CN113839994B - Data downloading method, device and system based on motion controller - Google Patents
Data downloading method, device and system based on motion controller Download PDFInfo
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- CN113839994B CN113839994B CN202111038840.3A CN202111038840A CN113839994B CN 113839994 B CN113839994 B CN 113839994B CN 202111038840 A CN202111038840 A CN 202111038840A CN 113839994 B CN113839994 B CN 113839994B
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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Abstract
The application relates to a data downloading method, device and system based on a motion controller. The method applied to the download terminal comprises the following steps: sending a data downloading instruction to the motion controller, and determining a target shared file according to the data downloading instruction; the target shared file is obtained by setting a motion controller according to the operation data of the industrial robot; and downloading the target shared file in real time based on the FTP, and if the downloaded target shared file does not reach the preset size, acquiring the target shared file again and downloading the target shared file. By adopting the method, the convenience of downloading the operation data of the motion controller of the industrial robot can be improved, and the data downloading efficiency based on the motion controller can be improved.
Description
Technical Field
The present application relates to the field of robotics, and in particular, to a method, an apparatus, and a system for downloading data based on a motion controller.
Background
With the rapid development of the robot technology, the application of the robot in various industries is more and more extensive. In industrial production application, the motion track of an industrial robot needs to be monitored so as to ensure the stable and reliable operation of the robot. Specifically, in the motion process of the industrial robot, a motion controller of the industrial robot executes a Non-blocking motion operation, and continuously corrects the motion trail of the industrial robot; meanwhile, the information transmission is carried out between the downloading terminal and the motion controller of the industrial robot, and the motion state data, the interpolation data and other operation data collected by the motion controller are carried down, so that the kinematic parameters of the industrial robot, such as speed, acceleration, speed and the like, can be observed in real time, and whether the actual data of the industrial robot in the motion process is consistent with the simulation result is compared, and further the abnormal positioning can be accurately carried out when the deviation occurs in the motion of the industrial robot.
In a traditional technical scheme, a downloading terminal generally downloads corresponding operation data from a motion controller of an industrial robot based on a Transmission Control Protocol (TCP); although downloading data information based on TCP can ensure real-time performance of downloading data information, in an industrial application scene, network problems caused by factors such as environmental interference can cause data transmission interruption, namely, downloading of running data from a motion controller by a downloading terminal fails. According to the current technical scheme, when data transmission is interrupted, the running data needs to be read from the buffer area of the motion controller again, and the obtained running data needs to be transmitted again. This results in a cumbersome process for downloading the operation data by the download terminal, and reduces the efficiency of data download based on the motion controller.
Therefore, how to improve the convenience of downloading the operation data of the motion controller of the industrial robot and improve the efficiency of downloading the data based on the motion controller is a technical problem to be solved by technical personnel in the field at present.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a method, an apparatus, and a system for downloading data by a motion controller, which can improve the convenience of downloading the operation data of the motion controller of an industrial robot and improve the efficiency of downloading data by the motion controller.
A data downloading method based on a motion controller is applied to a downloading terminal, and comprises the following steps:
sending a data downloading instruction to a motion controller, and determining a target shared file according to the data downloading instruction; wherein the target shared file is set by the motion controller according to the operation data of the industrial robot;
and downloading the target shared file in real time based on an FTP protocol, and if the downloaded target shared file does not reach the preset size, acquiring the target shared file again and downloading the target shared file.
In one embodiment, the method further comprises:
and if the downloaded target shared file reaches the preset size, switching the target shared file, and downloading the switched target shared file.
In one embodiment, the data downloading instruction includes a target data type; the process of sending a data downloading instruction to the motion controller and determining the target shared file according to the data downloading instruction comprises the following steps:
sending a data download instruction to the motion controller;
and after the motion controller acquires the operating data of the industrial robot corresponding to the target data type according to the data downloading instruction and writes the operating data into a shared file in real time, determining the target shared file from the shared file according to the data downloading instruction.
In one embodiment, the data download instruction includes a target download data amount, and the method further includes:
acquiring the downloaded running data in each target shared file;
judging whether the data volume of the operating data reaches the target download data volume or not;
if so, stopping downloading the target shared file;
and if not, continuing to download the target shared file.
In one embodiment, after the sending the data download instruction to the motion controller, the method further comprises:
detecting a downloading stop instruction in the process of downloading the target shared file in real time based on an FTP (file transfer protocol);
and stopping downloading the target shared file according to the downloading stopping instruction.
A data downloading method based on a motion controller is applied to the motion controller, and the method comprises the following steps:
collecting operating data of an industrial robot;
setting a shared file according to the collected operation data;
and determining a target shared file according to a data downloading instruction sent by the downloading terminal so that the downloading terminal can download the target shared file in real time based on an FTP protocol, and when the downloaded target shared file does not reach a preset size, acquiring the target shared file again and downloading the target shared file.
In one embodiment, the process of setting a shared file according to the collected operation data includes:
setting the collected operation data in a preset buffer area;
writing the running data of the buffer area into a shared file to be written in a hard disk according to a preset rule;
and when the running data written into the shared file to be written reaches the preset size, setting the shared file to be written as the shared file, creating a new shared file to be written, and skipping to execute the step of writing the running data of the buffer area into the shared file to be written in the hard disk according to a preset rule.
