CN115042192A - Robot work flow control method, device and system - Google Patents
Robot work flow control method, device and system Download PDFInfo
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- CN115042192A CN115042192A CN202210978928.1A CN202210978928A CN115042192A CN 115042192 A CN115042192 A CN 115042192A CN 202210978928 A CN202210978928 A CN 202210978928A CN 115042192 A CN115042192 A CN 115042192A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Automation & Control Theory (AREA)
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- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
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Abstract
The invention discloses a robot operation flow control method, device and system. The invention relates to the technical field of control, and solves the problems that the existing robots are single in working scene, can only complete one repeatable simple action mostly, and are difficult to adapt when encountering complex services. The method comprises the steps of receiving a control message sent by a client, wherein the control message is used for indicating an execution mode of an instruction in a job file; the operation file comprises a plurality of lines of instructions, each line of instructions is used for controlling one function of a controlled device, and the functions of the plurality of lines of instructions are combined into an automatically-running operation flow; loading a job file corresponding to the control message; and according to the execution mode indicated by the control message, executing corresponding operation on the instruction in the job file, controlling corresponding controlled equipment to complete corresponding functions, and completing a complex job flow.
Description
Technical Field
The invention relates to the technical field of control, in particular to a robot operation flow control method, device and system.
Background
In the prior industrial robots, a mechanical arm demonstrator is mostly used to manually control a mechanical arm to move a work flow, then a mechanical arm controller stores an executed path, and then the teaching process is repeatedly executed every time, so that the aim of automatic work is fulfilled. In the case of some later operations with precision requirements, a visual camera is additionally arranged on the mechanical arm for guiding, so that the mechanical arm can avoid deviation of an operation position caused by errors of material placement when repeated actions are executed.
The system has the problems that most of functions are single, each robot (or called mechanical arm) can only do fixed things in one operation process, such as welding, carrying, stacking and the like, and mechanical arms corresponding to each kind of work can be different greatly and cannot be used universally. Therefore, the working scene of the existing industrial mechanical arm and the robot is single, and most of the existing industrial mechanical arm and the robot can only complete one repeatable simple action. Complex services are encountered and difficult to adapt. Therefore, it is necessary to provide a method, an apparatus and a system for controlling a robot work flow to solve the above problems.
Disclosure of Invention
The invention aims to provide a robot operation flow control method, device and system, which aim to solve the problems that the existing robots are single in working scene, can only complete a repeatable simple action mostly and are difficult to adapt when encountering complex services.
In a first aspect, the present invention provides a robot work flow control method, including:
receiving a control message sent by a client, wherein the control message is used for indicating an execution mode of an instruction in a job file; the operation file comprises a plurality of lines of instructions, each line of instruction is used for controlling one function of controlled equipment, and the functions of the plurality of lines of instructions are combined into an operation flow capable of automatically running; the controlled device comprises a robot;
loading a job file corresponding to the control message;
and executing corresponding operation on the instruction in the job file according to the execution mode indicated by the control message, and controlling corresponding controlled equipment to complete corresponding functions.
Further, according to the execution mode indicated by the control message, corresponding operations are executed on the instructions in the job file, and corresponding controlled devices are controlled to complete corresponding functions, including:
analyzing the type of the instruction to be executed in the job file;
and sending the instruction to corresponding controlled equipment according to the type of the instruction so as to control the controlled equipment to complete the function corresponding to the instruction.
Further, according to the execution mode indicated by the control message, corresponding operations are executed on the instructions in the job file, and corresponding controlled devices are controlled to complete corresponding functions, including:
instructions currently running in the job file are started, suspended, resumed, or stopped.
Further, after suspending the currently running instruction in the job file, the method further comprises:
and receiving a manual operation signal, and sending a corresponding control instruction to the controlled equipment to complete the functions corresponding to part or all of the operation flows.
Further, after receiving a manual operation signal and sending a corresponding control instruction to the controlled device to complete a function corresponding to a part or all of the workflow, the method further includes:
and receiving a control message sent by the client, and continuously executing the instruction in the job file.
Further, according to the execution mode indicated by the control message, corresponding operations are executed on the instructions in the job file, and corresponding controlled devices are controlled to complete corresponding functions, including:
and executing a next line instruction, a previous line instruction or a skip line execution instruction of the currently running instruction in the job file.
Further, the instructions in the job file are arranged by cutting to form different instruction sets, and each instruction set is used for controlling the function of a device.
