CN114393578A - Process action judgment method, system, equipment and storage medium - Google Patents
Process action judgment method, system, equipment and storage medium Download PDFInfo
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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Abstract
The invention discloses a method, a system, equipment and a storage medium for judging process actions, wherein the method comprises the following steps: acquiring the running speed of each joint of the industrial robot; generating a motion schedule of each joint of the process robot according to the running speed of each joint and a time axis; and judging whether the motion of each joint belongs to a process action or not based on the motion schedule of each joint of the robot. Therefore, the operation speed and the operation time period of each joint of the industrial robot are monitored to judge which actions of the industrial robot belong to the process actions and which actions belong to the non-process actions, and further, an action optimization scheme can be provided for the industrial robot through analysis of the non-process actions of the industrial robot, so that the workpiece generation efficiency is further improved, and the industrial cost is reduced.
Description
Technical Field
The present invention relates to the field of process manufacturing, and in particular, to a method, a system, a device, and a storage medium for determining a process operation.
Background
Under the background that robots are applied more and more widely in current industrial manufacturing, due to the use cost, people pay more attention to which are meaningful process actions and which are meaningless non-process actions in the operation process of the robots, and it is first of all to distinguish which actions are process actions and which are non-process actions. The existing method for distinguishing the process/non-process actions is to add a signal point between the process and the non-process actions, and the PLC calculates the process time and the non-process time by judging the time difference between the signal point and the signal point. Such disadvantages are evident: firstly, increasing the signal points means changing the programs of the robot and the PLC, thus increasing the workload of the robot and the PLC; secondly, the increased signal points bring hidden troubles to the stability of the system and increase the fault probability of the system, and thirdly, because the signal points are increased, the reaction time of the system is prolonged, and the working beat which is originally very compact is influenced. Therefore, how to judge the process action and the non-process action without increasing the failure rate of the system is a technical problem to be solved urgently at present.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a process action judgment method, a system, equipment and a storage medium, so as to solve the problems that the process action judgment is difficult and the beat is easily lengthened in the prior art.
One embodiment of the present invention provides a method for determining a process operation, including:
acquiring the running speed of each joint of the industrial robot;
generating a motion schedule of each joint of the industrial robot according to the running speed of each joint and the time axis;
and judging whether the motion of each joint belongs to a process action or not based on the motion schedule of each joint of the industrial robot.
In one embodiment, the step of acquiring the running speed of each joint of the industrial robot comprises the following steps:
acquiring a programming program of the industrial robot;
acquiring a motion track of the industrial robot according to the programming program;
and acquiring the running speed of each joint of the industrial robot according to the motion trail.
In one embodiment, the step of obtaining the programming of the industrial robot comprises:
acquiring order information of a current workpiece to be processed;
determining a process flow card of a workpiece to be processed according to the order information;
and determining the programming information of the industrial robot according to the process flow card.
In one embodiment, the step of generating a motion schedule of each joint of the industrial robot according to the running speed of each joint and the time axis comprises the following steps:
generating an identity ID of each joint;
and generating a motion schedule of each joint of the industrial robot by combining the motion speed, the identification ID and the time axis of each joint.
In one embodiment, the step of generating the identification IDs of the joints comprises:
and determining effective joints in all joints of the industrial robot according to the motion characteristics of the industrial robot, wherein the effective joints comprise the joints related to the process completed in the process flow.
In one embodiment, the determining the effective joint of the joints of the industrial robot according to the motion characteristics of the industrial robot comprises:
the effective joint comprises an application axis when performing a process, wherein the application axis comprises: a shaft that is capable of turning or swiveling itself.
In one embodiment, the step of determining whether the motion of each joint of the industrial robot belongs to a process action based on the motion schedule of each joint comprises:
determining whether each joint of the industrial robot is a valid joint according to the ID value of the joint;
if the joint is an effective joint, extracting the motion data of the effective joint from the motion timetable;
and determining whether the motion of the effective joint belongs to a process action according to the motion data.
In one embodiment, the step of determining from the motion data whether the motion of the effective joint belongs to a process action comprises:
detecting whether the movement speed of the effective joint shows regular change;
and if the motion speed of the effective joint is changed regularly, the motion of the effective joint belongs to a process action.
