CN115741708A - Method and device for determining manipulator state and storage medium - Google Patents
Method and device for determining manipulator state and storage medium Download PDFInfo
- Publication number
- CN115741708A CN115741708A CN202211483220.5A CN202211483220A CN115741708A CN 115741708 A CN115741708 A CN 115741708A CN 202211483220 A CN202211483220 A CN 202211483220A CN 115741708 A CN115741708 A CN 115741708A
- Authority
- CN
- China
- Prior art keywords
- offset
- manipulator
- data
- determining
- equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 89
- 238000003860 storage Methods 0.000 title claims abstract description 56
- 230000005540 biological transmission Effects 0.000 claims abstract description 45
- 230000008569 process Effects 0.000 claims abstract description 32
- 230000002159 abnormal effect Effects 0.000 claims description 64
- 238000006243 chemical reaction Methods 0.000 claims description 15
- 238000013500 data storage Methods 0.000 claims description 4
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 27
- 238000010586 diagram Methods 0.000 description 9
- 238000004590 computer program Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 7
- 230000005856 abnormality Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 238000001746 injection moulding Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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]
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application discloses a method and a device for determining the state of a manipulator and a storage medium. The method comprises the following steps: acquiring equipment information sent by a plurality of manipulators through a transmission control protocol bus to obtain a plurality of pieces of equipment information; respectively obtaining offset contents in each piece of equipment information to obtain a plurality of groups of offset contents; determining the storage address of each offset address in the database, and storing the offset data associated with each offset address into the storage address; and sequentially reading the offset data of each manipulator from the database, and determining the state of the manipulator in the using process according to the acquired offset data. Through the method and the device, the problem that the state information of the manipulator is difficult to accurately and conveniently determine in a manual mode in the related art is solved.
Description
Technical Field
The present application relates to the field of industrial equipment, and in particular, to a method and an apparatus for determining a state of a manipulator, and a storage medium.
Background
In industrial production, a manipulator is usually required to replace manual operation to complete the picking and conveying of injection molded parts, however, because the production mode of the traditional manipulator is a relatively independent and dispersed single machine mode, when a workshop manager needs to know the operation state, equipment parameters, fault alarm, yield and other production information of equipment, the workshop manager needs to enter a workshop where the equipment is located to collect and check the production information one by one, collected data needs to be manually input, the workload is high, and the problems that the obtained data is inaccurate due to human error behaviors and the like easily occur, so that the state information of the manipulator equipment cannot be conveniently and accurately determined, and further the manipulator with abnormal state cannot be timely processed.
Furthermore, when the acquired production data is processed, each device also needs to be processed in sequence, which results in low data processing efficiency, and when the device system is maintained, each device also needs to be maintained in sequence, which seriously affects the working efficiency of the working personnel.
Aiming at the problem that the state information of the manipulator is difficult to accurately and conveniently determined in a manual mode in the related art, an effective solution is not provided at present.
Disclosure of Invention
The application provides a method and a device for determining the state of a manipulator and a storage medium, which are used for solving the problem that the state information of the manipulator is difficult to accurately and conveniently determine in a manual mode in the related art.
According to one aspect of the application, a method for determining a state of a manipulator is provided. The method comprises the following steps: acquiring equipment information sent by a plurality of manipulators through a transmission control protocol bus to obtain a plurality of pieces of equipment information, wherein a data transmission interface of each manipulator is connected to the transmission control protocol bus; respectively obtaining offset content in each piece of equipment information to obtain a plurality of groups of offset content, wherein each group of offset content comprises at least one offset content, and the offset content comprises an offset address and offset data; determining the storage address of each offset address in the database, and storing the offset data associated with each offset address into the storage address; and sequentially reading the offset data of each manipulator from the database, and determining the state of the manipulator in the using process according to the acquired offset data.
Optionally, sequentially reading the offset data of each manipulator from the database, and determining the state of the manipulator in the using process according to the acquired offset data respectively includes: judging whether the offset data of the manipulator exists in a preset comparison table in a database or not, wherein the preset comparison table comprises a plurality of abnormal offset data and abnormal phenomena corresponding to each abnormal offset data; determining that no abnormity exists in the use process of the manipulator under the condition that no offset data of the manipulator exists in a preset comparison table; and under the condition that at least one piece of offset data of the manipulator exists in the preset comparison table, determining a target abnormal phenomenon corresponding to the offset data existing in the preset comparison table, and generating alarm information according to the target abnormal phenomenon.
Optionally, the offset content further includes an equipment ID, and generating the alarm information according to the target abnormal phenomenon includes: determining the equipment type and the equipment belonging area of the manipulator according to the equipment ID to obtain the target equipment type and the target area; determining the style of the alarm information according to the type of the target equipment and the target area to obtain a target alarm style; and displaying the target abnormal phenomenon in a target alarm mode to obtain alarm information.
