CN115454010A - Internet of things combined intelligent control platform based on industrial robot - Google Patents
Internet of things combined intelligent control platform based on industrial robot Download PDFInfo
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- CN115454010A CN115454010A CN202211416910.9A CN202211416910A CN115454010A CN 115454010 A CN115454010 A CN 115454010A CN 202211416910 A CN202211416910 A CN 202211416910A CN 115454010 A CN115454010 A CN 115454010A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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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]
Abstract
The invention relates to the field of general control or regulation systems, in particular to an Internet of things combined intelligent control platform based on an industrial robot. The invention specifically comprises a remote control system and an industrial robot production end; the remote control system is connected with the industrial robot production end in a control mode and used for performing remote multi-sensor combined control upgrading of the industrial robot, automatic transmission and storage of machining data and downloading and upgrading of functional modules. According to the Internet of things combined intelligent control platform based on the industrial robot, the remote downloading and upgrading technology is mutually communicated with the state management modules of the industrial robot control systems distributed in all areas, so that the later-stage system upgrading and state monitoring management capabilities of the industrial robot are improved, the field management of the industrial robot sold by a large number of maintenance personnel sent by an enterprise is avoided, the maintenance efficiency of the industrial robot is improved, and the usability of the product function is improved.
Description
Technical Field
The invention relates to the field of general control or regulation systems, in particular to an Internet of things combined intelligent control platform based on an industrial robot.
Background
At the present stage, a remote wireless upgrading mode based on system firmware or module programs is usually applied to a vehicle-mounted system, maintenance personnel do not need to be sent out to the site for maintenance, meanwhile, long-time waiting is also not needed, and unified operation and maintenance management of products distributed in various places can be quickly realized by a system manufacturer, so that the contact between the manufacturer and a purchasing user is strengthened, and the usability of the products is improved. The technical problem to be solved by the invention is that in a control system of an industrial robot, because the joint control of multiple sensors is involved, each sensor corresponds to different functional units in the control system, in the long-term industrial production and use process, various problems such as updating of functional modules of the control system of the industrial robot, process data acquisition and the like are faced on the same, and meanwhile, in the actual production and processing of the industrial robot, various production problems often exist, for example, the maintenance treatment of various functional modules in the control system of the industrial robot is carried out irregularly, the subsequent maintenance is difficult, the maintenance personnel are on a business trip frequently, and the industrial production efficiency is reduced.
Chinese patent No. CN113347225B provides an over the air technology OTA upgrading method for an internet of things terminal device and a server, and details a control method used in an over the air technology process for the internet of things terminal device in this patent, so as to improve upgrading efficiency, but this patent does not combine the processing technology of an industrial robot in actual production, the control method and the control state of a sensor to perform multi-angle monitoring and updating, so as to achieve a better processing effect and expand related technologies. Chinese patent publication No. CN114265364A provides a system and a method for processing monitoring data of an industrial internet of things, which is used for analyzing data and correcting deviation by collecting relevant data of a sensor in an actual processing process of an industrial robot, but the system and the method only monitor the existing functions of the sensor and do not involve upgrading and updating of a sensor control program.
Therefore, the invention provides an Internet of things combined intelligent control platform based on an industrial robot, aiming at the problems of the existing industrial robot in the Internet of things intelligent control process.
Disclosure of Invention
Aiming at the existing problems, the invention provides an Internet of things combined intelligent control platform based on an industrial robot, which specifically comprises a remote control system and an industrial robot production end;
the remote control system is used for performing remote multi-sensor combined control upgrading of the industrial robot by establishing control connection with the industrial robot production end, automatically transmitting and storing processing data and downloading and upgrading function modules;
and the multi-sensor combined control upgrading adopts a posterior combined control mode, the posterior combined control mode starts the updating mode of a single sensor module by establishing a module upgrading program package in a remote control system, and after the single sensor is updated, the sensor initialization verification and the data fusion based on the sensor combined control are carried out.
Preferably, the multi-sensor combined control upgrading is realized by introducing an automatic test program into the industrial robot, monitoring the running state of the sensors, and uniformly transmitting log data generated by monitoring results back to the remote control system for fault analysis.