In one embodiment, the step of detecting whether the motion of the effective joint exhibits a regular change comprises:
detecting whether the maximum speed value of the effective joint is reduced to zero within a preset time range;
if so, the motion of the effective joint is a process action.
In one embodiment, the method further comprises:
acquiring the duration of the process action and the non-process action;
and respectively calculating the ratio of the process action time to the non-process action time.
One embodiment of the present invention provides a process action determination system, including:
the acquisition module is used for acquiring the running speed of each joint of the industrial robot;
the generating module is used for generating a motion schedule of each joint of the process robot according to the running speed of each joint and a time axis;
and the judging module is used for judging whether the motion of each joint belongs to the process action or not based on the motion timetable of each joint of the robot.
One embodiment of the present invention provides a computing electronic device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the memory has stored thereon instructions executable by at least one processor, the instructions being executable by the at least one processor to enable the at least one processor, when executed, to perform any of the steps of the process action determination described above.
One embodiment of the present invention provides a computer storage medium having a program for process operation determination stored thereon, the program for process operation determination implementing the steps of process operation determination as described in any one of the above when executed by a processor.
The process action judging method and the process action judging system provided by the above embodiment of the invention have the following beneficial effects:
1. the method comprises the steps of obtaining the running speed of each joint of the industrial robot; generating a motion schedule of each joint of the process robot according to the running speed of each joint and a time axis; and judging whether the motion of each joint belongs to a process action or not based on the motion schedule of each joint of the robot. Therefore, the operation speed and the operation time period of each joint of the industrial robot are monitored to judge which actions of the industrial robot belong to the process actions and which actions belong to the non-process actions, and further, an action optimization scheme can be provided for the industrial robot through analysis of the non-process actions of the industrial robot, so that the workpiece generation efficiency is further improved, and the industrial cost is reduced.
2. In one embodiment, the order information of the current workpiece to be processed is acquired; determining a process flow card of a workpiece to be processed according to the order information; and determining the programming information of the industrial robot according to the process flow card. Therefore, the running speed of each joint of the industrial robot is found by finding the corresponding programming program of the industrial robot under the production line process in the control system, so that the increase of signal acquisition points on the PLC is reduced, the reaction time of the system is prevented from being prolonged, and the working beat which is originally very compact is prevented from being influenced.
3. In one embodiment, the joint is identified by generating an identification ID of each joint; and generating a motion schedule of each joint of the process robot by combining the motion speed, the identity ID and the time axis of each joint. And generating a corresponding motion schedule by combining different identity ID values corresponding to different functions of each joint, the running speed of the joint, the motion duration and the motion time period, and displaying the motion schedule on an operation terminal or a mobile terminal corresponding to an operator, wherein the operator can observe the motion condition of each joint of the industrial robot through the motion time, and the identity ID values are helpful for the operator to judge the process actions and the non-process actions of the robot and the time periods of the process actions and the non-process actions.
4. In one embodiment, whether the joints are valid joints is determined according to the ID values of the joints of the robot; if the joint is an effective joint, extracting the motion data of the effective joint from the motion timetable; and determining whether the motion of the effective joint belongs to a process action according to the motion data. Namely, a corresponding motion schedule is generated according to the identity ID value, the motion speed and the continuous time period of each joint of the industrial robot, corresponding process action time and non-process action time are determined according to the relevant factors such as the duration length, the motion speed and the like of the effective joints in the motion schedule, and optimization is performed on the non-process actions, so that the industrial production efficiency is improved, and the cost investment of enterprises is further saved.
5. In one embodiment, the motion of the effective joint is detected by detecting whether the motion of the effective joint shows regular change; and if the motion of the effective joint is changed regularly, the motion of the effective joint belongs to a process action. Detecting whether the maximum speed value of the effective joint is reduced to zero within a preset time range; if so, the motion of the effective joint is a process action. Therefore, whether the motion of the effective joint is a process action or not is judged by monitoring the motion speed of the effective joint, so that the judgment scheme of the process action is simple and convenient, and the scheme is simple and easy to realize, thereby improving the industrial production efficiency and saving enterprise resources.
