WO2020132902A1 - Procédé de commande externe pour robot, robot et système de commande externe - Google Patents

Procédé de commande externe pour robot, robot et système de commande externe Download PDF

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Publication number
WO2020132902A1
WO2020132902A1 PCT/CN2018/123628 CN2018123628W WO2020132902A1 WO 2020132902 A1 WO2020132902 A1 WO 2020132902A1 CN 2018123628 W CN2018123628 W CN 2018123628W WO 2020132902 A1 WO2020132902 A1 WO 2020132902A1
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WO
WIPO (PCT)
Prior art keywords
robot
external control
control system
variable
array
Prior art date
Application number
PCT/CN2018/123628
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English (en)
Chinese (zh)
Inventor
王春晓
Original Assignee
深圳配天智能技术研究院有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 深圳配天智能技术研究院有限公司 filed Critical 深圳配天智能技术研究院有限公司
Priority to CN201880088720.4A priority Critical patent/CN111801197A/zh
Priority to PCT/CN2018/123628 priority patent/WO2020132902A1/fr
Publication of WO2020132902A1 publication Critical patent/WO2020132902A1/fr

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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

Definitions

  • the present application relates to automatic control technology, in particular to a robot external control method, robot and external control system.
  • a robot (such as an industrial robot) can automatically perform work, and is a machine that realizes various functions by its own power and control capabilities.
  • the application of robots is becoming more and more extensive.
  • the robot not only needs to be able to complete its own task independently, but also needs to cooperate with other robots or equipment to work.
  • an external control system can be used to control the robot and other equipment as a whole.
  • the robot's own control system can be regarded as a subsystem under the external control system.
  • robots usually use special IO (input/output) lines to connect with external control systems.
  • IO input/output
  • the external control system periodically (or according to instructions) read the corresponding signal from the robot's external control IO port, or output some status information of the robot's own control system through the external control IO port.
  • the present application provides a robot external control method, a robot, and an external control system, which are used to increase the flexibility of robot control.
  • a robot external control method provided by the present application.
  • the method includes: establishing a network connection between the robot and an external control system, wherein a plurality of input variables corresponding to control parameters of the robot are preset in the robot; responding to a write request of the external control system Updating at least one of the input variables; and controlling the working state of the robot according to the updated input variables.
  • a robot external control method provided by the present application.
  • the method includes: establishing a network connection between the external control system and the robot, wherein a plurality of input variables corresponding to control parameters of the robot are preset in the robot; and a write request is sent to the robot , So that the robot updates the input variable according to the write request; and controls the working state of the robot according to the updated input variable.
  • the robot includes a processor and a memory, and the memory stores program instructions, and the processor can load the program instructions and execute the above-described robot external control method.
  • an external control system of a robot provided by the present application.
  • the control system includes a processor and a memory, and the memory stores program instructions, and the processor can load the program instructions and execute the above robot external control method.
  • the robot and the external control system can communicate through the network, and the external control system can control the work of the robot by updating input variables preset in the robot. Therefore, the robot external control method provided by the present application is flexible and simple, and is suitable for robot control in different scenarios.
  • FIG. 1 is a schematic flowchart of an embodiment of the robot external control method of the present application.
  • FIG. 2 is a schematic flowchart of another embodiment of the robot external control method of the present application.
  • FIG. 3 is a schematic flowchart of an embodiment of the robot external control method of the present application.
  • FIG. 4 is a schematic flowchart of another embodiment of the robot external control method of the present application.
  • FIG. 5 is a schematic flowchart of another embodiment of the robot external control method of the present application.
  • FIG. 6 is a schematic structural diagram of an embodiment of the robot of the present application.
  • FIG. 7 is a schematic structural diagram of an embodiment of an external control system of the robot of the present application.
  • FIG. 1 is a schematic flowchart of an embodiment of a robot external control method provided by the present application.
  • the method includes:
  • S101 Establish a network connection between the robot and an external control system, in which multiple input variables corresponding to the control parameters of the robot are preset in the robot.
  • the robots involved in this application may be various types of robots, such as welding robots, assembly robots, palletizing robots, etc. used in industrial sites.
  • the robot may have an independent control system.
  • the robot's own control system may control the specific actions of the robot according to the instructions of the external control system.
  • Both the robot and the external control system can be equipped with appropriate communication circuits to establish a network connection through wired or wireless means.
  • a plurality of input variables corresponding to the control parameters of the robot may be preset in the robot.
  • These input variables can be defined in the form of any suitable data structure and data type, as long as there is a unified description at both ends of the robot and external control system and it can be identified. For example, you can store multiple input variables in an integer (int type) array $EXT_CTRL_DI[n], where n represents the total number of input variables.
  • control parameters of the robot may include, but are not limited to, at least one of the following parameters: start/stop, pause/restart, program loading, or alarm.
  • start/stop if an integer variable is used to represent the control parameter "start/stop", both the robot and the external control system can be defined with a value of 1 for start and a value of 0 for stop. It can be understood that different values of input variables corresponding to each control parameter and/or their corresponding meanings can be defined as needed, and are not limited herein.