In one embodiment, the buffer area is a ring buffer area, and the preset size is a total storage size of the ring buffer area;
the process of writing the operating data of the buffer area into the shared file to be written in the hard disk according to the preset rule comprises the following steps:
determining a target address space for writing currently acquired operating data from a plurality of address spaces of the buffer area;
writing the currently acquired running data into the target address space;
and when the target address space is full, writing the operating data in the target address space into the shared file to be written in the hard disk, and jumping to execute the step of determining the target address space for writing the currently acquired operating data from the plurality of address spaces of the buffer area.
A data downloading device based on a motion controller is applied to a downloading terminal and comprises:
the sending module is used for sending a data downloading instruction to the motion controller and determining a target shared file according to the data downloading instruction; wherein the target shared file is set by the motion controller according to the operation data of the industrial robot;
and the downloading module is used for downloading the target shared file in real time based on an FTP protocol, and if the downloaded target shared file does not reach the preset size, acquiring the target shared file again and downloading the target shared file.
A data downloading system based on a motion controller comprises the motion controller and a downloading terminal, wherein the motion controller is used for collecting the operation data of an industrial robot; setting a shared file in a hard disk according to the collected operation data; determining a target shared file according to a data downloading instruction sent by the downloading terminal so that the downloading terminal can download the target shared file in real time based on an FTP protocol, and acquiring the target shared file again and downloading the target shared file when the downloaded target shared file does not reach a preset size;
the download terminal is used for sending a data download instruction to the motion controller and determining a target shared file according to the data download instruction; wherein the target shared file is set by the motion controller according to the operation data of the industrial robot; and downloading the target shared file in real time based on an FTP protocol, and if the downloaded target shared file does not reach the preset size, acquiring the target shared file again and downloading the target shared file.
According to the data downloading method, device and system based on the motion controller, in the method, under the condition that the motion controller sets the target shared file according to the operation data of the industrial robot, the downloading terminal downloads the target shared file in real time based on the FTP protocol, and when the downloaded target shared file does not reach the preset size, the target shared file is obtained again and downloaded; that is to say, in the method, when data transmission is interrupted, on one hand, because the downloaded target shared file does not reach the specified size yet, the target shared file is directly obtained again and is continuously downloaded, and running data is prevented from being lost; on the other hand, the method avoids the operation of reading the data information from the buffer again, the target shared file is directly obtained again, the target shared file is continuously downloaded based on the FTP protocol, and the data information is downloaded by taking the shared file as a unit, so that the method can improve the convenience of downloading the data information of the motion controller of the industrial robot and the efficiency of downloading the data based on the motion controller under the condition of ensuring the integrity of the data information to be downloaded.
Drawings
FIG. 1 is a diagram of an application environment of a data download method based on a motion controller in one embodiment;
FIG. 2 is a flow chart illustrating a data downloading method based on a motion controller applied to a downloading terminal according to an embodiment;
FIG. 3 is a flow diagram illustrating a method for motion controller based data download in one embodiment;
FIG. 4 is a diagram illustrating a ring buffer configuration in one embodiment;
FIG. 5 is a flow diagram of writing run data to a buffer in one embodiment;
FIG. 6 is a flow diagram of writing operational data of a ring buffer to a shared file in one embodiment;
FIG. 7 is a flow diagram of a download terminal downloading a shared file in one embodiment;
FIG. 8 is a block diagram showing the structure of a motion controller-based data download apparatus applied to a download terminal in one embodiment;
FIG. 9 is a block diagram of a data download apparatus based on a motion controller applied to the motion controller in one embodiment;
FIG. 10 is an internal block diagram of a motion controller in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The data downloading method based on the motion controller can be applied to the application environment shown in FIG. 1. The motion controller 102 and the download terminal 104 communicate with each other through a network, and for example, a TCP (Transmission Control Protocol) server 106 may be configured to establish a communication connection between the motion controller 102 and the download terminal 104, so as to implement command interaction between the motion controller 102 and the download terminal 104. When the running data needs to be downloaded, a user determines a data downloading instruction according to the user operation by performing an operation on the client interface of the TCP server of the download terminal 104, for example, clicking a corresponding button, and sends the data downloading instruction to the TCP server 106, and the TCP server 106 then forwards the data downloading instruction to the motion controller 102, and downloads the shared file according to the data downloading instruction. Specifically, the motion controller 102 is a controller for controlling the motion of an industrial robot, which is a robot for production work; in addition, the embodiment does not limit the operating systems of the motion controller 102 and the download terminal 104, for example, the operating system of the motion controller 102 may be a VxWorks operating system or an embedded operating system such as Linux; the download terminal 104 may be, but is not limited to, various Personal Computers (PCs), notebook computers, smart phones, tablet computers, and the like.
In one embodiment, as shown in fig. 2, there is provided a data downloading method based on a motion controller, which is described by taking the method as an example applied to the downloading terminal in fig. 1, and includes the following steps:
step 202, sending a data downloading instruction to the motion controller, and determining a target shared file according to the data downloading instruction; wherein the target shared file is set by the motion controller according to the operation data of the industrial robot.
Specifically, in the motion process of the industrial robot, the motion controller collects the operation data of the industrial robot in real time; the operation data comprises motion state data generated in the motion process of the industrial robot, such as motion speed, acceleration, motion agility and the like, state data of each joint part of the industrial robot, such as torque, angle and the like, and interpolation data calculated by the motion controller according to the motion condition of the industrial robot.
After determining the data downloading instruction, the downloading terminal sends the data downloading instruction to the motion controller through the TCP server; more specifically, in actual operation, the motion controller may autonomously acquire the operation data and set a corresponding shared file during the operation process, and after receiving a data download instruction sent by the download terminal, determine a target shared file from the shared file according to the data download instruction; or, after receiving a data download instruction sent by the download terminal, start to collect corresponding operation data, set a shared file according to the collected operation data, and determine a target shared file, which is not limited in this embodiment.