Drawings
FIG. 1 is a schematic diagram of a terminal \ device structure of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a method for determining process operation according to an embodiment of the present invention;
FIG. 3 is a detailed flowchart of step S10 in FIG. 2;
FIG. 4 is a detailed flowchart of step S101 in FIG. 3;
fig. 5 is a motion schedule of an industrial robot in one embodiment of the invention;
FIG. 6 is a detailed flow chart of step S20 in FIG. 2;
fig. 7 is a schematic structural view of an industrial robot according to an embodiment of the present invention;
FIG. 8 is a detailed flowchart of step S30 in FIG. 2;
FIG. 9 is a detailed flowchart of step S303 in FIG. 8;
FIG. 10 is a detailed flowchart of step S3031 in FIG. 9;
FIG. 11 is a schematic flow chart of another embodiment of the present invention;
fig. 12 is a block diagram of a system for determining a process operation according to another embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: acquiring the running speed of each joint of the industrial robot; generating a motion schedule of each joint of the industrial robot according to the running speed of each joint and the time axis; and judging whether the motion of each joint belongs to a process action or not based on the motion schedule of each joint of the industrial robot.
Due to the background that robots are applied more and more widely in current industrial manufacturing in the prior art, due to the use cost, people pay more attention to which actions are meaningful and which are meaningless during the operation process of the robot, and it is first necessary to distinguish which actions are meaningful and which actions are meaningless. The existing method for distinguishing the process/non-process actions is to add a signal point between the process and the non-process actions, and the PLC calculates the process time and the non-process time by judging the time difference between the signal point and the signal point. Such disadvantages are evident: firstly, increasing the signal points means changing the programs of the robot and the PLC, thus increasing the workload of the robot and the PLC; secondly, the increased signal points bring hidden troubles to the stability of the system and increase the fault probability of the system, and thirdly, because the signal points are increased, the reaction time of the system is prolonged, and the working beat which is originally very compact is influenced. Therefore, how to judge the process action and the non-process action without increasing the failure rate of the system is a technical problem to be solved urgently at present.
The invention provides a solution which can accurately judge the process time and the non-process time of the robot without adding any signal point at the PLC end and the robot end. The method has the advantages of simple scheme, easy realization and further improvement of judgment of process time.
As shown in fig. 1, fig. 1 is a schematic diagram of a terminal \ device structure of a hardware operating environment of the hardware operating environment according to an embodiment of the present invention
The terminal of the embodiment of the invention can be a PC, and can also be a mobile terminal device with a display function, such as a smart phone, a tablet computer, an electronic book reader, an MP3(Moving Picture Experts Group Audio Layer III, dynamic video Experts compress standard Audio Layer 3) player, an MP4(Moving Picture Experts Group Audio Layer IV, dynamic video Experts compress standard Audio Layer 3) player, a portable computer, and the like.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a process action determination application program.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and processor 1001 may be configured to invoke a process action determination application stored in memory 1005 and perform the following operations:
acquiring the running speed of each joint of the industrial robot;
generating a motion schedule of each joint of the industrial robot according to the running speed of each joint and the time axis;
and judging whether the motion of each joint belongs to a process action or not based on the motion schedule of each joint of the industrial robot.
Referring to fig. 2 and fig. 2 are schematic flow diagrams of an embodiment of a method for determining a process operation according to the present invention, where the first embodiment of the method for determining a process operation according to the present invention provides a method for determining a process operation, and the method includes:
step S10, acquiring the running speed of each joint of the industrial robot;
step S20, generating a motion schedule of each joint of the industrial robot according to the running speed of each joint and the time axis;
and a step S30 of judging whether the motion of each joint belongs to the process action based on the motion schedule of each joint of the industrial robot.
