruction of the robot, so that the function of generating the motion path of the robot in real time according to the real-time to-be-serviced position of the equipment is realized, the working efficiency of each robot is.
According to some embodiments of the invention, before the step of acquiring the device data collected by the smart box, the method further comprises the following steps:
acquiring a plurality of equipment positions and a preset operation area of the robot;
and generating a plurality of robot running paths in the preset running area of the robot according to the positions of the plurality of devices.
According to some embodiments of the invention, the determining the target operation path of the robot according to the current position of the robot and the position to be served by the equipment comprises:
extracting a plurality of running paths to be selected from the plurality of robot running paths according to the current position of the robot and the position to be served of the equipment;
calculating the operation efficiency of the plurality of operation paths to be selected;
and selecting the running path to be selected with the maximum running efficiency as a target running path of the robot.
According to some embodiments of the invention, the determining the type of the device to be serviced according to the device data comprises:
acquiring a device standard value range corresponding to the device data from a standard value database;
and when the equipment data is smaller than the lower limit value of the equipment standard value range or larger than the upper limit value of the equipment standard value range, determining the type of equipment to be served.
According to some embodiments of the invention, the determining robot action instructions according to the device type and the device to be serviced type comprises:
acquiring structural component information of equipment corresponding to the equipment type;
and determining a robot action instruction according to the structural component information and the type of the equipment to be serviced.
According to some embodiments of the invention, the method further comprises the steps of:
when failure removal information uploaded by the robot is received, generating failure prompt information of equipment corresponding to the equipment data; and sending the fault prompt information to terminal equipment.
According to a second aspect of the invention, the control system of the robot operation and maintenance service comprises:
the first acquisition module is used for acquiring the equipment data acquired by the intelligent box;
the first judgment module is used for determining the equipment type, the equipment type to be serviced and the equipment position to be serviced according to the equipment data, wherein the equipment type to be serviced comprises equipment fault maintenance and equipment maintenance;
the second acquisition module is used for acquiring the current position of the robot;
the second judgment module is used for determining a target running path of the robot according to the current position of the robot and the position to be served of the equipment; determining a robot action instruction according to the equipment type and the equipment type to be serviced;
and the control module is used for controlling the robot to run to the equipment to-be-serviced position according to the target running path and controlling the robot to finish operation and maintenance service according to the robot action instruction.
According to the third aspect embodiment of the invention, the control system of the robot operation and maintenance service comprises:
at least one memory for storing a program;
at least one processor, configured to load the program to execute the control method for the operation and maintenance service of the robot in the embodiment of the first aspect.
A computer-readable storage medium according to a fourth aspect of the present invention stores therein a processor-executable program that, when executed by a processor, is configured to perform the control method of the robot operation and maintenance service of the first aspect.
According to the robot in the fifth aspect of the present invention, the working state is controlled by the control method of the robot operation and maintenance service in the first aspect.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described with reference to the following figures and examples, in which:
fig. 1 is a control method of a robot operation and maintenance service according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present numbers, and the above, below, within, etc. are understood as including the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly defined, terms such as set, etc. should be broadly construed, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the detailed contents of the technical solutions.
In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Referring to fig. 1, an embodiment of the present invention provides a control method for a robot operation and maintenance service, where the present embodiment may be applied to a server, and the server may be a background processor corresponding to multiple different types of platforms. The server is interactive with a plurality of terminals, and the plurality of terminals can be intelligent boxes for collecting equipment data, control modules on the robot and terminal equipment of workers.
In the implementation process, the embodiment includes the following steps:
and S1, acquiring the equipment data collected by the intelligent box. The equipment data includes data such as equipment model, engine oil pressure, engine speed, engine oil temperature, water temperature, fuel temperature, cooling water level, cooling water flow, and the like. The intelligent box is a device, a module and the like with data acquisition functions, such as a pressure sensor, a temperature sensor, a water level sensor and the like. The acquisition process is the real-time collection of intelligent box. The collected data are all real-time data. In the data acquisition process, the data are transmitted to the server in real time through GPRS, so that the server receives and processes the data in time.