Optionally, the generating of the alarm information according to the target abnormal phenomenon includes: determining the alarm information as transmission control protocol bus abnormity or manipulator data storage abnormity under the condition that the target abnormity phenomenon indicates that the offset data is incomplete; and in the case that the target abnormal phenomenon indicates that the offset data has errors, determining the alarm information as the operation abnormity of the mechanical arm.
Optionally, after determining the state of the manipulator during use according to the acquired offset data, respectively, the method further comprises: under the condition that the manipulator is not abnormal, judging whether the offset data indicate that the system version of the manipulator needs to be updated or not; and under the condition that the offset data indicates that the system version of the manipulator needs to be updated, acquiring a target system file adaptive to the manipulator from the database, sending the target system file to the manipulator, and installing the target system file in the manipulator.
Optionally, after determining the state of the manipulator during use according to the acquired offset data, respectively, the method further comprises: determining a manipulator which needs to update the equipment program to obtain a plurality of manipulators to be updated; acquiring the equipment IP address of each manipulator to be updated, and judging whether the equipment IP addresses of a plurality of manipulators to be updated belong to a network segment or not; and under the condition that the IP addresses of the devices of the manipulators to be updated belong to one network segment, determining a switch associated with the network segment, sending the program to be updated to the switch, and sending the program to be updated to the manipulators by the switch.
Optionally, the storing the offset data associated with each offset address into the corresponding storage address includes: determining data needing data type conversion in the offset data to obtain data to be converted; determining a data conversion process of data to be converted; converting the type of the data to be converted into a preset data type according to the data conversion process to obtain converted data; updating the offset data by the converted data, and executing the step of storing the offset data associated with each offset address into the corresponding storage address by the updated offset data.
Optionally, the obtaining the device information sent by the multiple manipulators through the transmission control protocol bus includes: acquiring the equipment type of each manipulator to obtain a plurality of pieces of equipment type information; dividing the manipulators with the same equipment type information into a group to obtain multiple groups of equipment type information; setting an information acquisition period of each group of equipment type information according to the equipment type information to obtain a plurality of information acquisition periods; and acquiring the equipment information of the corresponding manipulator according to each information acquisition period to obtain a plurality of pieces of equipment information.
According to another aspect of the present application, there is provided a robot state determination apparatus. The device comprises: the first acquisition unit is used for acquiring the equipment information sent by the multiple manipulators through a transmission control protocol bus to obtain the multiple pieces of equipment information, wherein a data transmission interface of each manipulator is connected to the transmission control protocol bus; the second acquisition unit is used for respectively acquiring offset contents in each piece of equipment information to obtain a plurality of groups of offset contents, wherein each group of offset contents comprises at least one offset content, and each offset content comprises an offset address and offset data; the first determining unit is used for determining the storage address of each offset address in the database and storing the offset data associated with each offset address into the storage address; and the second determining unit is used for sequentially reading the offset data of each manipulator from the database and determining the state of the manipulator in the using process according to the acquired offset data.
According to another aspect of the embodiments of the present invention, there is also provided a computer storage medium for storing a program, wherein the program controls a device in which the computer storage medium is located to execute a method for determining a state of a manipulator when the program is executed.
According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including one or more processors and a memory; the memory stores computer readable instructions, and the processor is used for executing the computer readable instructions, wherein the computer readable instructions execute a method for determining the state of the manipulator.
By the application, the following steps are adopted: acquiring equipment information sent by a plurality of manipulators through a transmission control protocol bus to obtain a plurality of pieces of equipment information, wherein a data transmission interface of each manipulator is connected to the transmission control protocol bus; respectively obtaining offset content in each piece of equipment information to obtain a plurality of groups of offset content, wherein each group of offset content comprises at least one offset content, and the offset content comprises an offset address and offset data; determining the storage address of each offset address in the database, and storing the offset data associated with each offset address into the storage address; and sequentially reading the offset data of each manipulator from the database, and determining the state of the manipulator in the using process according to the acquired offset data. The problem of in the correlation technique through the artifical mode difficult to confirm the state information of manipulator accurately conveniently is solved. The production information of a plurality of manipulator devices which is sent by a transmission control protocol bus in parallel is received, and the production information is classified according to the offset content, so that the offset content belonging to one storage address is stored together, the offset data is processed in the storage address in a unified manner, and the effect of efficiently and accurately determining the production state of each manipulator device according to the processing result is achieved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 is a schematic diagram of an alternative manipulator state determination system provided in accordance with an embodiment of the present application;
fig. 2 is a flowchart of a method for determining a state of a manipulator according to an embodiment of the present disclosure;
FIG. 3 is a flow chart of an alternative manipulator state determination method provided in accordance with an embodiment of the present application;
fig. 4 is a schematic diagram of a device for determining a state of a manipulator according to an embodiment of the present application.
Detailed Description
It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order to make the technical solutions of the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the relevant information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for presentation, analyzed data, etc.) referred to in the present disclosure are information and data authorized by the user or sufficiently authorized by each party. For example, an interface is provided between the system and the relevant user or institution, and before obtaining the relevant information, an obtaining request needs to be sent to the user or institution through the interface, and after receiving the consent information fed back by the user or institution, the relevant information needs to be obtained.