  • S102 Update at least one input variable in response to a write request of an external control system.
  • the external system may periodically (or in response to instructions) issue control instructions to the robot through the network, for example, the period may be 50ms, 100ms, 200ms, etc.
  • the control instruction includes a write request for an input variable
  • the robot can update the value of the defined input variable in response to the write request. For example, for the input variable corresponding to the control parameter "Pause/Restart", if the value 0 means "pause” and the value 1 means "restart”, then if the robot needs to be suspended while it is running, the external control system can send a write Request, request to change the value of the input variable corresponding to "Pause/Restart” to 0. Conversely, when the robot is in the suspended state and needs to be restarted, the external control system can send a write request, requesting that the value of the input variable corresponding to "pause/restart" be changed to 1.
  • a network port is established between the robot and an external control system by establishing a socket port.
  • Two programs on the network exchange data through a two-way communication connection. One end of this connection is called a socket.
  • the external control system can assign values to multiple input variables by calling the write function (write or write()) in the socket function. If the input variables are stored in an integer array, the value of some or all of the input variables in the array can be adjusted according to the write request of the external control system.
  • the robot can adjust its own working state accordingly. For example, when the value of the input variable corresponding to the control parameter of the robot "start/stop" is updated from 1 (corresponding to start) to 0 (corresponding to stop) , The robot's own control system can stop the robot's work according to the input variable. Conversely, if the input variable changes from 0 to 1, the robot's own control system can start the robot's work.
  • control parameters are for example purposes only.
  • the user can select other control parameters as needed and define different input variables for these control parameters.
  • control parameters For different types and types of robots, only the definition of control parameters needs to be adjusted in the external control system and the robot to control the robot, without the need to design special software, hardware, and firmware interfaces.
  • the robot and the external control system can communicate through the network, and the external control system can control the work of the robot by updating the input variables preset in the robot. Therefore, the robot external control method provided by the present application is flexible and simple, and is suitable for robot control in different scenarios.
  • FIG. 2 is a schematic flowchart of another embodiment of the robot external control method provided by the present application.
  • the method includes:
  • S201 Establish a network connection between the robot and an external control system, where a plurality of input variables corresponding to the control parameters of the robot and a plurality of output variables corresponding to the state parameters of the robot are preset in the robot.
  • a plurality of output variables corresponding to the state parameters of the robot may be preset in the robot. Similar to input variables, these output variables can be defined in the form of any appropriate data structure and data type, as long as both the robot and the external control system have a unified description and can identify them. For example, you can store multiple output variables in an integer (int type) array $EXT_CTRL_DO[m], where m represents the total number of output variables.
  • the status parameters of the robot may include, but are not limited to, at least one of the following parameters: the running status of the channel program, whether there is an alarm, the alarm number, the current control mode, and so on.
  • the value 0 can be defined in both the robot and the external control system to indicate that there is no alarm and the value 1 indicates that there is an alarm. It can be understood that different values of output variables corresponding to each state parameter and/or their corresponding meanings can be defined as needed, and are not limited herein.
  • Steps S202 and S203 are similar to steps S102 and S103, and will not be repeated here.
  • the robot can periodically or non-periodically detect its own working state. When a change in the working state is detected, the robot can update its corresponding output variable. For example, for the output variable corresponding to the status parameter "whether there is an alarm", if the value 0 means “no alarm” and the value 1 means “alarm", then the robot can set the value of the output variable when an alarm occurs during the robot's work It is 1, and the robot can set the value of this output variable to 0 when there is no alarm or the alarm is cleared.
  • the external system may periodically (or in response to instructions) issue control instructions to the robot through the network, for example, the period may be 50 ms, 100 ms, or 200 ms. If the control instruction includes a read request for the output variable, the robot can respond to the read request and inform the external control system of the value of the output variable. Alternatively, in a read request, the external control system may request to read the values of all output variables at once, or may request to read only the values of some output variables.
  • a network port is established between the robot and an external control system by establishing a socket port.
  • the external control system can obtain the updated values of multiple input variables by calling the read function (read or read()) in the socket function. If the output variables are stored in an integer array, the robot can inform the external control system of the value of some or all of the output variables in the array according to the read request of the external control system.
  • the above state parameters are for the purpose of example only.
  • the user can select other state parameters as required, and define different output variables for these state parameters.
  • the robot and the external control system can communicate through the network, and the external control system can update the preset input variables in the robot to control the work of the robot, and can obtain the preset output variables in the robot Value to know the working state of the robot. Therefore, the robot external control method provided by the present application is flexible and simple, and is suitable for robot control in different scenarios.
  • FIG. 3 is a schematic flowchart of an embodiment of a robot external control method provided by the present application.
  • the method includes:
  • S301 Establish a network connection between the external control system and the robot, where multiple input variables corresponding to the control parameters of the robot are preset in the robot.