Since the equipment is usually arranged at a fixed position, a data acquisition device such as a sensor can be arranged at a specified position on the equipment for acquiring data in real time, for example, an engine needs to be detected, and the engine is usually arranged at the specified position, so that the sensor can be arranged at each position of the engine needing to be monitored, and the working state data of the engine can be monitored in real time through the sensor. When the device to be monitored is determined, the movable area of the robot can be determined, and therefore, before executing step S1, the method further includes the following steps:
acquiring a plurality of equipment positions and a preset operation area of the robot; the preset operation area is a movable area of the robot; and then generating a plurality of robot running paths in a preset running area of the robot according to the positions of the equipment. The plurality of robot running paths are all paths through which the robot can reach the position B from the position A, and can be straight lines, curves or broken lines. The present embodiment provides selectable targets for subsequent path determination by predetermining several paths of the robot.
And S2, determining the device type, the device to-be-serviced type and the device to-be-serviced position according to the device data. The type of equipment to be serviced comprises equipment fault maintenance and equipment maintenance. In this step, the same device also has different models, and the different models correspond to different structures. Therefore, the type of the device is determined by the type of the device, and then the type to be served and the position to be served of the device are determined according to other data of the device collected in real time. For example, the engine A is determined according to the model of the equipment, then whether the cooling water on the engine is insufficient is analyzed according to the collected water temperature data of the engine A, if the cooling water is insufficient, the type to be served of the equipment is determined to be that the cooling water needs to be added, and the position to be served of the equipment is the position for storing the cooling water.
In some embodiments, determining the type of the device to be serviced according to the device data may be further implemented by:
acquiring a device standard value range corresponding to the device data from a standard value library; the server may query the standard value range of the device pre-stored in the standard value library through sql statements, and the standard value range of the device may be a value range given by a device manufacturer and capable of maintaining normal operation of the device. And then, judging the relation between the equipment data acquired in real time and the equipment standard value range, and determining the type of the equipment to be served when the equipment data is smaller than the lower limit value of the equipment standard value range or larger than the upper limit value of the equipment standard value range. That is, in this case, the equipment needs to be repaired or maintained.
Specifically, the standard value range of the equipment includes an early warning range and a damage range, for example, the early warning range and the damage range corresponding to the water temperature of the engine, wherein when the standard value range is smaller than the lower limit of the early warning range and larger than the lower limit of the damage range, or when the standard value range is larger than the upper limit of the early warning range and smaller than the upper limit of the damage range, the equipment is determined to be in a warning state, and if maintenance is not performed, the equipment may be damaged, and therefore, the type of the equipment to be serviced is determined to be maintenance; when the damage range is lower than the lower limit of the damage range, the engine cannot be driven to work, when the damage range is higher than the upper limit of the damage range, parts of the engine can be damaged, and in both cases, the equipment can be in a damaged state, so that the type of the equipment to be serviced is determined to be fault maintenance.
And S3, acquiring the current position of the robot. The current position of the robot in the step refers to the position of the robot at the current moment corresponding to the time point of real-time acquisition of the equipment data. This step may be performed in synchronization with step S1.
S4, determining a target operation path of the robot according to the current position of the robot and the position to be served by the equipment; and determining a robot action instruction according to the equipment type and the equipment type to be serviced.
In some embodiments, the step of determining the target operation path of the robot according to the current position of the robot and the position to be served by the equipment can be realized by the following steps:
and extracting a plurality of running paths to be selected from the plurality of robot running paths according to the current position of the robot and the position to be served of the equipment. Calculating the operation efficiency of a plurality of operation paths to be selected; the operation efficiency is obtained by comprehensively calculating a plurality of factors such as the operation time from the starting point to the end point, the barrier blocking condition from the starting point to the end point and the like. And then selecting the running path to be selected with the maximum running efficiency as a target running path of the robot. In the step, the path with the highest operation efficiency is selected from the multiple paths to be selected as the target operation path, so that the working efficiency of the robot is improved.