In this embodiment, as shown in fig. 1, the foregoing method for determining a manipulator state is performed by using an optional manipulator state determining system as an execution subject, where the system at least includes: the manipulator system comprises a plurality of manipulators 101, a Modbus TCP bus 102, a switch 103, a gateway 104 and an upper computer 105, wherein the manipulators 101 upload production data to the switch 103 through the Modbus TCP bus 102 according to a preset period, and the switch 103 is used for connecting the manipulators 101 with the same network segment but different IP addresses, so that the phenomenon of data blocking can not occur when the manipulators 101 upload or exchange data at the same time. The switch 103 transmits the production data to the gateway 104, the gateway 104 can mutually convert the production data sent by two different network segments by using data of different transmission protocols and upload the data to the upper computer 105, and the upper computer 105 performs unified processing on the production data, so that the effects of uniformly acquiring and processing the production information are achieved, and the efficiency and accuracy of acquiring the production data and processing the production data are improved.
According to an embodiment of the application, a method for determining a state of a manipulator is provided.
Fig. 2 is a flowchart of a method for determining a manipulator state according to an embodiment of the present disclosure. As shown in fig. 2, the method comprises the steps of:
step S202, acquiring equipment information sent by a plurality of manipulators through a transmission control protocol bus to obtain a plurality of pieces of equipment information, wherein a data transmission interface of each manipulator is connected to the transmission control protocol bus.
Specifically, the transmission control protocol bus can be a Modbus TCP bus, the Modbus TCP bus is an industrial bus protocol standard, and the manipulator can be an injection molding manipulator used for taking and transmitting injection molding parts. After the equipment information of the multiple mechanical arms is obtained, all the mechanical arms in the workshop can be connected to the switch through a transmission control protocol bus, namely a Modbus TCP bus, so that the multiple mechanical arms can send the equipment information to the switch in parallel for data transmission. The device information may include device operation information when the device performs production and production information when the product is produced.
Step S204, respectively obtaining the offset content in each piece of equipment information to obtain a plurality of groups of offset contents, wherein each group of offset contents comprises at least one offset content, and the offset contents comprise offset addresses and offset data.
Specifically, after obtaining the plurality of pieces of device information, offset content in each piece of device information may be obtained, where the offset content includes an offset address and offset data. Since there may be multiple kinds of device data in each device information, and each kind of data is different in a memory and a register stored in the device, in order to be able to quickly classify the data, the data may be directly distinguished by determining an offset address, that is, the content indicated by the device data corresponding to the data with the same offset address is the same, for example, if the version data of the device system is stored in the offset address a, only the version data is stored in the offset address a, and the rest of the data is not stored.
Step S206, determining the storage address of each offset address in the database, and storing the offset data associated with each offset address into the storage address.
Specifically, the association relationship between the offset address and the storage address can be set in advance in the upper computer, so that after offset content is obtained, offset data can be stored into the corresponding storage address in the database according to the association relationship between the offset address and the storage address, and data with the same indication content in a plurality of manipulator devices can be stored in the same storage address, so that subsequent manipulator state determination is facilitated.
And step S208, sequentially reading the offset data of each manipulator from the database, and determining the state of each manipulator in the using process according to the acquired offset data.
Specifically, after the offset data of each manipulator is obtained, the host computer can follow and confirm in proper order that every offset data exists unusually according to the memory address in the database, or be not conform to current standard, and under the condition that has above-mentioned problem, can be timely gather all manipulator equipment's problem, and the information after the feedback is gathered, thereby timely suggestion staff handles through the host computer, or go to the equipment scene and handle, and then can reach and acquire and handle production information through unifying, the effect of the efficiency and the rate of accuracy of obtaining production data and handling production data has been improved.
According to the method for determining the state of the manipulator, the device information sent by the manipulators through the transmission control protocol bus is obtained, so that the device information is obtained, wherein a data transmission interface of each manipulator is connected to the transmission control protocol bus; respectively obtaining offset content in each piece of equipment information to obtain a plurality of groups of offset content, wherein each group of offset content comprises at least one offset content, and the offset content comprises an offset address and offset data; determining the storage address of each offset address in the database, and storing the offset data associated with each offset address into the storage address; and sequentially reading the offset data of each manipulator from the database, and determining the state of the manipulator in the using process according to the acquired offset data. The problem of among the correlation technique through the artifical mode difficult to accurately conveniently confirm the state information of manipulator is solved. The production information of a plurality of mechanical hand devices which is sent by a transmission control protocol bus in parallel is received, and the production information is classified according to the offset content, so that the offset content belonging to a storage address is stored together, the offset data is processed in the storage address in a unified way, and the effect of efficiently and accurately determining the production state of each mechanical hand device according to the processing result is achieved.
