CN114253585B - Remote updating method, system and device for robot running program and storage medium - Google Patents
Remote updating method, system and device for robot running program and storage medium Download PDFInfo
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Abstract
The invention provides a remote updating method, a system, a device and a storage medium of a robot running program, wherein the method comprises the following steps: establishing network connection between all robot upper computers with the same model and a cloud database; carrying out coordinate calibration on the robots by using a three-point coordinate calibration method, calculating the corresponding relation between the robots through a preset formula, and uploading the corresponding relation to a cloud database through a robot upper computer; when a new running program needs to be updated, selecting any local robot, and storing the new running program in the selected robot upper computer; the selected robot upper computer processes the data of the new running program and uploads the data to the cloud database; when other robots need to update the running program, the corresponding robot upper computer reads the new running program from the cloud database and converts the new running program into a local running program. According to the method and the device, the robot running program can be updated through the cloud database, so that the utilization rate of equipment is effectively improved.
Description
Technical Field
The present invention relates to the field of computer technologies, and in particular, to a method, a system, an apparatus, and a storage medium for remote update of a robot running program.
Background
The current general server is high in customization degree due to large demand, manual operation speed is low, production quality is improved along with the continuous improvement of productivity, and production efficiency is guaranteed. However, as automation stations continue to increase in various factories, automation equipment also continues to increase, new products are continuously updated in actual production, and robot equipment in different factories needs to increase running programs for producing new products.
However, in the current update of the robot running program, the update is usually performed by locally reading data by the upper computer of the robot, so that the update efficiency is low, and the remote robot running program update cannot be realized. Once the order demand increases, a plurality of factories are required to cooperate for production, and automatic equipment and production line stop are caused by the fact that updating of an operation program cannot be completed rapidly and accurately, so that the quality and the efficiency of production are greatly affected.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a remote updating method, a remote updating system, a remote updating device and a remote updating storage medium for a robot running program, which can update the robot running program through a cloud database and effectively improve the utilization rate of equipment.
The invention aims to achieve the aim, and the aim is achieved by the following technical scheme: a remote updating method of a robot operating program, comprising:
establishing network connection between all robot upper computers with the same model and a cloud database;
the three-point coordinate calibration method is used for calibrating the coordinates of the robot, and the coordinates are uploaded to a cloud database through a robot upper computer;
calculating the corresponding relation between robots through a preset formula, and uploading the corresponding relation to a cloud database through a robot upper computer;
when a new running program needs to be updated, selecting any local robot, and storing the new running program in the selected robot upper computer;
the selected robot upper computer processes the data of the new running program and uploads the data to the cloud database;
when other robots need to update the running program, the corresponding robot upper computer reads the new running program from the cloud database and converts the new running program into a local running program.
Further, the coordinate calibration for the robot by using the three-point coordinate calibration method comprises the following steps:
a three-point coordinate calibration method is used, one point is selected on a workbench as an origin of coordinates, a feeding direction of the workbench is taken as a Y direction of the coordinates, an X direction which is perpendicular to the feeding direction and taken as the coordinates, and a Z direction which is perpendicular to an XY plane and taken as the coordinates.
Further, the calculating the correspondence between robots through a preset formula includes:
pointing a calibration pointer on a robot clamping jaw to a calibration origin, switching to a BASE coordinate system, and recording the coordinates at the moment; is provided withCalibration origin coordinate P of A robot Original A And B calibration origin coordinates P of robot Original B The method comprises the following steps of:
P original A ＝(X Original A ，Y Original A ，Z Original A ，RX Original A ，RY Original A ，RZ Original A )
P Original B ＝(X Original B ，Y Original B ，Z Original B ，RX Original B ，RY Original B ，RZ Original B ),
The calculation formula of the linear deviation value of the robot B relative to the robot A is as follows:
the rotation deviation value calculation formula of the robot B relative to the robot A is as follows:
at this time, a robot coordinate point P is calculated from the robot coordinate point A B
P B ＝(X A +X B bias ,Y A +Y B bias ,Z A +Z B bias ,RX A +RX B bias ,RY A +RY B bias ,RZ A +RZB bias.