And step 204, downloading the target shared file in real time based on the FTP, and if the downloaded target shared file does not reach the preset size, acquiring the target shared file again and downloading the target shared file.
The FTP (File Transfer Protocol) is one of protocols in the TCP/IP suite, and is an application layer Protocol for File Transfer between a client and a server in a computer network, that is, in this embodiment, a target shared File is transferred between a motion controller and a download terminal in units of files. Specifically, the downloading terminal downloads the target shared file from the motion controller in real time according to an actual requirement and according to a preset time interval, and after downloading the target shared file each time, determines whether the file size of the downloaded target shared file reaches a preset size, if so, indicates that the target shared file has been completely downloaded, and if not, indicates that the target shared file has not been completely downloaded, so that the downloading terminal will reacquire the target shared file and download the target shared file until the file size of the downloaded target shared file reaches the preset size. That is to say, in the process of downloading the target shared file, if a network problem occurs and data transmission is interrupted, data cannot be lost, and the size of the downloaded target shared file does not reach the preset size, so that the downloading terminal can download the target shared file again. It should be noted that the preset size of the target shared file is specifically set according to actual requirements, and this embodiment does not limit this.
In the data downloading method based on the motion controller, under the condition that the motion controller sets the target shared file according to the operation data of the industrial robot, the downloading terminal downloads the target shared file in real time based on the FTP protocol, and when the downloaded target shared file does not reach the preset size, the target shared file is obtained again and downloaded; that is to say, in the method, when data transmission is interrupted, on one hand, because the downloaded target shared file does not reach the specified size yet, the target shared file is directly obtained again and is continuously downloaded, so that running data is prevented from being lost; on the other hand, the method avoids the operation of reading the data information from the buffer again, the target shared file is directly obtained again, the target shared file is continuously downloaded based on the FTP protocol, and the data information is downloaded by taking the shared file as a unit.
On the basis of the foregoing embodiment, the present embodiment further describes and optimizes the technical solution, and specifically, in the present embodiment, the method further includes:
and if the downloaded target shared file reaches the preset size, switching the target shared file, and downloading the switched target shared file.
In this embodiment, after downloading the target shared file, the downloading terminal determines that the file size of the downloaded target shared file reaches the preset size, that is, the target shared file is completely downloaded, and if there are other shared files at this time, the target shared file is switched, the target shared file is determined again from the other shared files, and the switched target shared file is downloaded.
In the process of downloading the switched target shared file, after downloading the target shared file every time, judging whether the size of the currently downloaded target shared file reaches the preset size or not until the target shared file is completely downloaded, then switching the target shared file again, and continuing to download the switched target shared file.
Therefore, in the embodiment, when the downloaded target shared file reaches the preset size, the target shared file is switched, and the switched target shared file is continuously downloaded, so that the target shared file can be continuously downloaded.
On the basis of the above embodiment, the present embodiment further describes and optimizes the technical solution, and specifically, in the present embodiment, the data download instruction includes a target data type; the process of sending a data downloading instruction to the motion controller and determining the target shared file according to the data downloading instruction comprises the following steps:
sending a data download instruction to the motion controller;
and after the motion controller collects the operation data of the industrial robot corresponding to the target data type according to the data downloading instruction and writes the operation data into the shared file in real time, determining the target shared file from the shared file according to the data downloading instruction.
It should be noted that, in this embodiment, the data downloading instruction includes a target data type, that is, the data downloading instruction specifically indicates a data type of the operating data that needs to be downloaded; and after the downloading terminal sends a data downloading instruction to the motion controller, the motion controller collects the operation data of the industrial robot corresponding to the target data type according to the target data type in the data downloading instruction. For example, when the target data type is torque data, the motion controller acquires the torque data of the joint portion of the industrial robot using a sensor preset in the joint portion of the industrial robot. And after the motion controller acquires the operation data corresponding to the target data type, writing the acquired operation data into the shared file in real time. When the downloading terminal needs to download the target shared file, the target shared file is determined, and the target shared file is downloaded, so that the downloading terminal only downloads the running data corresponding to the target data type.
Therefore, in this embodiment, the motion controller acquires the operation data corresponding to the target data type according to the data downloading instruction, and writes the acquired operation data into the shared file, so that the downloading terminal only downloads the operation data corresponding to the target data type according to actual requirements, thereby avoiding transmission of other types of data and saving data transmission resources.
On the basis of the foregoing embodiment, this embodiment further describes and optimizes the technical solution, and specifically, in this embodiment, the data download instruction includes a target download data size, and the method further includes:
acquiring running data in each downloaded target shared file;
judging whether the data volume of the operating data reaches the target download data volume or not;
if so, stopping downloading the target shared file;
if not, continuing to download the target shared file.
Specifically, in this embodiment, the data downloading instruction further includes a target downloading data amount, that is, when the downloading terminal sends the data downloading instruction to the motion controller, the data downloading instruction further indicates the target downloading data amount of the operation data to be downloaded, so as to indicate the motion controller to set and acquire the operation data corresponding to the data amount according to the target downloading data amount.
After downloading the target shared file, the downloading terminal acquires the operation data in each downloaded target shared file, counts the total data volume downloaded currently, and judges whether the total data volume of the downloaded operation data reaches the target downloading data volume; if so, indicating that the data downloading task corresponding to the data downloading instruction is finished currently, and stopping downloading the target shared file; otherwise, the data downloading task corresponding to the data downloading instruction is not completed, so that the target shared file is continuously downloaded.