In order to accurately determine whether the manipulator is abnormal and timely find an abnormal phenomenon when the manipulator is abnormal, optionally, in the method for determining a manipulator state provided in the embodiment of the present application, sequentially reading offset data of each manipulator from a database, and determining a state of the manipulator in a use process according to the obtained offset data includes: step S302, judging whether the offset data of the manipulator exists in a preset comparison table in a database, wherein the preset comparison table comprises a plurality of abnormal offset data and abnormal phenomena corresponding to each abnormal offset data; step S304, determining that no abnormity exists in the use process of the manipulator under the condition that no offset data of the manipulator exists in a preset comparison table; and step S306, under the condition that at least one piece of offset data of the manipulator exists in a preset comparison table, determining a target abnormal phenomenon corresponding to the offset data existing in the preset comparison table, and generating alarm information according to the target abnormal phenomenon.
Specifically, as shown in fig. 3, after obtaining a certain offset data, first, it is determined whether the offset data is pre-stored in a preset comparison table, and if the offset data is in the preset comparison table, it is determined that the offset data is abnormal, and an abnormal phenomenon corresponding to the offset data is obtained from the preset comparison table, and an alarm message is generated according to the abnormal phenomenon, so as to notify a worker that an apparatus is abnormal.
For example, the offset data may be: the material rate of dropping of A manipulator is 5%, and the data of prestoring in predetermineeing the contrast table is that the material rate of dropping is greater than 3%, then this offset information exists with predetermineeing in the contrast table, consequently need send alarm information, and the product material rate of dropping of informing staff A equipment is too high, needs in time to handle.
It should be noted that the offset data may also be determined by setting a number code, for example, the offset data may be identified by 16-bit code data, after the code data is obtained, whether the code data exists in the preset comparison table may be determined, and in the case that the code data exists, an abnormal phenomenon corresponding to the code data may be directly obtained, so as to determine an abnormal phenomenon of the device corresponding to the offset data.
Optionally, in the method for determining a state of a manipulator provided in the embodiment of the present application, the offset content further includes an equipment ID, and generating alarm information according to the target abnormal phenomenon includes: determining the equipment type and the equipment belonging area of the manipulator according to the equipment ID to obtain the target equipment type and the target area; determining the style of the alarm information according to the type of the target equipment and the target area to obtain a target alarm style; and displaying the target abnormal phenomenon in a target alarm mode to obtain alarm information.
Specifically, when the alarm information is generated, the device information of the manipulator device corresponding to the offset data and the position information of the manipulator may be obtained from the offset content, and a corresponding alarm pattern may be generated according to the position information and the device information, for example, if the color corresponding to the area a is red, if the offset data of a certain device in the area a is abnormal, the worker may be prompted by displaying the red alarm information that the abnormal device is the device in the area a.
Under the condition of generating the target alarm pattern, the target abnormal phenomenon can be displayed under the target alarm pattern, so that the worker can be prompted by the target alarm pattern and the target abnormal phenomenon together, and the phenomenon of observation error when the worker observes the alarm information is prevented.
Optionally, in the method for determining a state of a manipulator provided in the embodiment of the present application, generating warning information according to a target abnormal phenomenon includes: determining the alarm information as transmission control protocol bus abnormity or manipulator data storage abnormity under the condition that the target abnormity phenomenon indicates that the offset data is incomplete; and in the case that the target abnormal phenomenon indicates that the offset data has errors, determining the alarm information as the operation abnormity of the mechanical arm.
Specifically, in the case where the abnormal phenomenon indicates that the offset data is incomplete, the abnormality may occur because data is missing due to an abnormality occurring during data transmission, or may be missing when the data is stored in the device, and therefore, the alarm phenomenon may be an abnormality occurring during data transmission of the bus or an abnormality occurring in the robot device.
Similarly, when the abnormal phenomenon indicates that the offset data has an error, the abnormal occurrence reason may be that the equipment itself is abnormal, or the equipment data is abnormal due to the abnormal task of the equipment in the process of executing the production task, so that the alarm phenomenon may indicate that the manipulator equipment is abnormal, and the worker is helped to further position the abnormal occurrence reason after obtaining the abnormal phenomenon, thereby improving the working efficiency of the worker.
Optionally, in the method for determining a state of a manipulator provided in an embodiment of the present application, after determining a state of the manipulator in a use process according to the acquired offset data, the method further includes: under the condition that the manipulator is not abnormal, judging whether the offset data indicates that the system version of the manipulator needs to be updated or not; and under the condition that the offset data indicates that the system version of the manipulator needs to be updated, acquiring a target system file adaptive to the manipulator from the database, sending the target system file to the manipulator, and installing the target system file in the manipulator.