Further, the coordinate calibration is performed for the robot by using the three-point coordinate calibration method, and the coordinate calibration is uploaded to a cloud database through a robot host computer, including:
and (3) carrying out coordinate calibration on the robot by using a three-point coordinate calibration method, reading a Base coordinate value and a device name corresponding to a tool coordinate origin of the robot by a robot upper computer through a manipulator SDK, and recording the Base coordinate value and the device name in a cloud database.
Further, the storing the new running program in the selected robot upper computer includes:
the selected upper computer firstly checks whether a built-in database contains a new running program, if not, the selected upper computer determines to increase and acquires a Base coordinate value corresponding to an origin coordinate from the database according to a DeviceCode of the robot;
and according to the new page adding requirement of the new running program on the control page of the upper computer, moving the manipulator of the robot to the corresponding point position according to the new running program, reading the Base coordinate values of the point positions, and storing.
Further, the selected robot upper computer processes the data of the new running program and uploads the data to the cloud database, and the method comprises the following steps:
and processing the Base coordinate values of the points and the Base coordinate values corresponding to the tool coordinate origin of the current robot according to a preset formula, uploading the obtained relative coordinates to a cloud database, and setting a unique identifier according to PN and process information related to the component.
Further, when the other robots need to update the running program, the corresponding robot upper computer reads the new running program from the cloud database and converts the new running program into a local running program, which includes:
when other robots need to update the running program, the corresponding robot upper computer reads the Base coordinate value of the tool coordinate origin of the equipment from the cloud database according to the deviceCode code of the equipment; reading a new running program, and downloading all relative coordinate data in the new running program;
after the downloading is finished, converting the local coordinates into local coordinates according to a preset formula, and storing the local coordinates in a local storage;
and sending the local coordinates to a manipulator register of the robot so that the manipulator moves according to the coordinate values received in the register when in operation.
Correspondingly, the invention also discloses a remote updating system of the robot running program, which comprises the following steps: the building unit is used for building network connection between all the robot upper computers with the same model and the cloud database;
the calibration unit is used for calibrating coordinates of the robot by using a three-point coordinate calibration method and uploading the coordinates to the cloud database through the upper computer of the robot;
the computing unit is used for computing the corresponding relation between the robots through a preset formula and uploading the corresponding relation to the cloud database through the upper computer of the robots;
the selecting and updating unit is used for selecting any local robot when a new running program needs to be updated, and storing the new running program in the selected robot upper computer;
the updating and uploading unit is used for processing data of the new running program through the selected robot upper computer and uploading the data to the cloud database;
and the remote updating unit is used for reading the new running program from the cloud database by the corresponding robot upper computer and converting the new running program into the local running program when other robots need to update the running program.
Correspondingly, the invention discloses a remote updating device of a robot running program, which comprises:
the memory is used for storing a remote update program of the robot running program;
a processor for implementing the steps of the remote updating method of the robot running program according to any one of the above when executing the remote updating program of the robot running program.
Accordingly, the invention discloses a readable storage medium, wherein the readable storage medium stores a remote update program of a robot running program, and the remote update program of the robot running program realizes the steps of the remote update method of the robot running program when being executed by a processor.
Compared with the prior art, the invention has the beneficial effects that: the invention discloses a remote updating method, a system, a device and a storage medium for a robot running program, wherein a corresponding relation is found through primary calibration of the robot, when the running program is updated, the running program is only required to be written in one device, and is read by a robot upper computer and is uploaded to a cloud database through calculation, if other robots need to update the running program, the running program only needs to be read by the database and is downloaded to local devices, so that the flexibility of using the devices is greatly improved, the constraint on the devices when the running program is updated is reduced, the use rate of the devices is improved, the line production stopping time caused by the increase of the running program by automatic devices is reduced, the production efficiency is improved, the maintenance degree of technical staff on the devices is reduced, and the cost is saved.
It can be seen that the present invention has outstanding substantial features and significant advances over the prior art, as well as the benefits of its implementation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method of an embodiment of the present invention.
Fig. 2 is a system configuration diagram of an embodiment of the present invention.
In the figure, 1 is a building unit; 2 is a calibration unit; 3 is a calculation unit; 4 is a selected updating unit; 5 is an update uploading unit; and 6, a remote updating unit.
Detailed Description
The core of the invention is to provide a remote updating method of a robot running program, in the prior art, the updating of the robot running program is usually finished by reading data through a robot upper computer locally, the updating efficiency is low, and the running program updating of a remote robot cannot be realized. Once the order demand increases, a plurality of factories are required to cooperate for production, and automatic equipment and production line stop are caused by the fact that updating of an operation program cannot be completed rapidly and accurately, so that the quality and the efficiency of production are greatly affected.