In a second aspect, the present invention also provides a robot work flow control apparatus, including:
the receiving unit is used for receiving a control message sent by a client, wherein the control message is used for indicating an execution mode of an instruction in a job file; the operation file comprises a plurality of lines of instructions, each line of instruction is used for controlling one function of controlled equipment, and the functions of the plurality of lines of instructions are combined into an operation flow capable of automatically running; the controlled device comprises a robot;
the loading unit is used for loading the job file corresponding to the control message;
and the execution unit is used for executing corresponding operation on the instruction in the job file according to the execution mode indicated by the control message and controlling corresponding controlled equipment to complete corresponding functions.
In a third aspect, the present invention further provides a robot work flow control system, including: the system comprises a client, a server and a plurality of controlled devices, wherein the client is in communication connection with the server, and the server is in communication connection with the controlled devices;
the client is used for sending a control message to the server, and the control message is used for indicating an execution mode of the instructions in the job file; the operation file comprises a plurality of lines of instructions, each line of instruction is used for controlling one function of controlled equipment, and the functions of the plurality of lines of instructions are combined into an operation flow capable of automatically running;
the server is used for receiving the control message, loading the job file corresponding to the control message, executing corresponding operation on the instruction in the job file according to the execution mode indicated by the control message, and controlling corresponding controlled equipment to complete corresponding functions;
and the controlled equipment is used for receiving the instruction sent by the server and completing corresponding functions, and comprises a robot.
The invention has the following beneficial effects: according to the robot work flow control method, device and system, the control message sent by the client is received, and the control message is used for indicating the execution mode of the instructions in the work file; the operation file comprises a plurality of lines of instructions, each line of instructions is used for controlling one function of a controlled device, and the functions of the plurality of lines of instructions are combined into an automatically-operated operation flow; loading a job file corresponding to the control message; executing corresponding operation on the instruction in the job file according to the execution mode indicated by the control message, and controlling corresponding controlled equipment to complete corresponding functions; according to the invention, through the process, a plurality of robots, automatic and semi-automatic controlled equipment with various different functions and the like can be integrated into one robot system, the robot system can complete complex operation processes and complex functions, and the problems that the existing robots are single in working scene, can only complete a repeatable simple action mostly and are difficult to adapt when encountering complex services are solved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without any inventive exercise.
Fig. 1 is a flowchart of a robot work flow control method according to an embodiment of the present invention;
FIG. 2 is a schematic view of a robot operation process control apparatus according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a robot work flow control system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The technical solutions provided by the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Referring to fig. 1, the present invention provides a robot work flow control method, the execution subject of the method is a server, the method includes the following steps:
and S101, receiving a control message sent by the client, wherein the control message is used for indicating an execution mode of the instruction in the job file. The operation file comprises a plurality of lines of instructions, each line of instructions is used for controlling one function of controlled equipment, and the functions of the plurality of lines of instructions are combined into an operation flow capable of automatically running. The controlled device comprises a robot.
Specifically, the controlled device in the present application may specifically include a robot, and an automatic and semi-automatic device capable of completing a certain function, where the device may receive a communication command, and be driven by the command to complete a corresponding action. According to the method and the device, a certain function of the controlled device can be abstracted into one instruction, each instruction is one line of the operation file, and the controlled device executes the corresponding function after finally receiving the instruction. The multiple lines of instructions form a text job file representing a combination of functions representing a workflow. And placing the job file on a server with a main control program. Moreover, a plurality of job files can be edited and generated and placed on a server with a main control program, and at the moment, the scheme can support the job flows corresponding to the plurality of job files.
And S102, loading the job file corresponding to the control message.
And S103, executing corresponding operation on the instruction in the job file according to the execution mode indicated by the control message, and controlling corresponding controlled equipment to complete corresponding functions.
According to the execution mode indicated by the control message, corresponding operations are executed on the instructions in the job file, and corresponding controlled devices are controlled to complete corresponding functions, which may specifically include: and analyzing the type of the instruction needing to be executed in the job file. And sending the instruction to corresponding controlled equipment according to the type of the instruction so as to control the controlled equipment to complete the function corresponding to the instruction. In this way, a certain instruction can be started to be executed so as to control a certain controlled device to perform a corresponding work flow. Alternatively, the function processing corresponding to the instruction is performed inside the server.
Executing corresponding operation on the instruction in the job file according to the execution mode indicated by the control message, and controlling the corresponding controlled device to complete corresponding functions, which may specifically include: instructions currently running in the job file are started, suspended, resumed, or stopped. In this way, execution of a certain instruction can be started, suspended, continued or stopped to control a certain controlled device to start, suspend, continue or stop.