Specifically, in this embodiment, the operation speed of each joint of the industrial robot in the workpiece production process is collected, the operation speed and the operation time period corresponding to each joint of the industrial robot are counted according to the operation speed of each joint of the industrial robot on the time axis in the workpiece machining process, the motion schedule corresponding to the industrial robot is generated based on the operation speed and the operation time period, and the operation speed and the operation time corresponding to each joint of the industrial robot are obtained based on the motion schedule, so that which actions of the robot belong to process actions and which actions belong to non-process actions can be determined according to the operation speed, the operation time and the overlapping operation time between other joints of the industrial robot. Therefore, the operation speed and the operation time period of each joint of the industrial robot are monitored to judge which actions of the industrial robot belong to the process action time and which actions belong to the non-process action time, and further, an action optimization scheme can be provided for the industrial robot through analysis of the non-process action operation time of the industrial robot, so that the workpiece generation efficiency is further improved, and the industrial cost is reduced.
In the embodiment, the running speed of each joint of the industrial robot is obtained; generating a motion schedule of each joint of the industrial robot according to the running speed of each joint and the time axis; and judging whether the motion of each joint belongs to a process action or not based on the motion schedule of each joint of the industrial robot. Therefore, the operation speed and the operation time period of each joint of the industrial robot are monitored to judge which actions of the industrial robot belong to the process actions and which actions belong to the non-process actions, and further, an action optimization scheme can be provided for the industrial robot through analysis of the non-process actions of the industrial robot, so that the workpiece generation efficiency is further improved, and the industrial cost is reduced.
Further, referring to fig. 3, fig. 3 is a detailed flowchart of step S10 in fig. 2, and based on the above embodiment, in one embodiment of the method for determining process actions according to the present invention, the step S10 further includes:
step S101, acquiring a programming program of the industrial robot;
step S102, obtaining a motion track of the industrial robot according to the programming program;
and S103, acquiring the running speed of each joint of the industrial robot according to the motion trail.
Specifically, in the present embodiment, the motion trajectory of the industrial robot is determined by acquiring a control program of the industrial robot. For example, an operation coding library is included in the industrial control system, and the operation actions of the robot in each process operation are divided and coded, for example: the robot action can be classified, and inherent attributes, action parameters and additional attributes are set according to each operation action, wherein the inherent attributes are recorded with basic characteristic information and technical item point information application description information of the action; the action parameter records parameter information set in each specific execution environment of the action, and the additional attribute at least includes: the method comprises the following steps of meeting the requirements of work types and qualification and meeting the requirements of process resources, wherein the process resources comprise tool types, equipment types and process flow types; the personnel in the personnel library have the attribute information of work types and qualification, and the process resource library has the attribute information of tool types, equipment types and process flow types. And acquiring the running speed of each joint according to the motion trail of the industrial robot, wherein the programming program corresponding to the industrial robot is acquired according to the process requirement so as to acquire the running speed corresponding to each joint of the robot. Therefore, the running speed of each joint of the industrial robot is found by finding the corresponding programming program of the industrial robot under the production line process in the control system, so that the increase of signal acquisition points on the PLC is reduced, the reaction time of the system is prevented from being prolonged, and the working beat which is originally very compact is prevented from being influenced.
In the embodiment, the programming program of the industrial robot is acquired; acquiring a motion track of the industrial robot according to the programming program; and acquiring the running speed of each joint of the industrial robot according to the motion trail. Therefore, the running speed of each joint of the industrial robot is found by finding the corresponding programming program of the industrial robot under the production line process in the control system, so that the increase of signal acquisition points on the PLC is reduced, the reaction time of the system is prevented from being prolonged, and the working beat which is originally very compact is prevented from being influenced.
Further, referring to fig. 4, fig. 4 is a detailed flowchart of step S101 in fig. 3, based on the above embodiment, in one embodiment of the process determination method of the present invention, the step S101 further includes:
step S1011, obtaining order information of the current workpiece to be processed;
step S1012, determining a process flow card of the workpiece to be processed according to the order information;
and S1013, determining the programming information of the industrial robot according to the process flow card.