In the remote updating method of the robot running program provided by the invention, firstly, network connection between all the robot upper computers with the same model and the cloud database is established. Then, carrying out coordinate calibration on the robot by using a three-point coordinate calibration method, and uploading the coordinate calibration to a cloud database through a robot upper computer; and meanwhile, calculating the corresponding relation between robots through a preset formula, and uploading the corresponding relation to a cloud database through a robot upper computer. When a new running program needs to be updated, selecting any local robot, and storing the new running program in the selected robot upper computer; at this time, the selected robot upper computer processes the data of the new running program and uploads the data to the cloud database. When other robots need to update the running program, the corresponding robot upper computer reads the new running program from the cloud database and converts the new running program into a local running program. Therefore, the method and the device can update the robot running program through the cloud database, and effectively improve the utilization rate of equipment.
In order to better understand the aspects of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one:
as shown in fig. 1, the present embodiment provides a remote update method of a robot running program, including the following steps:
s1: and establishing network connection between all the robot upper computers with the same model and the cloud database.
S2: and (3) carrying out coordinate calibration on the robot by using a three-point coordinate calibration method, and uploading the coordinate calibration to a cloud database through a robot upper computer.
Specifically, a three-point coordinate calibration method is used, wherein a point is selected on a table as an origin of coordinates, a feeding direction of the station is taken as a Y direction of coordinates, an X direction perpendicular to the feeding direction is taken as coordinates, and a Z direction perpendicular to an XY plane is taken as coordinates.
As an example, the present step is specifically: and (3) carrying out coordinate calibration on the robot by using a three-point coordinate calibration method, reading a Base coordinate value and a device name corresponding to a tool coordinate origin of the robot by a robot upper computer through a manipulator SDK, and recording the Base coordinate value and the device name in a cloud database.
S3: and calculating the corresponding relation between robots through a preset formula, and uploading the corresponding relation to a cloud database through a robot upper computer.
Wherein, the correspondence between robots is calculated using the following formula:
firstly, a calibration pointer on a robot clamping jaw points to a calibration origin, and the calibration point is switched to a BASE coordinate system to record the coordinates at the moment.
Let a calibration origin coordinate P of the robot Original A And B calibration origin coordinates P of robot Original B The method comprises the following steps of:
P original A ＝(X Original A ，Y Original A ，Z Original A ，RX Original A ，RY Original A ，RZ Original A )
P Original B ＝(X Original B ，Y Original B ，Z Original B ，RX Original B ，RY Original B ，RZ Original B ),
The calculation formula of the linear deviation value of the robot B relative to the robot A is as follows:
the rotation deviation value calculation formula of the robot B relative to the robot A is as follows:
at this time, a robot coordinate point P is calculated from the robot coordinate point A B
P B ＝(X A +X B bias ,Y A +Y B bias ,Z A +Z B bias ,RX A +RX B bias ,RY A +RY B bias ,RZ A +RZ B bias )。
S4: when a new running program needs to be updated, any local robot is selected, and the new running program is stored in the selected robot upper computer.
When a new running program is stored, the selected upper computer firstly checks whether the built-in database contains the new running program, if not, the new running program is determined to be added, and at the moment, a Base coordinate value corresponding to the origin coordinate is acquired from the database according to the DeviceCode code of the robot. And then, according to the new page adding requirement of the new running program on the control page of the upper computer, moving the manipulator of the robot to the corresponding point position according to the new running program, reading the Base coordinate values of the point positions, and storing.
It should be noted that the same carrier is used between different devices when the running program is updated.
S5: and the selected robot upper computer processes the data of the new running program and uploads the data to the cloud database.
Specifically, the Base coordinate values of each point location and the Base coordinate values corresponding to the tool coordinate origin of the current robot are processed according to the preset formula provided in the step S3, the relative coordinates are obtained and then uploaded to a cloud database, and unique identifiers are set according to PN and process information related to the components.
S6: when other robots need to update the running program, the corresponding robot upper computer reads the new running program from the cloud database and converts the new running program into a local running program.