Preferably, the processing data are automatically transmitted and stored to collect the process flow data of the controlled industrial robot in the production and processing process.
Preferably, a standardized process path upgrade package based on the industrial robot of the specified type is generated according to the process flow data.
Preferably, the downloading and upgrading of the function module can be realized by downloading the control module in the industrial robot, updating the original version and deleting the control module.
Preferably, the function module downloads and upgrades, and also includes the update of the controlled industrial robot system.
Preferably, the control flow of the remote control system is as follows:
s1, firstly burning a controlled component in a controlled industrial robot system;
s2, moving the controlled component to a data partitioning module of the remote control system;
and S3, finally, updating the data partition module to establish control connection between the remote control system and the controlled industrial robot.
Preferably, the remote control system performs scheduling management of the remote upgrade package by using a cloud platform based on a SaaS framework.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the Internet of things combined intelligent control platform based on the industrial robot, the remote download upgrading technology is mutually communicated with the state management modules distributed in all areas of the industrial robot control system, so that the later-stage system upgrading and state monitoring management capabilities of the industrial robot are improved, the field management of the industrial robot sold by a large number of maintenance personnel sent by an enterprise is avoided, the maintenance efficiency of the industrial robot is improved, and the usability of the product function is improved.
(2) On the basis of (1), the intelligent control platform establishes a multi-sensor combined control upgrading function, adopts a mode of firstly independently upgrading and updating the sensors in the controlled industrial robot, then initializing and finally performing fusion control, and remotely updates the sensors in the controlled robot so as to correct the processing errors caused by the self states of the sensors in the actual production process.
(3) On the basis of the step (2), the intelligent control platform establishes automatic processing data transmission and storage functions, is used for collecting and returning data of a processing technology related to the controlled industrial robot, generates an analysis report from the returned technology data, generates a standardized technology path upgrade package from the analysis report, and is used for upgrading and correcting the technology path of the industrial robot, so that the problem that the processing quality of an integral product is affected due to the fact that conventional processing problems frequently occur in the industrial robot is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of an Internet of things combined intelligent control platform based on an industrial robot;
fig. 2 is a control flow chart of the remote control system.
Detailed Description
The disclosure may be understood more readily by reference to the following detailed description of preferred embodiments of the invention and the examples included therein. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. In case of conflict, the present specification, including definitions, will control.
The singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. "optional" or "either" means that the subsequently described event or events may or may not occur, and that the description includes instances where the event occurs and instances where it does not.
The internet of things combined intelligent control platform based on the industrial robot in the embodiment is shown in fig. 1 and specifically comprises a remote control system and an industrial robot production end;
the remote control system is used for performing remote multi-sensor combined control upgrading of the industrial robot by establishing control connection with the industrial robot production end, automatically transmitting and storing processing data and downloading and upgrading function modules;
and the multi-sensor combined control upgrading adopts a posterior combined control mode, the posterior combined control mode starts the updating mode of a single sensor module by establishing a module upgrading program package in a remote control system, and after the single sensor is updated, the sensor initialization verification and the data fusion based on the sensor combined control are carried out.
In one embodiment, the remote control system specifically comprises the following steps of establishing a control connection with a production end of an industrial robot:
b1, firstly receiving a module upgrading notice of a plurality of sensors in the industrial robot, and after receiving the module upgrading notice, checking original versions of the modules;
b2, carrying out targeted control program downloading according to the original version in the single sensor module;
and B3, in the control program downloading process, monitoring the control program downloading progress, and summarizing the sensor module upgrading progress and the sensor module upgrading data.
The control program is used for setting a field structure for transmitting data according to different sensor module types in a targeted manner so as to ensure the accuracy of the matching of the control program transmission and the corresponding sensor module in the process of sensor combined control upgrading.
In one embodiment, in the sensor initialization check, since the present invention adopts multi-sensor joint control upgrade, a control mode of packet matching after whole packet check is adopted for the received control program, wherein data in the received control program is converted into hexadecimal form, and a CRC identifier is established at the end of a data field.