Specifically, in this embodiment, the processing information of the workpiece to be processed on the current generation line is acquired, for example, different requirements, including but not limited to material requirements, tool fixture requirements, tool requirements, an industrial robot, and the like, may be generated according to different production plans and different production plans of the workpiece to be processed, according to the processing information of the workpiece to be processed, where the processing information may acquire order information of the workpiece to be processed from the enterprise EPR system, where the order information includes: the method includes the steps of directly generating machining information of a workpiece to be machined according to order information of the workpiece to be machined, wherein the machining information of the workpiece to be machined includes but is not limited to a workpiece drawing number, machining characteristics, machining steps, a machining machine tool, a cutter, an industrial robot and the like of the workpiece to be machined, obtaining a process of the workpiece to be machined according to the machining information, and matching the corresponding industrial robot according to process requirements, for example: the drawing number of the workpiece can be mapped one by one with the matched industrial robot number in the industrial robot library in advance, and can obtain the required information such as workpiece data, drawing documents, program documents, bill of materials, process documents and the like from a PDM (product data management) system according to the content of the order information, generating the processing information of the workpiece to be processed according to the information acquired from the PDM system, sending the workpiece processing information and the state information of the processing station to the dispatching equipment so that the dispatching equipment can dispatch the workpiece to the processing station, acquiring the corresponding workpiece processing information from the production information management center by the processing station, calling a corresponding robot programming program according to the work piece processing information on the production line and aiming at the action requirement of the industrial robot, and acquiring the running speed of each joint of the robot and the running time of each joint of the robot according to a programming program aiming at the robot. Illustratively, when the workpiece to be machined is included in the process flow card to perform a spot welding process, a programming program corresponding to the operation that the process robot conveys the workpiece to be machined to a corresponding welding position and points to a welding gun to align with a welding spot for welding is acquired, and the running time and the running speed corresponding to each joint of the industrial machine are acquired from the programming program. Therefore, the requirements for the robot action are different according to different processes to be processed for processing the workpiece, and therefore the programming information aiming at the robot action is obtained according to the process flow transfer card of the workpiece to be processed, the running speed of each joint of the robot is accurately and effectively obtained, further optimization can be carried out aiming at the robot programming, the production efficiency is improved, and enterprise resources are saved.
In the embodiment, order information of a current workpiece to be processed is acquired; determining a process flow card of a workpiece to be processed according to the order information; and determining the programming information of the industrial robot according to the process flow card. In this embodiment, the requirements for the robot motions are different according to the difference of the machined workpiece, so that the programming information for the robot motions is obtained, the running speed of each joint of the robot is accurately and effectively obtained, further optimization can be performed on the robot programming, the production efficiency is improved, and enterprise resources are saved.
Further, referring to fig. 5, fig. 5 is a motion schedule of an industrial robot in an embodiment of the present invention, referring to fig. 6 together, and fig. 6 is a detailed flowchart of step S20 in fig. 2, based on the above embodiment, in one embodiment provided by a method for determining a process action according to the present invention, the step S20 further includes:
step S201, generating the identification ID of each joint;
and S202, generating a motion schedule of each joint of the industrial robot by combining the motion speed, the identification ID and the time axis of each joint.
Specifically, in this embodiment, the identification IDs corresponding to the respective joints are generated according to the difference of the factors related to the implementation of the process operation, such as the positions and the functions of the respective joints of the industrial robot, for example, referring to fig. 7, where fig. 7 is a schematic structural diagram of the industrial robot according to an embodiment of the present invention, where J1, J2, J3, J4, J5, J6, and J7 in fig. 7 are the identification IDs of the respective joints of the industrial robot, respectively, a motion time table corresponding to each shutdown state of the robot is generated according to the identification IDs of the respective joints of the industrial robot, the operation speeds of the respective joints of the industrial robot, and the duration of the respective joints, and the motion time table of the respective joints of the robot can be displayed on the terminal of the corresponding operator, so that the operator can know the operation time periods, the operation speeds, and the operation durations of the respective joints during the operation of the robot, therefore, different ID values corresponding to different functions of each joint, the running speed of each joint, the motion duration and the motion time period are combined to generate a corresponding motion schedule, the motion schedule is displayed on an operation terminal or a mobile terminal corresponding to an operator, the operator can observe the motion condition of each joint of the industrial robot through the motion time, and the identification ID values are helpful for the operator to judge the process actions and the non-process actions of the robot and the time periods of the process actions and the non-process actions.