As can be seen, in the embodiment, the target download data amount is further set in the data download instruction, so that the operation data corresponding to the data amount can be downloaded according to the target download data amount, and the redundant operation data is prevented from being downloaded, thereby saving data transmission resources.
On the basis of the above embodiment, the present embodiment further describes and optimizes the technical solution, and specifically, in the present embodiment, after sending the acquisition instruction to the motion controller, the method further includes:
detecting a downloading stop instruction in the process of downloading a target shared file in real time based on an FTP (file transfer protocol);
and stopping downloading the target shared file according to the downloading stopping instruction.
In this embodiment, in the process of downloading a target shared file in real time based on the FTP protocol, a download stop instruction is detected in real time whether the download stop instruction is received; the instruction for stopping downloading may be set according to manual operation of a user, or may be set by setting a timing task of a timer, which is not limited in this embodiment; and when the download stopping instruction is detected, stopping downloading the target shared file according to the download stopping instruction. That is, the present embodiment dynamically detects the stop downloading instruction, and stops downloading the target shared file according to the stop downloading instruction.
More specifically, an identification bit for identifying downloading of the shared file or stopping downloading of the shared file may be preset; for example, setting FLAG bit to FLAG; when the identification information of the identification bit is 0, namely FLAG is 0, the shared file downloading is stopped; when the identification information of the identification bit is 1, that is, FLAG is 1, it indicates that the shared file starts to be downloaded.
In actual operation, after a TCP server is initialized, and a communication connection is established between a motion controller and a downloading terminal, a user clicks an acquisition start button on a client interface of the downloading terminal and generates a corresponding control instruction, identification information FLAG of an identification bit is set to be 1 according to the control instruction, and the downloading terminal starts to download a shared file according to the identification information; in the process that the downloading terminal downloads the target shared file in real time based on the FTP, a user clicks an acquisition stopping button on a client interface of the downloading terminal and generates a corresponding control instruction, identification information FLAG of an identification bit is set to be 0 according to the control instruction, and the downloading terminal stops downloading the shared file according to the identification information.
According to the embodiment, the target shared file can be stopped from being downloaded according to the downloading stopping instruction, and the process of downloading the target shared file can be controlled at any time, so that the process of downloading the target shared file is more flexible and controllable.
Fig. 3 is another data downloading method based on a motion controller according to an embodiment of the present invention, applied to a motion controller, where the method includes:
step 302, collecting operation data of the industrial robot;
step 304, setting a shared file according to the collected operation data;
and step 306, determining the target shared file according to the data downloading instruction sent by the downloading terminal so that the downloading terminal can download the target shared file in real time based on the FTP, and when the downloaded target shared file does not reach the preset size, acquiring the target shared file again and downloading the target shared file.
Specifically, in the motion process of the industrial robot, the motion controller collects the operation data of the industrial robot in real time; the operation data comprises motion state data generated in the motion process of the industrial robot, such as motion speed, acceleration, motion agility and the like, state data of each joint part of the industrial robot, such as torque, angle and the like, and interpolation data calculated by the motion controller according to the motion condition of the industrial robot.
And after determining the data downloading instruction, the downloading terminal sends the data downloading instruction to the motion control through the TCP server. In actual operation, the motion controller can spontaneously acquire operation data and set a corresponding shared file in the operation process, and after receiving a data downloading instruction sent by a downloading terminal, a target shared file is determined from the shared file according to the data downloading instruction; or, after receiving a data download instruction sent by the download terminal, start to collect corresponding operation data, set a shared file according to the collected operation data, and determine a target shared file, which is not limited in this embodiment.
The FTP (File Transfer Protocol) is one of protocols in the TCP/IP suite, and is an application layer Protocol for File Transfer between a client and a server in a computer network, that is, in this embodiment, a target shared File is transferred between a motion controller and a download terminal in units of files. Specifically, the downloading terminal downloads the target shared file from the motion controller in real time according to an actual requirement and according to a preset time interval, and after downloading the target shared file each time, determines whether the file size of the downloaded target shared file reaches a preset size, if so, indicates that the target shared file has been completely downloaded, and if not, indicates that the target shared file has not been completely downloaded, so that the downloading terminal will reacquire the target shared file and download the target shared file until the file size of the downloaded target shared file reaches the preset size. That is to say, in the process of downloading the target shared file, if a network problem occurs and data transmission is interrupted, data cannot be lost, and the size of the downloaded target shared file does not reach the preset size, so that the downloading terminal can download the target shared file again. It should be noted that the preset size of the target shared file is specifically set according to actual requirements, and this embodiment does not limit this.
In the data downloading method based on the motion controller, under the condition that the motion controller sets the target shared file according to the operation data of the industrial robot, the downloading terminal downloads the target shared file in real time based on the FTP protocol, and when the downloaded target shared file does not reach the preset size, the target shared file is obtained again and downloaded; that is to say, in the method, when data transmission is interrupted, on one hand, because the downloaded target shared file does not reach the specified size yet, the target shared file is directly obtained again and is continuously downloaded, and running data is prevented from being lost; on the other hand, the method avoids the operation of reading the data information from the buffer again, the target shared file is directly obtained again, the target shared file is continuously downloaded based on the FTP protocol, and the data information is downloaded by taking the shared file as a unit.