After suspending the currently running instruction in the job file, the method further comprises: and receiving a manual operation signal, and sending a corresponding control instruction to the controlled equipment to complete the functions corresponding to part or all of the operation flows. When the user finds that the operation is automatically executed, the automatic execution is wrong or the desired effect is not achieved, the user can pause the operation, and then the corresponding control instructions are sent to various controlled devices such as a mechanical arm and the like through the manual operation of the client, so that the functions corresponding to part or all of the operation flows are completed. When the client sends the control instruction to the controlled device, the control instruction can be forwarded to the controlled device through the server, or can be directly sent to the corresponding final controlled device without being forwarded through the server.
Receiving a manual operation signal, sending a corresponding control instruction to the controlled device, and after completing a function corresponding to part or all of the work flows, the method further comprises: and receiving a control message sent by the client, and continuously executing the instruction in the job file. If the functions corresponding to part of the job instructions are manually completed and the rest job instructions are continuously and automatically executed subsequently, the instructions for continuously executing the jobs are sent through the client.
Executing corresponding operation on the instruction in the job file according to the execution mode indicated by the control message, and controlling the corresponding controlled device to complete corresponding functions, which may specifically include: and executing a next line instruction, a previous line instruction or a skip line execution instruction of the currently running instruction in the job file.
The instructions in the job file are arranged by clipping to form different instruction sets, each instruction set being used to control a function of a device. The instructions form different instruction sets in the job file through cutting, and further form different function sets; each function set can correspond to one device, so that one set of master control program can automatically adapt to the functions of multiple kinds of devices through simple setting without changing codes. For a user, a plurality of different robot systems are seen, the actual internal implementation code is a set, and a developer only needs to maintain a set of code. The same main control program supports different functions by supporting different instruction sets, and can be used in different robot forms without being perceived by users.
According to the robot operation process control method provided by the embodiment of the invention, through the process, a plurality of robots, various automatic controlled devices with different functions, semi-automatic controlled devices and the like can be integrated into one robot system, the robot system can complete complex operation processes and complex functions, and the problems that the existing industrial mechanical arm has a single working scene, can only complete one repeatable simple action mostly, and is difficult to adapt when encountering complex services are solved. Therefore, more complex scenes can be applied to the robot, the overall processing efficiency of the industry is improved, and the cost of some dangerous operations is reduced.
Referring to fig. 2, the present invention further provides a robot work flow control apparatus, including:
the receiving unit 21 is configured to receive a control message sent by the client, where the control message is used to indicate an execution manner of an instruction in the job file. The operation file comprises a plurality of lines of instructions, each line of instructions is used for controlling one function of controlled equipment, and the functions of the plurality of lines of instructions are combined into an operation flow capable of automatically running. The controlled device comprises a robot.
And a loading unit 22, configured to load a job file corresponding to the control message.
And the execution unit 23 is configured to execute a corresponding operation on the instruction in the job file according to the execution manner indicated by the control message, and control a corresponding controlled device to complete a corresponding function.
Referring to fig. 3, the present invention further provides a robot work flow control system, including: the system comprises a client 31, a server 32 and a plurality of controlled devices, wherein the client 31 is in communication connection with the server 32, and the server 32 is in communication connection with the controlled devices. The controlled equipment can comprise devices which have different functions such as a mechanical arm, an unmanned vehicle carrying system, a laser radar system, a vision system and the like, can receive communication instructions, are driven by the instructions and complete corresponding actions. The client 31 is configured to send a control message to the server, where the control message is used to indicate an execution manner of the instruction in the job file. The operation file comprises a plurality of lines of instructions, each line of instructions is used for controlling one function of controlled equipment, and the functions of the plurality of lines of instructions are combined into an operation flow capable of automatically running. The server 32 is configured to receive the control message, load a job file corresponding to the control message, execute a corresponding operation on an instruction in the job file according to an execution manner indicated by the control message, and control a corresponding controlled device to complete a corresponding function. And the controlled equipment is used for receiving the instruction sent by the server and completing corresponding functions, and comprises a robot.
The embodiment of the invention also provides a storage medium, wherein a computer program is stored in the storage medium, and when being executed by a processor, the computer program realizes part or all of the steps in each embodiment of the robot work flow control method provided by the invention. The storage medium may be a magnetic disk, an optical disk, a Read-only memory (ROM) or a Random Access Memory (RAM).
Those skilled in the art will readily appreciate that the techniques of the embodiments of the present invention may be implemented as software plus a required general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
The same and similar parts in the various embodiments in this specification may be referred to each other. In particular, for the embodiment of the robot work flow control device, since it is basically similar to the embodiment of the method, the description is simple, and the relevant points can be referred to the description of the embodiment of the method.