In this embodiment, an identification ID of each joint is generated; and generating a motion schedule of each joint of the industrial robot by combining the motion speed, the identification ID and the time axis of each joint. And generating a corresponding motion schedule by combining different identity ID values corresponding to different functions of each joint, the running speed of the joint, the motion duration and the motion time period, and displaying the motion schedule on an operation terminal or a mobile terminal corresponding to an operator, wherein the operator can observe the motion condition of each joint of the industrial robot through the motion time, and the identity ID values are helpful for the operator to judge the process actions and the non-process actions of the robot and the time periods of the process actions and the non-process actions.
Further, based on the above embodiments, in one embodiment of the method for determining process actions according to the present invention, the step S201 further includes:
and step S2011, determining effective joints in all joints of the industrial robot according to the motion characteristics of the industrial robot, wherein the effective joints comprise joints related to the completion of the technological process in the technological process.
Specifically, in the embodiment, effective joints in various joints of the industrial robot are determined according to structural characteristics of the robot during the process task execution of the industrial robot, for example, an axis for turning and rotating a workpiece or a tool fixture to be processed or an application axis capable of turning and rotating the robot per se during the process, such as a rotary table, etc. of the industrial robot, for example, J7 in fig. 7, that is, the process actions and the non-process actions of the industrial robot are determined by detecting motion data of the effective joints, that is, the corresponding motion time table is generated according to the identity ID value, the motion speed and the duration time period of each joint of the industrial robot, the corresponding process actions and non-process actions are determined according to the duration time length, the motion speed, and other relevant factors of the effective joints in the motion time table, and the optimization is carried out aiming at non-process actions so as to improve the industrial production efficiency and further save the cost investment for enterprises.
In this embodiment, the effective joint comprises an application axis for performing the process, wherein the application axis comprises: a shaft that is capable of turning or swiveling itself. . The motion data of the effective joints of the industrial robot are determined by detecting the motion data of the effective joints, the technological action and the non-technological action of the industrial robot are determined, and the technological action and the non-technological action are optimized, so that the industrial production efficiency is improved, and the cost investment of enterprises is further saved.
Further, referring to fig. 8, fig. 8 is a detailed flowchart illustrating the step S30 in fig. 2, and based on the above embodiment, in one embodiment of the method for determining a process according to the present invention, the step S30 further includes:
step S301, determining whether each joint of the industrial robot is an effective joint according to the ID value of the joint;
step S302, if the joint is an effective joint, extracting motion data of the effective joint from the motion schedule;
step S303, determining whether the motion of the effective joint belongs to a process action according to the motion data.
Specifically, in this embodiment, a corresponding identity ID value is generated for each joint of an industrial robot, and distinguishable identity ID values can be used for joints realizing different effects according to different functions, so as to distinguish an effective joint and an ineffective joint in a process on the robot, and when the joint is detected to be an ineffective joint, the motion of the joint is directly determined to be a non-process motion; if the motion data of the effective joint does not show regular changes, the motion of the effective joint is also a non-process action, and therefore whether the motion of each joint of the robot is a process action or a non-process work can be analyzed through simple Identification (ID) values and judgment of the motion data, so that the effective action or the ineffective action of the industrial robot can be conveniently and simply judged, namely the process action and the non-process action of the industrial robot are judged, and enterprise resources are saved.
In the embodiment, whether the joint is a valid joint is determined according to the ID value of each joint of the industrial robot; if the joint is an effective joint, extracting the motion data of the effective joint from the motion timetable; and determining whether the motion of the effective joint belongs to a process action according to the motion data. Therefore, the motion of each joint of the robot can be analyzed to be a process action or a non-process action through simple judgment of the ID value and the motion data, so that the effective action or the ineffective action of the industrial robot can be conveniently and simply judged, that is, the process action and the non-process work of the industrial robot can be judged, and enterprise resources are saved.