On the basis of the foregoing embodiment, this embodiment further describes and optimizes the technical solution, and specifically, in this embodiment, the process of setting the shared file according to the collected operation data includes:
setting the collected operation data in a preset buffer area;
writing the running data of the buffer area into a shared file to be written in the hard disk according to a preset rule;
and when the running data written into the shared file to be written reaches a preset size, setting the shared file to be written as a shared file, newly building the shared file to be written, and skipping to execute the step of writing the running data in the buffer area into the shared file to be written in the hard disk according to a preset rule.
In this embodiment, the motion controller first sets the collected operation data in a preset buffer area, where the buffer area refers to an area where the motion controller reserves a storage space with a specified size in a memory for temporarily storing input/output (I/O) data; meanwhile, a memory with a custom size is set in a hard disk of the hard disk, such as an EMMC (Embedded Multi Media Card), to create a shared file to be written, and after the collected operation data is set in a preset buffer, the operation data stored in the buffer is written into the shared file to be written in the hard disk according to a preset rule. Detecting the residual storage space of the shared file to be written in real time in the process of writing the operation data into the shared file to be written, wherein when the residual storage space is 0, the operation data currently written into the shared file to be written reaches a preset size; or after the operation data is written into the shared file to be written, determining the written data volume of the written operation data of the shared file to be written, comparing the written data volume with the preset size, and when the written data volume is equal to the preset size, indicating that the shared file to be written is full, setting the shared file to be written as a shared file, newly building the shared file to be written, and continuously writing the operation data of the buffer area into the newly built shared file to be written according to a preset rule.
According to the embodiment, the running data is written into the buffer area firstly, and then the running data in the buffer area is written into the shared file to be written in the hard disk according to the preset rule, so that the shared file with the preset size can be quickly and conveniently set according to a certain sequence.
As a preferred embodiment, the buffer area is a ring buffer area, and the preset size is the size of the total storage capacity of the ring buffer area;
the process of writing the running data of the buffer into the shared file to be written according to the preset rule comprises the following steps:
determining a target address space for writing currently acquired operating data from a plurality of address spaces of the buffer area;
writing currently acquired operation data into a target address space;
and when the target address space is full, writing the running data in the target address space into the shared file to be written, and jumping to execute the step of determining the target address space for writing the currently acquired running data from the plurality of address spaces of the buffer area.
In this embodiment, the buffer is specifically a ring buffer, and the preset size of the shared file is a total storage size of the ring buffer. Specifically, as shown in fig. 4, a schematic structural diagram of a ring buffer is shown, where the ring buffer includes a plurality of address spaces, such as address spaces 0-7; when a ring buffer is initialized, a head and a tail of a queue both point to an address space 0, when a motion controller acquires corresponding operation data and writes the operation data into the ring buffer, a target address space for writing the currently acquired operation data is determined from a plurality of address spaces, if the address space '0' into which the currently acquired operation data is written, namely the address space '0' is the current target address space, when the target address space '0' is full, the tail of the queue points to a next address space '1' into which data can be written, namely the target address space is updated to be the address space '1', when new operation data is acquired, the operation data is written into the target address space '1', and then the tail of the queue points to a next address space '2' into which data can be written; meanwhile, when the target address space '0' is fully written, the queue head points to the address space '0', the operation data in the address space '0' is written into the to-be-written shared file created in the hard disk, and the operation data in the address space '0' is cleared, namely the storage space of the address space '0' is released; the enqueue head points to the next address space '1' where data can be processed; therefore, data reading and writing of the whole ring buffer are realized.
In practical operation, with reference to the flowchart of fig. 5, firstly setting parameters and initializing, including setting the address space number y of the ring buffer; target size for each address space xKB; setting an address space sequence number i representing current writing, and setting a column queue tail to point to an address space '0', namely, an initialization target address space i is 0(0< i < y), the number j of address spaces in which the writing of the shared file is not completed is 0, and a sequence number k of the shared file to be written in which the operation data is currently written is 0;
in actual operation, after the motion controller collects the operation data of the industrial robot, whether the written data volume of the target address space i reaches the target size xKB is judged;
if yes, judging whether the target address space i is equal to the address space number y of the ring buffer area, namely whether the current write-in is the last address space of the ring buffer area;
if so, after the shared file to be written is newly built, updating the serial number k of the shared file to be written to be k +1, and pointing the tail of the queue to the address space '0', and resetting i to be 0;
if not, determining the next address space of the ring buffer area as a target address space, and updating i to i + 1; writing the operation data into the updated target address space i; updating the number j of the address space which is not written into the shared file to be j + 1;
and if the write data volume of the target address space i does not reach the target size xKB, directly writing the currently acquired operation data into the target address space i.
It should be noted that, in actual operation, when there is no trigger instruction, the process of writing the running data of the ring buffer into the shared file to be written is in a dormant state; when the target address space i is full, generating a trigger instruction so that the motion controller processes the target address space i according to the trigger instruction, writing the operation data in the target address space i into the shared file to be written, and clearing the operation data cached in the target address space i; however, when the speed of writing the operation data into the ring buffer is higher than the speed of writing the operation data of the ring buffer into the shared file to be written, that is, the currently processed address space should be smaller than the currently written target address space.
With reference to the flowchart shown in fig. 6 for writing the operating data in the ring buffer into the shared file, firstly, according to the process of writing the operating data into the buffer, a target address space i, the number j of address spaces in which writing of the shared file is not completed, a sequence number k of a to-be-written shared file in which the operating data is currently written, and a sequence number n of an address space (currently processed address space) in which writing of the shared file is currently executed are set, where n is initialized to-1, and n is not greater than i.