In some embodiments, the step of determining robot action instructions according to the device type and the device to be serviced type may be implemented by:
acquiring structural component information of equipment corresponding to the equipment type; and then determining the robot action instruction according to the structural component information and the type of the equipment to be serviced. The robot action commands are commands stored in a database in advance, and the commands correspond to specific maintenance processes of different parts, for example, adding cooling water corresponds to a command of adding cooling water, namely, the robot needs to obtain the cooling water from where, then moves to a target position to add the cooling water, and an adding operation process of adding the cooling water is performed; an instruction for cleaning scale on the cylinder, an instruction for maintaining the thermostat, an instruction for maintaining the water pump and the like.
In this embodiment, different device types correspond to different structural components, and the processes before and after the instruction executed by the different structural components in the operation and maintenance process may be different. For example, if a cylinder of the engine leaks water, the operation command is a command for cylinder maintenance; if the cooling water on the engine is insufficient, the operation command is a command for adding cooling water. According to the method and the device for determining the robot action command, after the structural component information of the device corresponding to the device type is obtained, the robot action command is determined by combining the device to-be-serviced type, so that the accuracy of the robot operation and maintenance service is improved.
After the target operation path of the robot and the operation instruction of the operation and maintenance service are obtained, step S5 is executed.
And S5, when the robot is controlled to run to the position to be served by the equipment according to the target running path, the robot is controlled to complete operation and maintenance service according to the robot action instruction. Namely, the robot is controlled to complete the operation and maintenance service according to the sequence of the action instructions.
In some embodiments, in the robot operation and maintenance service process, the following steps are further included:
when failure removal information uploaded by the robot is received, generating failure prompt information of equipment corresponding to equipment data;
the steps refer to that when the robot performs operation and maintenance service and encounters an operation and maintenance event which cannot be completed, the failure removal information uploaded by the controller of the robot content like a server prompts the server that the current operation and maintenance project cannot be processed in time. When the server receives the failure information of the fault elimination, the fault prompt information of the equipment corresponding to the equipment data is generated and sent to the terminal equipment of the technical staff to prompt the technical staff to manually carry out operation and maintenance, and meanwhile, the technical staff can also control the operation and maintenance of the robot through the transmission of the operation instruction of the terminal equipment to improve the operation and maintenance efficiency of the equipment. The prompt information can be pushed to the terminal equipment of the technical staff through short messages or WeChat, and can also be pushed to a monitoring platform corresponding to the equipment monitoring staff to prompt the monitoring staff to follow the operation and maintenance service events in time.
In summary, the embodiment can realize the function of generating the motion path of the robot in real time according to the real-time to-be-serviced position of the equipment, and improve the working efficiency of each robot so as to reduce the cost of the robot.
The embodiment of the invention provides a control system of robot operation and maintenance service corresponding to the method shown in fig. 1, which comprises the following steps:
the first acquisition module is used for acquiring the equipment data acquired by the intelligent box;
the first judgment module is used for determining the equipment type, the equipment type to be serviced and the equipment position to be serviced according to the equipment data, wherein the equipment type to be serviced comprises equipment fault maintenance and equipment maintenance;
the second acquisition module is used for acquiring the current position of the robot;
the second judgment module is used for determining a target operation path of the robot according to the current position of the robot and the position to be served by the equipment; determining a robot action instruction according to the equipment type and the equipment type to be serviced;
and the control module is used for controlling the robot to run to the position to be served by the equipment according to the target running path and controlling the robot to finish operation and maintenance service according to the robot action instruction.
The content of the embodiment of the method of the invention is all applicable to the embodiment of the system, the function of the embodiment of the system is the same as the embodiment of the method, and the beneficial effect achieved by the embodiment of the system is the same as the beneficial effect achieved by the method.
The embodiment of the invention provides a control system for robot operation and maintenance service, which comprises:
at least one memory for storing a program;
at least one processor, configured to load the program to execute the control method of the robot operation and maintenance service shown in fig. 1.
The content of the embodiment of the method of the invention is all applicable to the embodiment of the system, the function of the embodiment of the system is the same as the embodiment of the method, and the beneficial effect achieved by the embodiment of the system is the same as the beneficial effect achieved by the method.
An embodiment of the present invention provides a computer-readable storage medium, in which a processor-executable program is stored, and the processor-executable program is used for executing the control method of the operation and maintenance service of the robot shown in fig. 1 when being executed by a processor.