Further, referring to fig. 9-10, wherein fig. 9 is a schematic diagram illustrating a detailed flow of step S303 in fig. 8, and fig. 10 is a schematic diagram illustrating a detailed flow of step S3031 in fig. 9, based on the above embodiment, in one embodiment of the method for determining a process action according to the present invention, the step S303 further includes:
step S3031, detecting whether the motion speed of the effective joint shows regular change;
step S3032, if the motion speed of the effective joint is changed regularly, the motion of the effective joint belongs to a process action.
Step S30311, detecting whether the speed of the effective joint is reduced from the maximum value to zero in a preset time range;
step S30312, if yes, the motion of the effective joint is a process action.
Specifically, in the present embodiment, as to whether the motion of the effective joint is a process motion, in the present embodiment, it is determined whether the motion of the effective joint is a regular motion. Illustratively, whether the motion of the effective joint belongs to a regular motion within a certain preset time frame, for example: judging whether the speed of the effective joint is suddenly reduced from the maximum value to zero in a preset time range, if so, indicating that the motion of the effective joint is a meaningful motion and is a technological motion; if there is no abrupt decrease from the maximum value of the motion speed of the effective joint to zero within the preset time range, it indicates that the motion of the effective joint may be a meaningless motion and is a non-technological motion. Therefore, whether the motion of the effective joint is a process action or not is judged by monitoring the motion speed of the effective joint, so that the judgment scheme of the process action is simple and convenient, and the scheme is simple and easy to realize, thereby improving the industrial production efficiency and saving enterprise resources.
In the embodiment, whether the movement speed of the effective joint shows regular change is detected; and if the motion speed of the effective joint is changed regularly, the motion of the effective joint belongs to a process action. Detecting whether the maximum speed value of the effective joint is reduced to zero within a preset time range; if so, the motion of the effective joint is a process action. Therefore, the judgment scheme of the process action is simple and convenient, and the scheme is simple and easy to realize, so that the industrial production efficiency is improved, and the enterprise resources are saved.
Further, referring to fig. 11, fig. 11 is a schematic flow chart of another embodiment of the present invention, and based on the above embodiment, in one embodiment of the method for determining a process operation according to the present invention, the method further includes:
step S40, acquiring the duration of the process action and the non-process action;
and step S50, calculating the ratio of the process action time to the non-process action time respectively.
Specifically, in this embodiment, a current programming program of the industrial robot is obtained, a motion trajectory of the industrial robot and a running programming code for each joint of the industrial robot are obtained together with the programming program, motion data of each joint of the industrial robot is obtained according to the running programming code of each joint, and motion data of an effective joint and an ineffective joint are analyzed, so as to determine a process action and a non-process action in a motion process of the industrial robot, where the process action refers to regular motion of the effective joint within a preset time range; the non-technological motion is used as the motion of an invalid joint and the non-regular motion of an effective joint within a preset time range. In addition, the occupation ratio of the process action time and the occupation ratio of the non-process action time in the whole process time of the industrial robot are calculated, and an action optimization scheme of the industrial robot can be provided according to the occupation ratio of the process action time and the non-process action time, so that the industrial production efficiency is further improved, and the production resources of enterprises are saved.
In the embodiment, the operation optimization scheme of the industrial robot can be provided according to the ratio of the process action time to the non-process action time by calculating the ratio of the process action time to the non-process action time in the whole process time, so that the industrial production efficiency is further improved, and the production resources of enterprises are saved.
In addition, referring to fig. 12, fig. 12 is a schematic block diagram of a process operation determination system according to another embodiment of the present invention, and in one embodiment of the present invention, a process operation determination system 300 is further provided, where the process operation determination system 300 includes:
an obtaining module 310, configured to obtain operation speeds of joints of an industrial robot;
the generating module 320 is configured to generate a motion schedule of each joint of the process robot according to the running speed of each joint in combination with a time axis;
the determining module 330 is configured to determine whether the motion of each joint belongs to a process action based on a motion schedule of each joint of the robot.
One embodiment of the present invention provides an electronic device, including: at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the memory has stored thereon instructions executable by at least one processor, the instructions being executable by the at least one processor to enable the at least one processor, when executing, to implement the steps of the process action determination method as set forth in any one of the above.
One embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when being executed by a processor, implements the steps of the process action determination method according to any one of the above embodiments.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (13)
1. A process action judgment method is characterized by comprising the following steps:
acquiring the running speed of each joint of the industrial robot;
generating a motion schedule of each joint of the industrial robot according to the running speed of each joint and the time axis;
and judging whether the motion of each joint belongs to a process action or not based on the motion schedule of each joint of the industrial robot.
2. The process action judging method according to claim 1, wherein the step of acquiring the operating speed of each joint of the industrial robot comprises:
acquiring a programming program of the industrial robot;
acquiring a motion track of the industrial robot according to the programming program;
and acquiring the running speed of each joint of the industrial robot according to the motion trail.
3. A process action judgment method according to claim 2, characterized in that the step of obtaining the programming of the industrial robot comprises:
acquiring order information of a current workpiece to be processed;
determining a process flow card of a workpiece to be processed according to the order information;
and determining the programming information of the industrial robot according to the process flow card.
4. A process action judgment method according to claim 1, wherein the step of generating a motion schedule for each joint of the industrial robot based on the joint operation speed in combination with a time axis comprises:
generating an identity ID of each joint;
and generating a motion schedule of each joint of the industrial robot by combining the motion speed, the identification ID and the time axis of each joint.
5. A process action judgment method according to claim 4, wherein the step of generating an identification ID of each joint comprises:
and determining effective joints in all joints of the industrial robot according to the motion characteristics of the industrial robot, wherein the effective joints comprise the joints related to the process completed in the process flow.
6. The process action judgment method according to claim 5, wherein the determining of the effective joint of the joints of the industrial robot according to the motion characteristic of the industrial robot comprises:
the effective joint comprises an application axis when performing a process, wherein the application axis comprises: a shaft that is capable of turning or swiveling itself.
7. A process action judging method according to claim 1, wherein the step of judging whether the motion of each joint of the industrial robot belongs to a process action based on the motion schedule of each joint comprises:
determining whether each joint of the industrial robot is a valid joint according to the ID value of the joint;
if the joint is an effective joint, extracting the motion data of the effective joint from the motion timetable;
and determining whether the motion of the effective joint belongs to a process action according to the motion data.
8. A process action judgment method according to claim 7 wherein the step of determining from the motion data whether the motion of the effective joint belongs to a process action comprises:
detecting whether the movement speed of the effective joint shows regular change;
and if the motion speed of the effective joint is changed regularly, the motion of the effective joint belongs to a process action.
9. A process action judgment method according to claim 8, wherein the step of detecting whether the motion of the effective joint exhibits a regular change comprises:
detecting whether the speed of the effective joint is reduced from the maximum value to zero within a preset time range;
if so, the motion of the effective joint is a process action.
10. The method of any one of claims 1-9, further comprising:
acquiring the duration of the process action and the non-process action;
and respectively calculating the ratio of the process action time to the non-process action time.
11. A system for determining a process action, comprising:
the acquisition module is used for acquiring the running speed of each joint of the industrial robot;
the generating module is used for generating a motion schedule of each joint of the process robot according to the running speed of each joint and a time axis;
and the judging module is used for judging whether the motion of each joint belongs to the process action or not based on the motion timetable of each joint of the robot.
12. An electronic device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the memory has stored thereon instructions executable by at least one processor, the instructions being executable by the at least one processor to cause the at least one processor, when executed, to perform the steps of the process action determination of any one of claims 1-10.
13. A computer storage medium having stored thereon a program for process action determination, which when executed by a processor, performs the steps of process action determination as recited in any one of claims 1-10.
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| CN202111683402.2A CN114393578B (en) | 2021-12-31 | 2021-12-31 | Process action judging method, system, equipment and storage medium |
| PCT/CN2022/139683 WO2023125082A1 (en) | 2021-12-31 | 2022-12-16 | Process action determination method, system, device, and storage medium |
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| WO2023125082A1 (en) * | 2021-12-31 | 2023-07-06 | 广州明珞装备股份有限公司 | Process action determination method, system, device, and storage medium |
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| CN114393578B (en) | 2024-06-14 |
| WO2023125082A1 (en) | 2023-07-06 |
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