In actual operation, firstly, judging whether j is larger than 0, if yes, indicating that the current running data which is not written into the shared file exists, writing the running data in the nth address space into the shared file k to be written, and clearing the address space n;
judging whether n is equal to y, namely judging whether the current processing is the last address space of the ring buffer area;
if the current running data in the address space of the ring buffer area is equal to the current running data in the ring buffer area, the running data in the address space of the current ring buffer area is completely written into the shared file to be written, the address space n is set to be-1, and n +1 is updated, and j is j-1;
if the address space n is not equal to the current address space n, the operation data in the address space n is written into the shared file to be written, after the address space n is processed, the next address space is used as the current address space, the number of the address spaces in which the shared file is not written is increased by 1, and n is updated to n +1, and j is updated to j + 1;
outputting j, and continuously judging whether j is greater than 0;
if not, the operation data of the current ring buffer area is completely written into the shared file to be written, and at the moment, the trigger instruction is continuously waited.
In the embodiment, the operating data is written in the address space of the ring buffer, and after the operating data in the address space is written in the shared file, the storage space of the address space can be released in time, so that the ring buffer can be recycled for data caching, the required storage space of the buffer is reduced, the operating data is written in the shared file in the hard disk to release the storage space of the ring buffer, the storage space can be vacated for caching the acquired operating data, and the operating data can be prevented from being lost; in addition, the preset size of the shared file is the total storage capacity of the annular buffer area, so that the size of the shared file can be determined according to the writing condition of the address space of the annular buffer area, the actual writing quantity of the shared file to be written is prevented from being detected in real time, and the operation is more convenient.
In an actual operation, with reference to the flowchart of fig. 7, a user inputs a type of target data to be downloaded at a downloading terminal, and initializes a file size of a downloaded target shared file to 0, sets an address space number y of a ring buffer of the ring buffer, and sets a target size xKB of each address space; setting an identification bit FLAG for identifying the downloading of the shared file or stopping downloading the shared file, and initializing the FLAG to be 0; when a user clicks an acquisition start button on a client interface of a download terminal, generating a corresponding control instruction, and setting identification information FLAG of an identification bit to be 1 according to the control instruction;
the downloading terminal detects the identification information corresponding to the identification bit, and when FLAG is equal to 1, the downloading terminal sets a corresponding data downloading instruction according to the type of the target data and downloads the target shared file from the motion controller;
judging whether the file size of the downloaded target shared file is equal to y xKB, namely whether the file size of the downloaded target shared file is equal to the total storage size of the ring buffer;
if yes, switching the target shared file, continuously downloading the switched target shared file based on the FTP protocol, and resetting the size to be 0;
otherwise, continuing to download the target shared file based on the FTP protocol;
after the target shared file is downloaded, acquiring operation data in the target shared file, and drawing a corresponding curve by using the acquired operation data; more specifically, acquiring running data in a downloaded target shared file, performing preprocessing operations such as data cleaning on the running data, and then performing data fitting on the preprocessed running data to obtain a corresponding curve; the curve may represent a moving track of the industrial robot or a change of a motion state, and the like, which is not limited in this embodiment.
And the downloading terminal detects the identification bit in real time in the process of downloading the target shared file in real time based on the FTP protocol, and stops downloading the target shared file when detecting that the identification information FLAG corresponding to the identification bit is 0, namely ending the process.
Therefore, according to the method of the embodiment, under the condition that the motion controller sets the target shared file according to the operation data of the industrial robot, the download terminal downloads the target shared file in real time based on the FTP protocol, when the download fails due to network problems, the data is not lost, the downloaded target shared file does not reach the specified size, the download terminal can download the target shared file again, and the next target shared file can not be downloaded by switching until the preset size is reached; the method avoids the operation of reading the data information from the buffer again, the target shared file is directly obtained again, the target shared file is continuously downloaded based on the FTP protocol, and the data information is downloaded by taking the shared file as a unit, so that the method can improve the convenience of loading the data information of the controller under the condition of ensuring the completeness of the data information to be downloaded, and improve the data downloading efficiency based on the motion controller.
It should be understood that, although the steps in the flowcharts related to the above embodiments are shown in sequence as indicated by the arrows, the steps are not necessarily executed in sequence as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a part of the steps in each flowchart related to the above embodiments may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.
In one embodiment, as shown in fig. 8, there is provided a data downloading apparatus based on a motion controller, applied to a downloading terminal, including:
a sending module 802, configured to send a data downloading instruction to the motion controller, and determine a target shared file according to the data downloading instruction; the target shared file is obtained by setting a motion controller according to the operation data of the industrial robot;
the downloading module 804 is configured to download the target shared file in real time based on the FTP protocol, and if the downloaded target shared file does not reach the preset size, obtain the target shared file again, and download the target shared file.
The data downloading device based on the motion controller provided by the embodiment of the invention has the same beneficial effects as the data downloading method based on the motion controller.
In one embodiment, a data download apparatus based on a motion controller further comprises:
and the switching module is used for switching the target shared file and downloading the switched target shared file if the downloaded target shared file reaches the preset size.
In one embodiment, the sending module comprises:
the sending submodule is used for sending a data downloading instruction to the motion controller; the data downloading instruction comprises a target data type;
and the determining submodule is used for determining the target shared file from the shared files according to the data downloading instruction after the motion controller acquires the operation data of the industrial robot corresponding to the target data type according to the data downloading instruction and writes the operation data into the shared files in real time.