In addition, the embodiment of the invention also provides a robot, and the working state is controlled by the control method of the robot operation and maintenance service shown in fig. 1.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (10)
1. A control method for robot operation and maintenance service is characterized by comprising the following steps:
acquiring equipment data acquired by the intelligent box;
determining the equipment type, the equipment type to be serviced and the equipment position to be serviced according to the equipment data, wherein the equipment type to be serviced comprises equipment fault maintenance and equipment maintenance;
acquiring the current position of the robot;
determining a target operation path of the robot according to the current position of the robot and the position to be served of the equipment;
determining a robot action instruction according to the equipment type and the equipment type to be serviced;
and when the robot is controlled to run to the position to be served by the equipment according to the target running path, controlling the robot to finish operation and maintenance service according to the robot action instruction.
2. The method for controlling the operation and maintenance service of the robot as claimed in claim 1, further comprising the following steps before the step of acquiring the device data collected by the intelligent box:
acquiring a plurality of equipment positions and a preset operation area of the robot;
and generating a plurality of robot running paths in the preset running area of the robot according to the positions of the plurality of devices.
3. The method for controlling the operation and maintenance service of the robot according to claim 2, wherein the determining the target operation path of the robot according to the current position of the robot and the position to be serviced of the equipment comprises:
extracting a plurality of running paths to be selected from the plurality of robot running paths according to the current position of the robot and the position to be served of the equipment;
calculating the operation efficiency of the plurality of operation paths to be selected;
and selecting the running path to be selected with the maximum running efficiency as a target running path of the robot.
4. The method for controlling the operation and maintenance service of the robot according to claim 1, wherein the determining the type of the equipment to be serviced according to the equipment data comprises:
acquiring a device standard value range corresponding to the device data from a standard value database;
and when the equipment data is smaller than the lower limit value of the equipment standard value range or larger than the upper limit value of the equipment standard value range, determining the type of equipment to be served.
5. The method for controlling the operation and maintenance service of the robot according to claim 1, wherein the determining the robot action command according to the equipment type and the equipment type to be serviced comprises:
acquiring structural component information of equipment corresponding to the equipment type;
and determining a robot action instruction according to the structural component information and the type of the equipment to be serviced.
6. The method for controlling the operation and maintenance service of the robot according to claim 1, further comprising the steps of:
when failure removal information uploaded by the robot is received, generating failure prompt information of equipment corresponding to the equipment data;
and sending the fault prompt information to terminal equipment.
7. A control system of robot operation and maintenance service is characterized by comprising:
the first acquisition module is used for acquiring the equipment data acquired by the intelligent box;
the first judgment module is used for determining the equipment type, the equipment type to be serviced and the equipment position to be serviced according to the equipment data, wherein the equipment type to be serviced comprises equipment fault maintenance and equipment maintenance;
the second acquisition module is used for acquiring the current position of the robot;
the second judgment module is used for determining a target running path of the robot according to the current position of the robot and the position to be served of the equipment; determining a robot action instruction according to the equipment type and the equipment type to be serviced;
and the control module is used for controlling the robot to run to the equipment to-be-serviced position according to the target running path and controlling the robot to finish operation and maintenance service according to the robot action instruction.
8. A control system of robot operation and maintenance service is characterized by comprising:
at least one memory for storing a program;
at least one processor configured to load the program to perform the method for controlling the operation and maintenance service of the robot according to any one of claims 1 to 6.
9. A computer-readable storage medium in which a processor-executable program is stored, wherein the processor-executable program, when executed by a processor, is for performing the method of controlling a robotic operation and maintenance service according to any one of claims 1-6.
10. A robot, characterized in that, the working state is controlled by the control method of the robot operation and maintenance service of any one of claims 1-6.
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| CN202110007896.6A CN112692834A (en) | 2021-01-05 | 2021-01-05 | Control method, system and storage medium for robot operation and maintenance service |
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| CN202110007896.6A CN112692834A (en) | 2021-01-05 | 2021-01-05 | Control method, system and storage medium for robot operation and maintenance service |
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