Specifically, under the condition that the manipulator is not abnormal, whether version information exists in equipment related information in the offset data or not can be determined, the current equipment version of the equipment and the system version of the equipment needing to be installed are determined under the condition that the version information exists, under the condition that the current equipment version of the equipment is inconsistent with the system version needing to be installed, the system file needing to be installed can be directly obtained in a database of an upper computer, the system file is sent to the manipulator equipment from the upper computer, meanwhile, the manipulator equipment can be directly and remotely controlled in the upper computer, and therefore the effect of remotely upgrading the equipment system is achieved.
Optionally, in the method for determining a state of a manipulator provided in an embodiment of the present application, after determining a state of the manipulator in a use process according to the acquired offset data, the method further includes: determining a manipulator which needs to update the equipment program to obtain a plurality of manipulators to be updated; acquiring the equipment IP address of each manipulator to be updated, and judging whether the equipment IP addresses of a plurality of manipulators to be updated belong to a network segment; and under the condition that the IP addresses of the manipulators to be updated belong to one network segment, determining a switch associated with the network segment, sending the program to be updated to the switch, and sending the program to be updated to the manipulator equipment by the switch.
Specifically, the upper computer can also update programs or update a system of a plurality of mechanical arm devices through a Modbus TCP bus. The method can acquire the IP addresses of a plurality of manipulator devices needing program updating, determine whether the IP addresses belong to the same network segment, and send the programs needing updating to the manipulator devices through the switches corresponding to the network segment under the condition that the IP addresses belong to the same network segment, thereby completing the effect of updating the programs of the devices belonging to the same network segment simultaneously, and further improving the efficiency of device program changing.
Optionally, in the method for determining a state of a manipulator provided in the embodiment of the present application, storing offset data associated with each offset address into the corresponding storage address includes: determining data needing data type conversion in the offset data to obtain data to be converted; determining a data conversion process of data to be converted; converting the type of the data to be converted into a preset data type according to the data conversion process to obtain converted data; updating the offset data through the converted data, and executing the step of storing the offset data associated with each offset address into the affiliated storage address through the updated offset data.
Specifically, after the offset data is received, data which needs to be subjected to data type conversion in the offset data needs to be acquired to obtain data to be converted, and the data to be converted is subjected to data type conversion, so that data which cannot be read and stored and is acquired from the manipulator device can be read and stored.
For example, the data type of the data transmitted by the manipulator may be an Analog type, and the data type of the data in the upper computer is an unidimensional Integer type, at this time, under the condition that part of the data in the offset data is the Analog type, the data needs to be converted from the Analog type to the unidimensional Integer type, so as to obtain updated transmission data, and then the updated data may be stored in a corresponding storage address, so as to complete normal storage of the data.
Optionally, in the method for determining a state of a manipulator provided in the embodiment of the present application, obtaining device information sent by a plurality of manipulators through a transmission control protocol bus includes: acquiring the equipment type of each manipulator to obtain a plurality of pieces of equipment type information; dividing the manipulators with the same equipment type information into a group to obtain multiple groups of equipment type information; setting an information acquisition period of each group of equipment type information according to the equipment type information to obtain a plurality of information acquisition periods; and acquiring the corresponding equipment information of the manipulator according to each information acquisition period to obtain a plurality of pieces of equipment information.
Specifically, when the equipment uploads data to the upper computer, the data uploading period of each equipment can be determined according to the type of the equipment, the upper computer receives the equipment information sent by the manipulator equipment according to different data uploading periods, and sends an equipment information acquisition instruction to the manipulator under the condition that the equipment information sent by the manipulator is not received when the uploading period is reached, so that the information sent by the manipulator equipment can be received on time, and abnormal feedback can be timely carried out under the condition that the information cannot be received. Therefore, the equipment can be accurately and timely monitored and processed.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than here.
The embodiment of the present application further provides a device for determining a state of a manipulator, and it should be noted that the device for determining a state of a manipulator according to the embodiment of the present application may be used to execute the method for determining a state of a manipulator according to the embodiment of the present application. The following describes a manipulator state determination apparatus according to an embodiment of the present application.
Fig. 4 is a schematic diagram of a device for determining a state of a manipulator according to an embodiment of the present application. As shown in fig. 4, the apparatus includes: a first acquiring unit 41, a second acquiring unit 42, a first determining unit 43, a second determining unit 44.
The first obtaining unit 41 is configured to obtain device information sent by a plurality of manipulators through a transmission control protocol bus, so as to obtain a plurality of device information, where a data transmission interface of each manipulator is connected to the transmission control protocol bus.
The second obtaining unit 42 is configured to obtain offset contents in each piece of device information, respectively, to obtain multiple sets of offset contents, where each set of offset contents includes at least one offset content, and each offset content includes an offset address and offset data.
The first determining unit 43 is configured to determine a storage address of each offset address in the database, and store the offset data associated with each offset address into the storage address.
And the second determining unit 44 is used for sequentially reading the offset data of each manipulator from the database and respectively determining the state of the manipulator in the using process according to the acquired offset data.