In one embodiment, a data download apparatus based on a motion controller further comprises:
the acquisition module is used for acquiring the downloaded running data in each target shared file;
the first execution module is used for judging whether the data volume of the operating data reaches the target download data volume; the data downloading instruction comprises a target downloading data volume; if so, stopping downloading the target shared file; if not, continuing to download the target shared file.
In one embodiment, a data download apparatus based on a motion controller further comprises:
the detection module is used for detecting a downloading stopping instruction in the process of downloading the target shared file in real time based on the FTP protocol;
and the second execution module is used for stopping downloading the target shared file according to the downloading stopping instruction.
For specific limitations of the data downloading device based on the motion controller applied to the downloading terminal, reference may be made to the above limitations of the data downloading method based on the motion controller applied to the downloading terminal, and details thereof are not repeated herein. The various modules in the motion controller based data download apparatus may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, as shown in fig. 9, there is provided a data downloading apparatus based on a motion controller, applied to the motion controller, including:
the acquisition module 902 is used for acquiring the operation data of the industrial robot;
a setting module 904, configured to set a shared file according to the collected operation data;
the processing module 906 is configured to determine the target shared file according to a data download instruction sent by the download terminal, so that the download terminal downloads the target shared file in real time based on the FTP protocol, and when the downloaded target shared file does not reach the preset size, obtains the target shared file again, and downloads the target shared file.
The data downloading device based on the motion controller provided by the embodiment of the invention has the same beneficial effects as the data downloading method based on the motion controller.
In one embodiment, a data downloading system based on a motion controller is provided, which comprises the motion controller and a downloading terminal, wherein the motion controller is used for collecting the operation data of an industrial robot; setting a shared file according to the collected operation data; determining a target shared file according to a data downloading instruction sent by a downloading terminal so that the downloading terminal can download the target shared file in real time based on an FTP protocol, and acquiring the target shared file again and downloading the target shared file when the downloaded target shared file does not reach a preset size;
the downloading terminal is used for sending a data downloading instruction to the motion controller and determining a target shared file according to the data downloading instruction; the target shared file is obtained by setting a motion controller according to the operation data of the industrial robot; and downloading the target shared file in real time based on the FTP, and if the downloaded target shared file does not reach the preset size, acquiring the target shared file again and downloading the target shared file.
The data downloading system based on the motion controller provided by the embodiment of the invention has the same beneficial effects as the data downloading method based on the motion controller.
In one embodiment, a download terminal is provided, the internal structure of which may be as shown in fig. 10. The download terminal comprises a processor, a memory, a communication interface, a display screen and an input device which are connected through a system bus. Wherein the processor of the download terminal is configured to provide computing and control capabilities. The memory of the download terminal comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the download terminal is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method for motion controller based data download. The display screen of the download terminal can be a liquid crystal display screen or an electronic ink display screen, and the input device of the download terminal can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on a shell of the download terminal, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the configuration shown in fig. 10 is a block diagram of only a portion of the configuration associated with the present application, and does not constitute a limitation on the download terminal to which the present application is applied, and that a particular download terminal may include more or less components than those shown, or combine certain components, or have a different arrangement of components.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
sending a data downloading instruction to a motion controller, and determining a target shared file according to the data downloading instruction; wherein the target shared file is set by the motion controller according to the operation data of the industrial robot;
and downloading the target shared file in real time based on an FTP protocol, and if the downloaded target shared file does not reach the preset size, acquiring the target shared file again and downloading the target shared file.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (10)
1. A data downloading method based on a motion controller is applied to a downloading terminal, and the method comprises the following steps:
sending a data downloading instruction to a motion controller, and determining a target shared file according to the data downloading instruction; wherein the target shared file is set by the motion controller according to the operation data of the industrial robot;
downloading the target shared file in real time based on an FTP protocol, and if the downloaded target shared file does not reach a preset size, acquiring the target shared file again and downloading the target shared file;
the data downloading instruction comprises a target data type; the process of sending a data downloading instruction to the motion controller and determining the target shared file according to the data downloading instruction comprises the following steps: sending a data download instruction to the motion controller; and after the motion controller collects the operating data of the industrial robot corresponding to the target data type according to the data downloading instruction and writes the operating data into a shared file in real time, determining the target shared file from the shared file according to the data downloading instruction.
2. The method of claim 1, further comprising:
and if the downloaded target shared file reaches the preset size, switching the target shared file, and downloading the switched target shared file.
3. The method of claim 1, wherein the data download instruction comprises a target download data amount, the method further comprising:
acquiring the downloaded running data in each target shared file;
judging whether the data volume of the operating data reaches the target download data volume;
if so, stopping downloading the target shared file;
and if not, continuing to download the target shared file.
4. The method of any of claims 1 to 3, wherein after the sending of the data download instruction to the motion controller, the method further comprises:
detecting a downloading stop instruction in the process of downloading the target shared file in real time based on an FTP (file transfer protocol);
and stopping downloading the target shared file according to the downloading stopping instruction.
5. A data downloading method based on a motion controller is applied to the motion controller, and the method comprises the following steps:
collecting operation data of an industrial robot;
setting a shared file according to the collected operation data;
determining a target shared file according to a data downloading instruction sent by the downloading terminal so that the downloading terminal can download the target shared file in real time based on an FTP protocol, and when the downloaded target shared file does not reach a preset size, acquiring the target shared file again and downloading the target shared file;
the determining a target shared file according to the data downloading instruction sent by the downloading terminal comprises the following steps: the downloading terminal sends a data downloading instruction to the motion controller; and after the motion controller collects the operating data of the industrial robot corresponding to the target data type according to the data downloading instruction and writes the operating data into a shared file in real time, determining the target shared file from the shared file according to the data downloading instruction.