  • S302 Send a write request to the robot, so that the robot updates the input variable according to the write request.
  • This embodiment relates to a robot external control method, which can be used to adjust the control parameters of the robot using an external control system.
  • An example of an external control system is a central controller at an industrial site, which can control the overall operation of multiple robots and/or devices at the industrial site.
  • the principles and concepts involved in the steps of this embodiment have been described in detail in the embodiments shown in FIG. 1 and FIG. 2. For specific information, refer to the steps of the foregoing embodiments.
  • FIG. 4 is a schematic flowchart of another embodiment of the robot external control method provided by the present application.
  • the method includes:
  • S401 Establish a network connection between the external control system and the robot, where a plurality of input variables corresponding to the control parameters of the robot and a plurality of output variables corresponding to the state parameters of the robot are preset in the robot.
  • S402 Send a write request to the robot, so that the robot updates the input variable according to the write request.
  • S404 Send a read request to the robot to obtain at least one output variable updated by the robot according to the working status.
  • This embodiment relates to a robot external control method, which can be used to adjust the control parameters of the robot and obtain the state parameters of the robot using an external control system.
  • the principles and concepts involved in the steps of this embodiment have been described in detail in the embodiments shown in FIG. 1 and FIG. 2. For specific information, refer to the steps of the foregoing embodiments.
  • FIG. 5 is a schematic flowchart of another embodiment of the robot external control method provided by the present application.
  • the external scanning thread of the external control system starts to turn on the external control.
  • the background channel of the robot is opened, so as to realize the communication between the external control system and the robot through the network communication socket.
  • the external control system can call the write() function through the network communication socket, so as to assign a value to the input variable array $EXT_CTRL_DI stored in the robot, and then scan the input variable in the $EXT_CTRL_DI array to control the robot according to the input variable Perform the appropriate action.
  • the external control system can communicate through the network socket, call the read() function to obtain the output variables in the $EXT_CTRL_DI array, and then scan the output variables in the $EXT_CTRL_DI array to feed back the operating state of the robot system to the outside. Control System. Then, it is determined whether the external control thread is over. If it is over, the robot system can also end its work. Otherwise, it can continue to return to the step of calling the write() or read() function until the end of the work of the external control system. At this time, the robot has completed or partially completed the tasks assigned to the robot according to the instructions of the external control system.
  • FIG. 6 is a schematic structural diagram of an embodiment of a robot 500 provided by the present invention.
  • the robot 500 includes a processor 501, a memory 502, and a communication circuit 503.
  • the communication circuit 503 of the robot 500 is used to communicate with other devices, for example, it can be used to communicate with an external control system in a wired or wireless manner.
  • the memory 502 stores program instructions, which can be loaded by the processor 501 and execute the robot external control method of any of the above embodiments. Understandably, in some other embodiments, the memory 502 may be disposed in the same physical device with different processors 501, but the method of any of the above embodiments is performed by combining the robot 500 with a network.
  • FIG. 7 is a schematic structural diagram of an embodiment of an external control system 600 for a robot provided by the present invention.
  • the control system 600 includes a processor 601, a memory 602, and a communication circuit 603.
  • the communication circuit 603 of the control system 600 is used to communicate with other devices. For example, it can be used to communicate with the robot in a wired or wireless manner.
  • the memory 602 stores program instructions, which can be loaded by the processor 601 and execute the robot external control method of any of the above embodiments. Understandably, in some other embodiments, the memory 602 may be disposed in the same physical device with different processors 601, but the method of any of the above embodiments is performed by combining the control system 600 with a network.
  • the functions described in the above embodiments are implemented in software and sold or used as independent products, they can be stored in a device with a storage function. That is, the present invention also provides a storage device that stores a program.
  • the program data in the storage device can be executed to implement the control method of the robot and/or the control system in the above-mentioned embodiments, and the storage device includes but is not limited to a U disk, an optical disk, a server, or a hard disk.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé de commande externe pour un robot, comprenant : l'établissement d'une connexion de réseau entre un robot et un système de commande externe, une pluralité de variables d'entrée correspondant à des paramètres de commande du robot étant préréglées dans le robot ; la mise à jour d'au moins une variable d'entrée en réponse à une demande d'écriture provenant du système de commande externe ; et la commande de l'état de fonctionnement du robot en fonction de la variable d'entrée mise à jour. Le procédé selon la présente invention est flexible et simple, et il est approprié pour une commande de robot dans différents scénarios. L'invention concerne également un robot et un système de commande externe.
PCT/CN2018/123628 2018-12-25 2018-12-25 Procédé de commande externe pour robot, robot et système de commande externe WO2020132902A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201880088720.4A CN111801197A (zh) 2018-12-25 2018-12-25 机器人外部控制方法、机器人和外部控制系统
PCT/CN2018/123628 WO2020132902A1 (fr) 2018-12-25 2018-12-25 Procédé de commande externe pour robot, robot et système de commande externe

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/123628 WO2020132902A1 (fr) 2018-12-25 2018-12-25 Procédé de commande externe pour robot, robot et système de commande externe

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WO2009037165A1 (fr) * 2007-09-14 2009-03-26 Ex-Cell-O Gmbh Procédé de détermination d'un changement de position d'origine thermique d'une section d'une machine-outil
CN101667015A (zh) * 2009-08-26 2010-03-10 东南大学 汽车驾驶机器人的车速跟踪模糊控制方法
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