The device for determining the state of the manipulator provided by the embodiment of the application is configured to obtain, by the first obtaining unit 41, device information sent by a plurality of manipulators through a transmission control protocol bus, to obtain a plurality of device information, where a data transmission interface of each manipulator is connected to the transmission control protocol bus. The second obtaining unit 42 is configured to obtain offset contents in each piece of device information, respectively, to obtain multiple sets of offset contents, where each set of offset contents includes at least one offset content, and each offset content includes an offset address and offset data. The first determining unit 43 is configured to determine a storage address of each offset address in the database, and store the offset data associated with each offset address into the storage address. And the second determining unit 44 is used for sequentially reading the offset data of each manipulator from the database and determining the state of the manipulator in the using process according to the acquired offset data. The problem of in the correlation technique through the artifical mode difficult to confirm the state information of manipulator accurately conveniently is solved. The production information of a plurality of mechanical hand devices which is sent by a transmission control protocol bus in parallel is received, and the production information is classified according to the offset content, so that the offset content belonging to a storage address is stored together, the offset data is processed in the storage address in a unified way, and the effect of efficiently and accurately determining the production state of each mechanical hand device according to the processing result is achieved.
Optionally, in the apparatus for determining a manipulator state provided in the embodiment of the present application, the second determining unit 44 includes: the judging module is used for judging whether the offset data of the manipulator exists in a preset comparison table in the database or not, wherein the preset comparison table comprises a plurality of abnormal offset data and an abnormal phenomenon corresponding to each abnormal offset data; the first determining module is used for determining that no abnormity exists in the use process of the manipulator under the condition that the offset data of the manipulator does not exist in the preset comparison table; and the second determining module is used for determining a target abnormal phenomenon corresponding to the offset data in the preset comparison table under the condition that at least one piece of offset data of the manipulator exists in the preset comparison table, and generating alarm information according to the target abnormal phenomenon.
Optionally, in the apparatus for determining a manipulator state provided in this embodiment of the present application, the offset content further includes a device ID, and the second determining module includes: the first determining submodule is used for determining the equipment type and the equipment belonging area of the manipulator according to the equipment ID to obtain the target equipment type and the target area; the second determining submodule is used for determining the style of the alarm information according to the type of the target equipment and the target area to obtain a target alarm style; and the display submodule is used for displaying the target abnormal phenomenon in a target alarm mode to obtain alarm information.
Optionally, in the apparatus for determining a state of a manipulator provided in an embodiment of the present application, the second determining module includes: the third determining submodule is used for determining the alarm information as the transmission control protocol bus abnormity or the manipulator data storage abnormity under the condition that the target abnormity phenomenon indicates that the offset data is incomplete; and the fourth determining submodule is used for determining the alarm information as the mechanical arm operation abnormity under the condition that the target abnormal phenomenon indicates that the offset data has errors.
Optionally, in the apparatus for determining a state of a manipulator provided in the embodiment of the present application, the apparatus further includes: a judging unit configured to judge whether the offset data indicates that a system version of the manipulator needs to be updated, when there is no abnormality in the manipulator; and the third acquisition unit is used for acquiring a target system file matched with the manipulator from the database, sending the target system file to the manipulator and installing the target system file in the manipulator under the condition that the offset data indicates that the system version of the manipulator needs to be updated.
Optionally, in the apparatus for determining a state of a manipulator provided in the embodiment of the present application, the apparatus further includes: the third determining unit is used for determining the manipulators needing to update the equipment programs to obtain a plurality of manipulators to be updated; the fourth acquiring unit is used for acquiring the equipment IP address of each manipulator to be updated and judging whether the equipment IP addresses of the manipulators to be updated belong to a network segment or not; and the fourth determining unit is used for determining the switch associated with the network segment under the condition that the IP addresses of the devices of the manipulators to be updated belong to one network segment, sending the program to be updated to the switch, and sending the program to be updated to the manipulators by the switch.
Optionally, in the apparatus for determining a state of a manipulator provided in an embodiment of the present application, the first determining unit 43 includes: the third determining module is used for determining data needing data type conversion in the offset data to obtain data to be converted; the fourth determining module is used for determining the data conversion process of the data to be converted; the conversion module is used for converting the type of the data to be converted into a preset data type according to the data conversion process to obtain the converted data; and the execution module is used for updating the offset data through the converted data and executing the step of storing the offset data associated with each offset address into the corresponding storage address through the updated offset data.
Optionally, in the apparatus for determining a manipulator state provided in the embodiment of the present application, the first obtaining unit 41 includes: the acquisition module is used for acquiring the equipment type of each manipulator to obtain a plurality of pieces of equipment type information; the grouping module is used for grouping the mechanical arms with the same equipment type information into one group to obtain a plurality of groups of equipment type information; the setting module is used for setting the information acquisition period of each group of equipment type information according to the equipment type information to obtain a plurality of information acquisition periods; and the acquisition module is used for acquiring the corresponding equipment information of the manipulator according to each information acquisition cycle to obtain a plurality of pieces of equipment information.