The method comprises the steps of identifying a data field with a specified length to carry out identifier positioning, comparing and judging the received data field with an original data field after the identifier positioning, identifying data with transmission errors and carrying out breakpoint data retransmission.
In one embodiment, in the data fusion based on the sensor combination control, the specific steps of the data fusion are as follows:
a1, firstly performing multi-sensor combined control upgrading in the same time span, and representing the combination of multiple sensors as P = { Xi, yi, zi }, wherein Xi represents a specific sensor identifier, yi represents a function point of single sensor upgrading, zi represents an attribute value of specific data in an upgrading module corresponding to the sensor, and specific data of the upgrading module corresponding to the sensor is represented as P = (P1, P2, 8230pn);
a2, dividing data in the corresponding upgrading module into two types which meet a fusion rule and do not meet the fusion rule, wherein updating of data fusion among multiple sensors is carried out on the data which meet the fusion rule;
and A3, updating the data fusion, updating a covariance matrix based on data attributes on the basis of aligning a time stamp of specific data in an upgrading module corresponding to the sensor with a coordinate system, and updating the covariance matrix to perform linear relation among multi-sensor data
Updating and calculating;
and A4, calculating and predicting a data value of an upgrading module corresponding to the multiple sensors at the next moment according to the updating of the linear relation so as to correct the deviation of upgrading data, so that the data fusion based on the sensor joint control is realized and the fusion accuracy is improved.
In an embodiment, the field structure of the transmission data is set specifically according to the data message formats received by different sensors, and the field flag bit, the message structure and the check code in the control program are set specifically.
In an embodiment, the updating of the single sensor module is the updating of the sensor control method and the implementation function, and does not involve the updating of the inherent version of the sensor, and the updating mode of the single sensor module specifically includes the updating of the newly added control function and the optimization of the original function.
And the multi-sensor combined control upgrading is realized by leading in an automatic test program in the control process of the industrial robot processing platform, monitoring the running state of the sensor and uniformly transmitting log data generated by a monitoring result back to a remote control system for fault analysis.
In an embodiment, the automatic test program further includes model management of the industrial robot, processing type management of the industrial robot, original system version number management of the industrial robot, data return and storage management, safety transmission management of the industrial robot and fault repair management.
The industrial robot model management comprises but is not limited to industrial robot upgrading time management, upgrading area management and upgrading time management.
In one embodiment, the safety transmission management comprises production safety monitoring management and data transmission flow monitoring management, and the production safety monitoring management is used for recording the influence of abnormal data in a system on the processing safety during the production and processing of the industrial robot.
The data transmission process monitoring management is used for monitoring the receiving, sending and transmitting of data in the control process and avoiding the problems of interference and attack of unknown signals, wherein the automatic test is to arrange a single test data exchange unit and a remote control system to carry out test instruction exchange and test data analysis.
The module parallel test in the multisensor in the industrial robot is carried out through the test instruction obtained in the single test data exchange unit, the test result is sent to the remote control system through the single test data exchange unit, and the dispatching management control in the multisensor in the industrial robot is carried out through the remote control system.
And the processing data is automatically transmitted and stored to acquire the process flow data of the controlled industrial robot in the production and processing processes.
And generating a standardized process path upgrading packet based on the industrial robot of the specified type according to the process flow data.
In one embodiment, in a conventional industrial robot, regular inspection and data update are usually performed on each module in the robot in a manual mode, but the manual inspection mode has low efficiency in the industrial robot processing production process, and the inspection range is large and lack of pertinence.
The standardized process path upgrading packet provided by the invention takes the actual processing process route of the industrial robot as a standard, and identification modes and identification process flows of identification data of each sensor in the corresponding industrial robot are inevitably improved when an enterprise carries out novel process production or performs specified process flow updating improvement.
The method comprises the steps of acquiring process flow data of the controlled industrial robot in the production and processing process, and feeding back the corresponding process flow data to the remote control system for remote interactive control on the basis of the acquired process flow data of the controlled industrial robot.
The method is characterized in that the directional upgrading control is performed aiming at the improvement required by each sensor in the industrial robot in the updated process flow, and each sensor used in the industrial robot by an enterprise is tightly combined with the actual production of the enterprise by establishing a directional upgrading control mode, so that the conditions that the production efficiency is low due to manual inspection and manual upgrading and each sensor in the industrial robot does not correspond to the actual production process are avoided.
In an implementation manner, in the standard process path upgrading package, in the actual use process, an operator can adjust corresponding parameters according to the actual product processing requirement of the industrial robot, and optimize the product processing process by combining the whole standard processing process, so that the product processing quality is improved.
The function module can be downloaded and upgraded, the control module in the industrial robot can be downloaded, and the control module can be updated and deleted on the original version.
In one embodiment, the downloading and upgrading of the functional module further comprises updating of the controlled industrial robot system.
The control flow of the remote control system is shown in fig. 2 as follows:
s1, burning a controlled component in a controlled industrial robot system;
s2, moving the controlled component to a data partition module of the remote control system;
and S3, finally updating the data partition module to establish control connection between the remote control system and the controlled industrial robot.
The remote control system adopts a cloud platform based on a SaaS framework to carry out scheduling management on the remote upgrade package.
In one embodiment, each equipment process flow node trace is established to generate and transmit processing data back to a remote control system, and in conclusion, the internet of things combined intelligent control platform based on The industrial robot applies an Over-The-Air Technology (OTA) based Air upgrading and downloading Technology to The industrial robot to remotely control function modules in each sensor, and The invention controls and adjusts multiple sensors involved in The industrial robot; the industrial robot control system is characterized in that a remote control mode is used, the control of the functional units of the industrial robot is finally realized, and an upgraded and repaired control program is quickly downloaded to an industrial robot control system distributed in each area to quickly repair and upgrade the system.
The foregoing examples are merely illustrative and serve to explain some of the features of the method of the present invention. The appended claims are intended to claim as broad a scope as is contemplated, and the examples presented herein are merely illustrative of selected implementations in accordance with all possible combinations of examples. Accordingly, it is applicants' intention that the appended claims are not to be limited by the choice of examples illustrating features of the invention. Also, where numerical ranges are used in the claims, subranges therein are included, and variations in these ranges are also to be construed as possible being covered by the appended claims.
Claims (6)
1. An Internet of things combined intelligent control platform based on an industrial robot is characterized by specifically comprising a remote control system and an industrial robot production end;
the remote control system is used for performing remote multi-sensor combined control upgrading of the industrial robot by establishing control connection with the industrial robot production end, automatically transmitting and storing processing data and downloading and upgrading function modules;
and the multi-sensor combined control upgrading adopts a posterior combined control mode, the posterior combined control mode starts the updating mode of a single sensor module by establishing a module upgrading program package in a remote control system, and after the single sensor is updated, the sensor initialization verification and the data fusion based on the sensor combined control are carried out.
2. The Internet of things combined intelligent control platform based on the industrial robot as claimed in claim 1, wherein the multi-sensor combined control is upgraded, an automatic test program is introduced into the industrial robot to monitor the running state of the sensor, and log data generated by a monitoring result is transmitted back to a remote control system for fault analysis.
3. The IOT (Internet of things) combined intelligent control platform based on the industrial robot as claimed in claim 1, wherein the processing data is automatically transmitted and stored to collect the process flow data of the controlled industrial robot in the production and processing process, and a standardized process path upgrade package based on the industrial robot of a specified type is generated according to the process flow data.
4. The platform as claimed in claim 1, wherein the downloading and upgrading of the function modules can be performed by downloading the control modules in the industrial robot, upgrading the control modules in the original version, deleting the control modules, and updating the system of the controlled industrial robot.
5. The combined intelligent control platform of the internet of things based on the industrial robot as claimed in claim 1, wherein the control flow of the remote control system is as follows:
s1, firstly burning a controlled component in a controlled industrial robot system;
s2, moving the controlled component to a data partition module of the remote control system;
and S3, finally updating the data partition module to establish control connection between the remote control system and the controlled industrial robot.
6. The combined intelligent control platform for the internet of things based on the industrial robot as claimed in claim 1, wherein the remote control system adopts a cloud platform based on a SaaS framework to perform scheduling management of a remote upgrade package.
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