6. The method according to claim 5, wherein the process of setting up a shared file according to the collected operation data comprises:
setting the collected operation data in a preset buffer area;
writing the running data of the buffer area into a shared file to be written in a hard disk according to a preset rule;
and when the running data written into the shared file to be written reaches the preset size, setting the shared file to be written as the shared file, creating a new shared file to be written, and skipping to execute the step of writing the running data of the buffer area into the shared file to be written in the hard disk according to a preset rule.
7. The method of claim 6, wherein the buffer is a ring buffer, and the preset size is a total storage size of the ring buffer;
the process of writing the operating data of the buffer area into the shared file to be written in the hard disk according to the preset rule comprises the following steps:
determining a target address space for writing currently acquired operating data from a plurality of address spaces of the buffer area;
writing the currently acquired running data into the target address space;
and when the target address space is full, writing the operating data in the target address space into the shared file to be written in the hard disk, and jumping to execute the step of determining the target address space for writing the currently acquired operating data from the plurality of address spaces of the buffer area.
8. A data downloading device based on a motion controller is characterized by being applied to a downloading terminal and comprising:
the sending module is used for sending a data downloading instruction to the motion controller and determining a target shared file according to the data downloading instruction; wherein the target shared file is set by the motion controller according to the operation data of the industrial robot;
the downloading module is used for downloading the target shared file in real time based on an FTP protocol, and if the downloaded target shared file does not reach the preset size, the target shared file is obtained again and downloaded;
the data downloading instruction comprises a target data type; the sending module comprises: the sending submodule is used for sending a data downloading instruction to the motion controller; and the determining submodule is used for determining the target shared file from the shared file according to the data downloading instruction after the motion controller acquires the operating data of the industrial robot corresponding to the target data type according to the data downloading instruction and writes the operating data into the shared file in real time.
9. A data downloading device based on a motion controller is characterized in that the device is applied to the motion controller and comprises:
the acquisition module is used for acquiring the operation data of the industrial robot;
the setting module is used for setting a shared file according to the collected operation data;
the processing module is used for determining a target shared file according to a data downloading instruction sent by the downloading terminal so that the downloading terminal can download the target shared file in real time based on an FTP (file transfer protocol), and when the downloaded target shared file does not reach a preset size, acquiring the target shared file again and downloading the target shared file;
the determining a target shared file according to the data downloading instruction sent by the downloading terminal comprises the following steps: the downloading terminal sends a data downloading instruction to the motion controller; and after the motion controller collects the operating data of the industrial robot corresponding to the target data type according to the data downloading instruction and writes the operating data into a shared file in real time, determining the target shared file from the shared file according to the data downloading instruction.
10. A data downloading system based on a motion controller comprises the motion controller and a downloading terminal, and is characterized in that the motion controller is used for collecting the operation data of an industrial robot; setting a shared file in a hard disk according to the collected operation data; determining a target shared file according to a data downloading instruction sent by the downloading terminal so that the downloading terminal can download the target shared file in real time based on an FTP protocol, and acquiring the target shared file again and downloading the target shared file when the downloaded target shared file does not reach a preset size; the data downloading instruction comprises a target data type; the process of sending a data downloading instruction to the motion controller and determining the target shared file according to the data downloading instruction comprises the following steps: sending a data download instruction to the motion controller; after the motion controller collects the operating data of the industrial robot corresponding to the target data type according to the data downloading instruction and writes the operating data into a shared file in real time, determining the target shared file from the shared file according to the data downloading instruction;
the download terminal is used for sending a data download instruction to the motion controller and determining a target shared file according to the data download instruction; wherein the target shared file is set by the motion controller according to the operation data of the industrial robot; downloading the target shared file in real time based on an FTP protocol, and if the downloaded target shared file does not reach a preset size, acquiring the target shared file again and downloading the target shared file; the determining a target shared file according to the data downloading instruction sent by the downloading terminal comprises the following steps: the downloading terminal sends a data downloading instruction to the motion controller; and after the motion controller collects the operating data of the industrial robot corresponding to the target data type according to the data downloading instruction and writes the operating data into a shared file in real time, determining the target shared file from the shared file according to the data downloading instruction.
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| US8291136B2 (en) * | 2009-12-02 | 2012-10-16 | International Business Machines Corporation | Ring buffer |
| US8621365B2 (en) * | 2010-04-06 | 2013-12-31 | Asustek Computer Inc. | File sharing method and system |
| US8914794B2 (en) * | 2011-06-30 | 2014-12-16 | Rockwell Automation Technologies, Inc. | Multiple deployment of applications with multiple configurations in an industrial automation environment |
| CN103163827B (en) * | 2011-12-14 | 2015-07-29 | 沈阳高精数控技术有限公司 | A kind of key data acquisition method for bus-type numerical control system |
| CN107508874A (en) * | 2017-08-15 | 2017-12-22 | 四川东方电气自动控制工程有限公司 | A kind of automatic continuous acquisition method of blower fan main operation controller data |
| CN111338670B (en) * | 2020-02-17 | 2022-11-22 | 达闼机器人股份有限公司 | Robot firmware updating method and device, storage medium and robot |
| CN111427310A (en) * | 2020-03-31 | 2020-07-17 | 研祥智能科技股份有限公司 | Industrial robot controller operation system |
| CN112596928A (en) * | 2020-12-25 | 2021-04-02 | 深圳市越疆科技有限公司 | Industrial robot data management method, device, equipment and computer storage medium |
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