The manipulator state determining apparatus includes a processor and a memory, and the first acquiring unit 41, the second acquiring unit 42, the first determining unit 43, the second determining unit 44, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the problem that the state information of the manipulator is difficult to accurately and conveniently determine in a manual mode in the related technology is solved by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a computer-readable storage medium on which a program is stored, the program implementing the method for determining the state of the manipulator when executed by a processor.
The embodiment of the invention provides a processor, which is used for running a program, wherein the program executes the method for determining the state of a manipulator when running.
The embodiment of the invention provides electronic equipment which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor realizes the steps of the method for determining the state of the manipulator when executing the program. The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application also provides a computer program product adapted to perform a program of initializing the steps of the method of determining the state of a manipulator as described above, when executed on a data processing device.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A method for determining a state of a robot, comprising:
acquiring equipment information sent by a plurality of manipulators through a transmission control protocol bus to obtain a plurality of pieces of equipment information, wherein a data transmission interface of each manipulator is connected to the transmission control protocol bus;
respectively obtaining offset content in each piece of equipment information to obtain a plurality of groups of offset content, wherein each group of offset content comprises at least one offset content, and the offset content comprises an offset address and offset data;
determining the storage address of each offset address in the database, and storing the offset data associated with each offset address into the storage address;
and sequentially reading the offset data of each manipulator from the database, and determining the state of the manipulator in the using process according to the acquired offset data.
2. The method of claim 1, wherein sequentially reading the offset data for each manipulator from the database and determining the state of the manipulator during use based on the offset data obtained comprises:
judging whether the offset data of the manipulator exists in a preset comparison table in the database or not, wherein the preset comparison table comprises a plurality of abnormal offset data and abnormal phenomena corresponding to each abnormal offset data;
determining that no abnormity exists in the use process of the manipulator under the condition that no offset data of the manipulator exists in the preset comparison table;
and under the condition that at least one piece of offset data of the manipulator exists in the preset comparison table, determining a target abnormal phenomenon corresponding to the offset data existing in the preset comparison table, and generating alarm information according to the target abnormal phenomenon.
3. The method of claim 2, wherein the offset content further includes a device ID, and wherein generating the alarm information according to the target anomaly comprises:
determining the equipment type and the equipment belonging area of the manipulator according to the equipment ID to obtain the target equipment type and the target area;
determining the style of the alarm information according to the type of the target equipment and the target area to obtain a target alarm style;
and displaying the target abnormal phenomenon in the target alarm mode to obtain the alarm information.
4. The method of claim 2, wherein generating alarm information based on the target anomaly comprises:
determining the alarm information as the abnormal transmission control protocol bus or the abnormal manipulator data storage under the condition that the target abnormal phenomenon indicates that the offset data are incomplete;
and under the condition that the target abnormal phenomenon indicates that the offset data has errors, determining the alarm information as the abnormal operation of the mechanical arm.
5. The method of claim 1, wherein after determining the state of the manipulator during use from the acquired offset data, respectively, the method further comprises:
under the condition that the manipulator is not abnormal, judging whether the offset data indicate that the system version of the manipulator needs to be updated or not;
and under the condition that the offset data indicates that the system version of the manipulator needs to be updated, acquiring a target system file adaptive to the manipulator from the database, sending the target system file to the manipulator, and installing the target system file in the manipulator.
6. The method of claim 1, wherein after determining the state of the manipulator during use from the acquired offset data, respectively, the method further comprises:
determining manipulators needing equipment program updating to obtain a plurality of manipulators to be updated;
acquiring the equipment IP address of each manipulator to be updated, and judging whether the equipment IP addresses of the manipulators to be updated belong to a network segment or not;
and under the condition that the IP addresses of the manipulators to be updated belong to one network segment, determining a switch associated with the network segment, sending the program to be updated to the switch, and sending the program to be updated to the manipulators by the switch.
7. The method of claim 1, wherein storing the offset data associated with each offset address into the associated memory address comprises:
determining data needing data type conversion in the offset data to obtain data to be converted;
determining a data conversion process of the data to be converted;
converting the type of the data to be converted into a preset data type according to the data conversion flow to obtain converted data;
updating the offset data through the converted data, and executing the step of storing the offset data associated with each offset address into the corresponding storage address through the updated offset data.
8. The method of claim 1, wherein obtaining device information sent by a plurality of robots over a tcp bus, the obtaining the plurality of device information comprises:
acquiring the equipment type of each manipulator to obtain a plurality of pieces of equipment type information;
dividing the manipulators with the same equipment type information into a group to obtain multiple groups of equipment type information;
setting an information acquisition period of each group of equipment type information according to the equipment type information to obtain a plurality of information acquisition periods;
and acquiring the corresponding equipment information of the manipulator according to each information acquisition cycle to obtain the plurality of pieces of equipment information.