As an example, the present step specifically includes: when other robots need to update the running program, the corresponding robot upper computer reads the Base coordinate value of the tool coordinate origin of the equipment from the cloud database according to the DeviceCode code of the equipment. At this time, the new running program is read, and all the relative coordinate data in the new running program are downloaded. After the downloading is completed, converting the preset formula provided in the step S3 into local coordinates, and storing the local coordinates in a local storage. And finally, the local coordinates are sent to a manipulator register of the robot, so that the manipulator moves according to the coordinate values received in the register when in operation. At this time, the update work of the running program is completed.
The embodiment provides a remote updating method of a robot running program, which finds a corresponding relation through primary calibration of the robot, when the running program is updated, the running program is only written in one device, and is read by a robot upper computer and is uploaded to a cloud database through calculation, if other robots need to update the running program, the running program is only read by the database and is downloaded to local devices, so that the flexibility of using the devices is greatly improved, and the constraint on the devices when the running program is updated is reduced.
Embodiment two:
based on the first embodiment, as shown in fig. 2, the invention also discloses a remote update system of the robot running program, which comprises: the system comprises a building unit 1, a calibration unit 2, a calculation unit 3, a selection updating unit 4, an updating uploading unit 5 and a remote updating unit 6.
The building unit 1 is used for building network connection between all the robot upper computers with the same model and the cloud database.
And the calibration unit 2 is used for calibrating the coordinates of the robot by using a three-point coordinate calibration method and uploading the coordinates to the cloud database through the upper computer of the robot.
And the calculating unit 3 is used for calculating the corresponding relation between the robots through a preset formula and uploading the corresponding relation to the cloud database through the upper computer of the robots.
The selecting and updating unit 4 is used for selecting any local robot when the new running program needs to be updated, and storing the new running program in the selected robot upper computer.
And the updating and uploading unit 5 is used for processing the data of the new running program through the selected robot upper computer and uploading the data to the cloud database.
And the remote updating unit 6 is used for reading the new running program from the cloud database by the corresponding robot upper computer and converting the new running program into the local running program when the running program of other robots needs to be updated.
The embodiment provides a remote updating system for a robot running program, which finds a corresponding relation through primary calibration of a robot, when the running program is updated, the running program is only required to be written in one device, and is read by a robot upper computer and is uploaded to a cloud database through calculation, if other robots need to update the running program, the running program is only required to be read by the database and is downloaded to local devices, so that the utilization rate of the devices is improved, the line stop time of a production line caused by the increase of the running program of automatic devices is reduced, the production efficiency is improved, meanwhile, the maintenance degree of technicians on the devices is also reduced, and the cost is saved.
Embodiment III:
the embodiment discloses a remote updating device of a robot running program, which comprises a processor and a memory; the processor executes the remote update program of the robot running program stored in the memory, and realizes the following steps:
1. and establishing network connection between all the robot upper computers with the same model and the cloud database.
2. And (3) carrying out coordinate calibration on the robot by using a three-point coordinate calibration method, and uploading the coordinate calibration to a cloud database through a robot upper computer.
3. And calculating the corresponding relation between robots through a preset formula, and uploading the corresponding relation to a cloud database through a robot upper computer.
4. When a new running program needs to be updated, any local robot is selected, and the new running program is stored in the selected robot upper computer.
5. And the selected robot upper computer processes the data of the new running program and uploads the data to the cloud database.
6. When other robots need to update the running program, the corresponding robot upper computer reads the new running program from the cloud database and converts the new running program into a local running program.
Further, the remote updating device of the robot running program in this embodiment may further include:
the input interface is used for acquiring a remote update program of an externally imported robot running program, storing the acquired remote update program of the robot running program into the memory, and also can be used for acquiring various instructions and parameters transmitted by external terminal equipment and transmitting the various instructions and parameters into the processor so that the processor can develop corresponding processing by utilizing the various instructions and parameters. In this embodiment, the input interface may specifically include, but is not limited to, a USB interface, a serial interface, a voice input interface, a fingerprint input interface, a hard disk reading interface, and the like.
And the output interface is used for outputting various data generated by the processor to the terminal equipment connected with the output interface so that other terminal equipment connected with the output interface can acquire various data generated by the processor. In this embodiment, the output interface may specifically include, but is not limited to, a USB interface, a serial interface, and the like.
And the communication unit is used for establishing remote communication connection between the remote updating device of the robot running program and the external server so that the remote updating device of the robot running program can mount the image file to the external server. In this embodiment, the communication unit may specifically include, but is not limited to, a remote communication unit based on a wireless communication technology or a wired communication technology.
And the keyboard is used for acquiring various parameter data or instructions input by a user by knocking the key cap in real time.
And the display is used for running the related information of the short-circuit positioning process of the power supply line of the server to display in real time.
A mouse may be used to assist a user in inputting data and to simplify user operations.
The embodiment provides a remote updating device for a robot running program, which finds a corresponding relation through primary calibration of the robot, when the running program is updated, the running program is only required to be written in one device, read by a robot upper computer and uploaded to a cloud database through calculation, and if other robots need to update the running program, the running program is only required to be read by the database and downloaded to local devices, so that the flexibility of using the device is greatly improved, and the constraint on the device when the running program is updated is reduced.
Embodiment four:
the present embodiment also discloses a readable storage medium, where the readable storage medium includes Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. A remote update program of a robot operating program is stored in a readable storage medium, and when the remote update program of the robot operating program is executed by a processor, the following steps are realized:
1. and establishing network connection between all the robot upper computers with the same model and the cloud database.
2. And (3) carrying out coordinate calibration on the robot by using a three-point coordinate calibration method, and uploading the coordinate calibration to a cloud database through a robot upper computer.
3. And calculating the corresponding relation between robots through a preset formula, and uploading the corresponding relation to a cloud database through a robot upper computer.
4. When a new running program needs to be updated, any local robot is selected, and the new running program is stored in the selected robot upper computer.
5. And the selected robot upper computer processes the data of the new running program and uploads the data to the cloud database.
6. When other robots need to update the running program, the corresponding robot upper computer reads the new running program from the cloud database and converts the new running program into a local running program.
The embodiment provides a readable storage medium, which can find a corresponding relation through primary calibration of a robot, when an operation program is updated, the operation program is only required to be written in one device, and is read by a robot upper computer and is uploaded to a cloud database through calculation, if other robots need to update the operation program, the operation program is only required to be read by the database and is downloaded to local devices, so that the utilization rate of the devices is improved, the line stop time of a production line caused by the increase of the operation program of automatic devices is reduced, the production efficiency is improved, the maintenance degree of technicians on the devices is reduced, and the cost is saved.
In summary, the method and the device can update the robot running program through the cloud database, and effectively improve the utilization rate of the equipment.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, so that the same or similar parts between the embodiments are referred to each other. For the method disclosed in the embodiment, since it corresponds to the system disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided by the present invention, it should be understood that the disclosed systems, and methods may be implemented in other ways. For example, the system embodiments described above are merely illustrative, e.g., the division of the elements is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interface, system or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in the embodiments of the present invention may be integrated in one processing unit, or each module may exist alone physically, or two or more modules may be integrated in one unit.
Similarly, each processing unit in the embodiments of the present invention may be integrated in one functional module, or each processing unit may exist physically, or two or more processing units may be integrated in one functional module.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The method, the system, the device and the readable storage medium for remote updating of the robot running program provided by the invention are described in detail above. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (9)
1. A remote updating method of a robot operating program, comprising:
establishing network connection between all robot upper computers with the same model and a cloud database;
the three-point coordinate calibration method is used for calibrating the coordinates of the robot, and the coordinates are uploaded to a cloud database through a robot upper computer;
calculating the corresponding relation between robots through a preset formula, and uploading the corresponding relation to a cloud database through a robot upper computer;
when a new running program needs to be updated, selecting any local robot, and storing the new running program in the selected robot upper computer;
the selected robot upper computer processes the data of the new running program and uploads the data to the cloud database;
when other robots need to update the running program, the corresponding robot upper computer reads the new running program from the cloud database and converts the new running program into a local running program;
the calculating the correspondence between robots through a preset formula includes:
pointing a calibration pointer on a robot clamping jaw to a calibration origin, switching to a BASE coordinate system, and recording the coordinates at the moment; let the calibration origin coordinates of A robotAnd B calibration origin coordinates of the robot +.>The method comprises the following steps of:
,
the calculation formula of the linear deviation value of the robot B relative to the robot A is as follows:
the rotation deviation value calculation formula of the robot B relative to the robot A is as follows:
,
at this time, a robot coordinate point B is calculated from the robot coordinate point A
。
2. The method for remotely updating a robot operating program according to claim 1, wherein the coordinate calibration for the robot using the three-point coordinate calibration method comprises:
a three-point coordinate calibration method is used, one point is selected on a workbench as an origin of coordinates, a feeding direction of the workbench is taken as a Y direction of the coordinates, an X direction which is perpendicular to the feeding direction and taken as the coordinates, and a Z direction which is perpendicular to an XY plane and taken as the coordinates.
3. The method for remotely updating a robot running program according to claim 2, wherein the coordinate calibration for the robot using the three-point coordinate calibration method is uploaded to a cloud database through a robot host computer, and comprises:
and (3) carrying out coordinate calibration on the robot by using a three-point coordinate calibration method, reading a Base coordinate value and a device name corresponding to a tool coordinate origin of the robot by a robot upper computer through a manipulator SDK, and recording the Base coordinate value and the device name in a cloud database.
4. The method for remote updating of a robot operating program according to claim 1, wherein the storing the new operating program in the selected robot host computer comprises:
the selected upper computer firstly checks whether a built-in database contains a new running program, if not, the selected upper computer determines to increase and acquires a Base coordinate value corresponding to an origin coordinate from the database according to a DeviceCode of the robot;
and according to the new page adding requirement of the new running program on the control page of the upper computer, moving the manipulator of the robot to the corresponding point position according to the new running program, reading the Base coordinate values of the point positions, and storing.
5. The method for remotely updating a robot operating program according to claim 4, wherein the selected robot host computer processes the data of the new operating program and uploads the processed data to the cloud database, and the method comprises the steps of:
and processing the Base coordinate values of the points and the Base coordinate values corresponding to the tool coordinate origin of the current robot according to a preset formula, uploading the obtained relative coordinates to a cloud database, and setting a unique identifier according to PN and process information related to the component.
6. The method for remotely updating a robot operating program according to claim 5, wherein when the other robots need to update the operating program, the corresponding robot upper computer reads a new operating program from the cloud database and converts the new operating program into a local operating program, comprising:
when other robots need to update the running program, the corresponding robot upper computer reads the Base coordinate value of the tool coordinate origin of the equipment from the cloud database according to the deviceCode code of the equipment; reading a new running program, and downloading all relative coordinate data in the new running program;
after the downloading is finished, converting the local coordinates into local coordinates according to a preset formula, and storing the local coordinates in a local storage;
and sending the local coordinates to a manipulator register of the robot so that the manipulator moves according to the coordinate values received in the register when in operation.
7. A remote update system for a robot operating program, comprising:
the building unit is used for building network connection between all the robot upper computers with the same model and the cloud database;
the calibration unit is used for calibrating coordinates of the robot by using a three-point coordinate calibration method and uploading the coordinates to the cloud database through the upper computer of the robot;
the computing unit is used for computing the corresponding relation between the robots through a preset formula and uploading the corresponding relation to the cloud database through the upper computer of the robots;
the selecting and updating unit is used for selecting any local robot when a new running program needs to be updated, and storing the new running program in the selected robot upper computer;
the updating and uploading unit is used for processing data of the new running program through the selected robot upper computer and uploading the data to the cloud database;
the remote updating unit is used for reading a new running program from the cloud database by the corresponding robot upper computer and converting the new running program into a local running program when other robots need to update the running program;
the calculating the correspondence between robots through a preset formula includes:
pointing a calibration pointer on a robot clamping jaw to a calibration origin, switching to a BASE coordinate system, and recording the coordinates at the moment; calibration of robot AOrigin coordinatesAnd B calibration origin coordinates of the robot +.>The method comprises the following steps of:
,
the calculation formula of the linear deviation value of the robot B relative to the robot A is as follows:
the rotation deviation value calculation formula of the robot B relative to the robot A is as follows:
,
at this time, a robot coordinate point B is calculated from the robot coordinate point A
。
8. A remote updating apparatus for a robot operating program, comprising:
the memory is used for storing a remote update program of the robot running program;
a processor for implementing the steps of the remote updating method of the robot operating program according to any one of claims 1 to 6 when executing the remote updating program of the robot operating program.
9. A readable storage medium, characterized by: a remote update program of a robot operating program stored on the readable storage medium, which when executed by a processor, implements the steps of the remote update method of a robot operating program according to any one of claims 1 to 6.
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