Claims (9)
1. A robot work flow control method, comprising:
receiving a control message sent by a client, wherein the control message is used for indicating an execution mode of an instruction in a job file; the operation file comprises a plurality of lines of instructions, each line of instruction is used for controlling one function of controlled equipment, and the functions of the plurality of lines of instructions are combined into an operation flow capable of automatically running; the controlled device comprises a robot;
loading a job file corresponding to the control message;
and executing corresponding operation on the instruction in the job file according to the execution mode indicated by the control message, and controlling corresponding controlled equipment to complete corresponding functions.
2. The robot work flow control method according to claim 1, wherein the executing method indicated by the control message executes corresponding operations on the instructions in the work file to control corresponding controlled devices to complete corresponding functions, and the method includes:
analyzing the type of the instruction to be executed in the job file;
and sending the instruction to corresponding controlled equipment according to the type of the instruction so as to control the controlled equipment to complete the function corresponding to the instruction.
3. The robot work flow control method according to claim 1, wherein the executing method indicated by the control message executes corresponding operations on the instructions in the work file to control corresponding controlled devices to complete corresponding functions, and the method includes:
instructions currently running in the job file are started, suspended, resumed, or stopped.
4. A robotic work flow control method as claimed in claim 3, characterized in that after suspending the currently running instructions in the work file, the method further comprises:
and receiving a manual operation signal, and sending a corresponding control instruction to the controlled equipment to complete the functions corresponding to part or all of the operation flows.
5. The robot work flow control method according to claim 4, wherein after receiving a manual operation signal and sending a corresponding control command to the controlled device to complete a part or all of the functions corresponding to the work flow, the method further comprises:
and receiving a control message sent by the client, and continuously executing the instruction in the job file.
6. The robot work flow control method according to claim 1, wherein the executing method indicated by the control message executes corresponding operations on the instructions in the work file to control corresponding controlled devices to complete corresponding functions, and the method includes:
and executing a next line instruction, a previous line instruction or a skip line execution instruction of the currently running instruction in the job file.
7. A robot work flow control method according to claim 1, characterized in that the instructions in the work file are tailored to form different instruction sets, each instruction set being for controlling a function of a device.
8. A robot work flow control device, comprising:
the receiving unit is used for receiving a control message sent by a client, wherein the control message is used for indicating an execution mode of an instruction in a job file; the operation file comprises a plurality of lines of instructions, each line of instructions is used for controlling one function of a controlled device, and the functions of the plurality of lines of instructions are combined into an automatically-running operation flow; the controlled device comprises a robot;
the loading unit is used for loading the job file corresponding to the control message;
and the execution unit is used for executing corresponding operation on the instruction in the job file according to the execution mode indicated by the control message and controlling corresponding controlled equipment to complete corresponding functions.
9. A robot work flow control system, comprising: the system comprises a client, a server and a plurality of controlled devices, wherein the client is in communication connection with the server, and the server is in communication connection with the controlled devices;
the client is used for sending a control message to the server, and the control message is used for indicating an execution mode of the instructions in the job file; the operation file comprises a plurality of lines of instructions, each line of instruction is used for controlling one function of controlled equipment, and the functions of the plurality of lines of instructions are combined into an operation flow capable of automatically running;
the server is used for receiving the control message, loading the job file corresponding to the control message, executing corresponding operation on the instruction in the job file according to the execution mode indicated by the control message, and controlling corresponding controlled equipment to complete corresponding functions;
and the controlled equipment is used for receiving the instruction sent by the server and completing corresponding functions, and comprises a robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210978928.1A CN115042192A (en) | 2022-08-16 | 2022-08-16 | Robot work flow control method, device and system |
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| CN202210978928.1A CN115042192A (en) | 2022-08-16 | 2022-08-16 | Robot work flow control method, device and system |
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| CN202210978928.1A Pending CN115042192A (en) | 2022-08-16 | 2022-08-16 | Robot work flow control method, device and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024093912A1 (en) * | 2022-11-04 | 2024-05-10 | 北京镁伽机器人科技有限公司 | Control method and apparatus for automation process, electronic device, and storage medium |
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| CN113910245A (en) * | 2021-11-17 | 2022-01-11 | 珠海格力智能装备有限公司 | Industrial robot control method based on big data clustering |
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| CN1401098A (en) * | 2000-02-10 | 2003-03-05 | 株式会社安川电机 | Robot controller |
| US20070168082A1 (en) * | 2006-01-17 | 2007-07-19 | Robostar Co., Ltd. | Task-based robot control system for multi-tasking |
| US20140365061A1 (en) * | 2013-06-10 | 2014-12-11 | The Boeing Company | Systems and methods for robotic measurement of parts |
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Application publication date: 20220913 |