9. A manipulator state determination device, comprising:
the first acquisition unit is used for acquiring equipment information sent by a plurality of manipulators through a transmission control protocol bus to obtain a plurality of pieces of equipment information, wherein a data transmission interface of each manipulator is connected to the transmission control protocol bus;
the second acquiring unit is used for respectively acquiring offset contents in each piece of equipment information to obtain a plurality of groups of offset contents, wherein each group of offset contents comprises at least one offset content, and each offset content comprises an offset address and offset data;
the first determining unit is used for determining the storage address of each offset address in the database and storing the offset data associated with each offset address into the storage address;
and the second determining unit is used for sequentially reading the offset data of each manipulator from the database and determining the state of the manipulator in the using process according to the acquired offset data.
10. A computer storage medium for storing a program, wherein the program when executed controls an apparatus in which the computer storage medium is located to perform the method for determining a manipulator state according to any one of claims 1 to 8.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211483220.5A CN115741708A (en) | 2022-11-24 | 2022-11-24 | Method and device for determining manipulator state and storage medium |
| PCT/CN2023/109177 WO2024109132A1 (en) | 2022-11-24 | 2023-07-25 | Manipulator state determination method and apparatus, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211483220.5A CN115741708A (en) | 2022-11-24 | 2022-11-24 | Method and device for determining manipulator state and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115741708A true CN115741708A (en) | 2023-03-07 |
Family
ID=85337090
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211483220.5A Pending CN115741708A (en) | 2022-11-24 | 2022-11-24 | Method and device for determining manipulator state and storage medium |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115741708A (en) |
| WO (1) | WO2024109132A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024109132A1 (en) * | 2022-11-24 | 2024-05-30 | 珠海格力智能装备有限公司 | Manipulator state determination method and apparatus, and storage medium |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6571741B2 (en) * | 2017-11-29 | 2019-09-04 | ファナック株式会社 | Worker management device |
| JP7145702B2 (en) * | 2018-09-07 | 2022-10-03 | 株式会社日立物流 | Robot system and its control method |
| CN111338303A (en) * | 2020-02-28 | 2020-06-26 | 广州高专资讯科技有限公司 | Production efficiency monitoring method, device, equipment and system of production equipment |
| CN111805544A (en) * | 2020-07-10 | 2020-10-23 | 珠海格力智能装备有限公司 | Robot control method and device |
| CN111761571B (en) * | 2020-08-03 | 2022-04-05 | 珠海格力智能装备有限公司 | Robot control method and device |
| CN115741708A (en) * | 2022-11-24 | 2023-03-07 | 珠海格力智能装备有限公司 | Method and device for determining manipulator state and storage medium |
-
2022
- 2022-11-24 CN CN202211483220.5A patent/CN115741708A/en active Pending
-
2023
- 2023-07-25 WO PCT/CN2023/109177 patent/WO2024109132A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024109132A1 (en) * | 2022-11-24 | 2024-05-30 | 珠海格力智能装备有限公司 | Manipulator state determination method and apparatus, and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2024109132A1 (en) | 2024-05-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6978156B2 (en) | Decentralized industrial performance monitoring and analysis | |
| JP2021089769A (en) | Source non-dependent query in dispersed industrial system | |
| US20150134733A1 (en) | Industrial monitoring using cloud computing | |
| US11561535B2 (en) | Systems and methods for data lifecycle management with code content optimization and servicing | |
| JP2017076384A (en) | Data analytic service for distributed industrial performance monitoring | |
| JP2017076385A (en) | Distributed industrial performance monitoring and analytics platform | |
| JP2017079057A (en) | Distributed industrial performance monitoring and analytics | |
| US12066821B2 (en) | Monitoring components of manufacturing application systems with respect to application-specific metrics | |
| US11886576B2 (en) | Systems and methods for industrial information solutions and connected microservices | |
| CN115741708A (en) | Method and device for determining manipulator state and storage medium | |
| CN112817814A (en) | Abnormity monitoring method, system, storage medium and electronic device | |
| CN111427739A (en) | Real-time robot monitoring method, medium, terminal and device | |
| US10063433B2 (en) | Remotely monitoring network diagnostics | |
| EP3832416A2 (en) | Data models for defining data transmission workflow and facilitating data communication | |
| CN117215953A (en) | Verification method and device for equipment configuration information, storage medium and electronic equipment | |
| CN117742255A (en) | Data driven digital twinning for industrial automation device operation enhancement | |
| EP3582034A1 (en) | Method and apparatus, in the field of automation technology, of updating processing data | |
| CN116044867A (en) | Hydraulic system control method, system, equipment and medium based on automatic programming | |
| EP3961337A1 (en) | Method and system for managing a process in a technical installation | |
| EP3039819B1 (en) | Communication apparatus and relay protection apparatus | |
| JP2019159868A (en) | Control system, controller and display device | |
| US9766871B2 (en) | Method and apparatus for operating a processing and/or production installation | |
| JP2018124785A (en) | Information processing device, and method and program for controlling information processing device | |
| US20220046339A1 (en) | Data collection device, data collection method, and program | |
| CN112580827A (en) | Work order generation method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |