CN104062945B - A kind of automatic detection control method and system - Google Patents
A kind of automatic detection control method and system Download PDFInfo
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- CN104062945B CN104062945B CN201310086439.6A CN201310086439A CN104062945B CN 104062945 B CN104062945 B CN 104062945B CN 201310086439 A CN201310086439 A CN 201310086439A CN 104062945 B CN104062945 B CN 104062945B
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The present invention is applicable to technical field of industrial control, provide a kind of automatic detection control method and system, described method includes: whether allow to pick and place test block information according to supplied materials sensor status information, shielding box test result information and shielding box, calculates optimum robot and performs instruction；The execution instruction of optimum robot is sent to robot, so that robot performs instruction according to optimum robot performs operation.The present invention passes through acquisition system relevant information, according to relevant information, robot is controlled, the test link solving the communications electronics product that prior art exists uses manually-operated method, there is certain error probability total tune and the bad problem of Comprehensive Control effect.
Description
Technical field
The invention belongs to technical field of industrial control, particularly relate to a kind of automatic detection control method and system.
Background technology
The communication Electronic products manufacturing enterprise that at present China is domestic, in making and the stage of assembling, the automaticity of product
Relatively preferable, but in finished product, the functional test stage of semi-finished product, due to the complexity of its link, the factory of the overwhelming majority, base
Under the state remaining in manual work in basis, normal conditions are as follows: 1, operating personnel takes off product to be measured, hands from streamline
Moving puts in test equipment, and hit testing starts；2, after test jobs completes, operating personnel's pointing device is released the button, and takes
Go out the product surveyed.3, the result that operating personnel draws according to test equipment, be artificially individually positioned in " qualified " with " no
Qualified " in region.There are following several defects in this operating type: 1, operator's quantity is many: for ensureing the product that higher level produces
Product can be digested at test phase in time, therefore one is produced operation while of being often equipped with multiple stage test equipment on line, operator
Quantity then accordingly increase, usually 3-4 people, generally exist due to manufacturing enterprise many classes alternately, so cost of labor is corresponding
Multiplication.2, there is mistake hidden danger: although equipment test result is clear and definite, but owing to being to be carried out according to test result by workman
Sorting, then the hidden danger that product misplaces region wherein caused there is artificial error in judgement, adds that manual work is tired,
And absent minded, then the probability that this mistake occurs will rise.3, the Automation Construction of a complete set of system of impact: by
Bigger in this station manual intervention composition, then in the unitary construction of output bas line system, it is unfavorable for the overall association of system
Adjust and Comprehensive Control.
Therefore prior art there is problems of, and the test link of communications electronics product uses manually-operated method, people
Power resource consumption is big, there is certain error probability total tune and Comprehensive Control effect is bad.
Summary of the invention
The purpose of the embodiment of the present invention is to provide a kind of automatic detection control method and system, deposits solving prior art
The test link of communications electronics product use manually-operated method, human resources consumes greatly, there is certain mistake generally
Rate total tune and the bad problem of Comprehensive Control effect.
Embodiments of the invention are realized in, a kind of automatic detection control method, said method comprising the steps of:
Read shielding box current state information from data storage file and whether shielding box allows to pick and place test block information；
According to described shielding box current state information, update whether shielding box allows pick and place test block information and write data
Storage file；
Read whether supplied materials sensor status information, shielding box test result information and shielding box are permitted from data storage file
Permitted to pick and place test block information, whether permitted according to described supplied materials sensor status information, shielding box test result information and shielding box
Permitted to pick and place test block information, calculate optimum robot and perform instruction；
Described optimum robot is performed instruction and is sent to robot, so that robot is held according to described optimum robot
Row instruction performs operation.
The another object of embodiments of the invention is to provide a kind of automatic detection and control system, and described system includes:
Read unit, for whether allowing to pick and place from data storage file reading shielding box current state information and shielding box
Test block information；
Updating block, for according to described shielding box current state information, updates whether shielding box allows to pick and place test block
Information also writes data storage file；
Computing unit, for reading supplied materials sensor status information, shielding box test result information from data storage file
Whether allow to pick and place test block information with shielding box, according to described supplied materials sensor status information, shielding box test result information
Whether allow to pick and place test block information with shielding box, calculate optimum robot and perform instruction；
Transmitting element, is sent to robot, so that robot is according to institute for described optimum robot is performed instruction
State the execution instruction of optimum robot and perform operation.
The embodiment of the present invention is by detection shielding box state and supplied materials sensor states automatically, according to shielding box state with next
Material sensor states calculates optimum robot and performs instruction, and instructs control robot by the execution of described optimum robot and grab
Take work, it is achieved that accurately control robot and complete to capture work, solve the survey of the communications electronics product that prior art exists
Test ring joint uses manually-operated method, and human resources consumes greatly, there is certain error probability total tune and comprehensive control
The problem that effect processed is bad.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below will be to embodiment or description of the prior art
The accompanying drawing used required in is briefly described, it should be apparent that, the accompanying drawing in describing below is only some of the present invention
Embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to attached according to these
Figure obtains other accompanying drawing.
Fig. 1 is the system group network structure chart that the automatic detection control method that the embodiment of the present invention provides is suitable for；
Fig. 2 is the thread annexation signal of the automatic detection control method institute applicable system that the embodiment of the present invention provides
Figure；
Fig. 3 is the flowchart of the automatic detection control method that the embodiment of the present invention provides；
Fig. 4 is the flowchart of the System self-test method that another embodiment of the present invention provides；
Fig. 5 is the flowchart of the System self-test method that another embodiment of the present invention provides；
Fig. 6 is the flowchart of the System self-test method that another embodiment of the present invention provides；
Fig. 7 is the flowchart of the interface updating method that another embodiment of the present invention provides；
Fig. 8 is the flowchart of the robot initial method that another embodiment of the present invention provides；
Fig. 9 is the function structure chart of the automatic detection and control system that the embodiment of the present invention provides.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, and
It is not used in the restriction present invention.
Fig. 1 is the system group network structure chart that the automatic detection control method that the embodiment of the present invention provides is suitable for.
In Fig. 1, described system includes industrial computer, shielding box, programmable logic controller (PLC) (Programmable
Logic Controller, PLC), test computer, robot and industrial camera.
Industrial computer is for obtaining shielding box, supplied materials sensor, test computer, robot and the state of industrial camera
Information and relevant parameter, the data that described status information and relevant parameter are stored in industrial computer shared drive storage literary composition
Part, naturally it is also possible to store above-mentioned status information and relevant parameter by alternative document mode；According to described status information and phase
Related parameter, industrial computer is additionally operable to calculate optimal implementation strategy and control shielding according to described optimal implementation strategy
Box, supplied materials sensor, test computer, robot and industrial camera, industrial computer is not directly connected to supplied materials sensor, and
Being to be connected with PLC, PLC is connected to signal input apparatus equipment and includes supplied materials sensor, and other sensors configure as required.
Shielding box is a kind of openable automatic equipment, for providing shielding outside electromagnetic interference for product to be tested
Environment, its enforcement is controlled and obtains its state by serial ports by industrial computer, and shielding box one has 10, naturally it is also possible to root
According to the scale of system, the quantity of shielding box is adjusted, illustrate only shielding box 1, shielding box 2 and shielding box 10 in FIG.
Test computer is deep into inside shielding box by test instrunment, measurement jig and many group probes, on Fig. 1 shielding box with
Line between test computer represents that test computer is deep in shielding box by test instrunment, measurement jig and many group probes
Portion；Test computer one has 10, and one_to_one corresponding is deep into shielding box 1 to shielding box 10 respectively, illustrate only test in FIG
Computer 1, test computer 2 and test computer 10.
PLC connects supplied materials sensor, display lamp, material conveying equipment and the input/output port of robot, the most not
Drawing described connection, PLC obtains the state of supplied materials sensor, can control display lamp, material conveying equipment and robot simultaneously,
The input/output port of robot is sent the start of instruction control unit robot, shuts down, suspend, stop and the action such as continuation.
Supplied materials sensor judges whether supplied materials for detecting by the way of sensing.
Robot, for receiving the order of PLC and the instruction of industrial computer, realizes opening of robot according to the order of PLC
Machine, shut down, suspend, stop and the basic function such as continuation, according to the instruction of industrial computer and robot prestored instruction and behaviour
Instruction is resolved to operation by the corresponding relation made；Instruction includes instruction code and order parameter, and some instruction can not also certainly
Needing order parameter, such as how instruction " 012 " instruction robot auto-returned work origin, use optimum road as robot
Footpath returns work origin, robot interior module calculate；The form of the instruction with order parameter is " instruction code；Refer to
Make parameter ", separate with branch between each order parameter, the several instructions to using in the present embodiment are described as follows:
" 003 " instructs, and form is: " 003；Shielding box number ", this instruction is at the beginning of running when equipment, without surveying in shielding box
Examination object, directly puts into shielding box by object to be tested；
" 004 " instructs, and form is: " 004；Shielding box number；Shielding box test result value ", this instruction is used for test article
Being complete test, the detection of supplied materials sensor does not has supplied materials, and when supplied materials sensor states value is non-supplied materials, robot is according to screen
Cover the shielding box test result value of box, the test article in shielding box is taken out and is placed into default qualified object set-point or not
Qualified object set-point；
" 005 " instructs, and form is: " 005；Shielding box number；Shielding box test result value ", this instruction is held for robot
Row " is picked up object-operation to be tested to target shielding box-take out from box and has been tested object-by thing to be tested at origin material
Part puts into shielding box-be placed into default qualified object set-point or pre-by testing object according to shielding box test result value
If defective object set-point " operation；Described " 005 " instruction includes the content that " 003 " instruction and " 004 " instruct, but right
At the beginning of running when equipment, without test article in shielding box, directly object to be tested is put into shielding box or object to be tested
Through completing test, the detection of supplied materials sensor does not has supplied materials, and when supplied materials sensor states value is non-supplied materials, robot is according to shielding
The shielding box test result value of box, takes out the test article in shielding box and is placed into default qualified object set-point or presets
During the situation of defective object set-point, still perform " 005 " instruction and can reduce the efficiency of system；
Shielding box number be 1 to 5 shielding box be placed on the left side of robot, shielding box number is that the shielding box of 6-10 is at machine
The right of people, robot is when performing instruction, for the mechanical hand with the shielding box left-handed system that shielding box parameter is 1-5
Operate, for operating with the mechanical hand of the shielding box right-handed system that shielding box parameter is 6-10, save machinery
Chirokinesthetic time and distance；To be taken out simultaneously for " 005 " instruction and put into operation, placing two sets on a robotic arm and grab
Fetching is put and is taken out simultaneously and puts into operation.
In the present embodiment, path and the method for operation of robot execution operation passes through robotic programming system, writing machine
The controller of device people self, as long as robot receives correct instruction, just can perform correct operation through resolving instruction,
This kind of mode reduces the load that the complex operations of robot is controlled by industrial computer, is effectively utilized robot self
Resource.
Industrial camera is used for positioning object to be tested, helps robot accurately to capture object to be tested.
Industrial computer and shielding box, PLC, test computer, robot and industrial camera constitute star-like networking path,
Each path keeps independence and the real-time of each transmission, and each path creates an independent thread, and by many
Thread is shared the data storage file that industrial computer stores above and is kept described shielding box, supplied materials sensor, test electricity
The promptness that brain, robot and industrial camera state update；Specifically, industrial computer real time scan shielding box,
The status information of PLC, robot and industrial camera, and obtain shielding box test result information by test computer, in real time
Described shielding box, supplied materials sensor, robot and industrial camera status information and shielding box test result information are write
To data storage file
Shielding box status information includes: whether shielding box current state information, shielding box pre-action command information, shielding box
Allowing to pick and place test block information, described shielding box current state information includes: shielding box number and corresponding with described shielding box number
Shielding box current state value, described shielding box current state value includes: opening, close and do not work, described shielding box is pre-
Action command information includes: shielding box number and the shielding box corresponding with described shielding box number pre-action command value, described shielding
Box pre-action command value includes: opening and closing, whether described shielding box allows to pick and place test block information includes: shielding box number
Whether the shielding box corresponding with shielding box number allows to pick and place test block value, and whether described shielding box allows to pick and place test block value
Including: allow and do not allow；Because having 10 shielding boxs, therefore shielding box number is from 1 to 10；
Supplied materials sensor information includes that supplied materials sensor states value, described supplied materials sensor value include: non-supplied materials and
Supplied materials；
Robotary information includes that robot current state value, robot motion's state are just controlling value, robot
At operation target shielding box value, robot work state information and robot instruction's configuration information, described robot is current
State value includes: standby, be currently running and suspend, and described robot motion's state controls value and includes: moves and stops, and uses
Starting in controlling robot and stop, the target shielding box value that described robot is operating includes 1 to 10, described target
Shielding box number and shielding box number are that relation, such as robot operate one to one, and the described robot read is
The target shielding box value of operation is 5, then the shielding box that shielding box number is 5 is operated by robot, and described machine is artificial
Include that robot is not keyed up, robot has been switched on but system the most automatically runs or robot has been switched on and system is entered as status information
Entering operation automatically, described robot instruction's configuration information is used for receiving robotary control instruction, specifically refers in main monitoring
Software interface, user clicks on " start ", " shutdown ", " time-out " or " continuation " button, revises number by above-mentioned click button actions
According to storage file in robot instruction's configuration information, described robot instruction's configuration information includes: start shooting, reset after start shooting,
Suspend, continue and shut down..
Industrial camera status information includes vision module duty value, described vision module duty value bag
Include and do not work and work；
Shielding box test result information includes the shielding box test result value that shielding box number is corresponding with shielding box number, described
Shielding box test result value includes: qualified, defective and nothing.
Thread annexation is as shown in Figure 2.
As in figure 2 it is shown, described industrial computer is mounted with main monitoring software and machine vision software, described main monitoring software
Start after operation PLC monitoring thread, test dataphone thread, shielding box communication thread, machine vision software communication thread,
Robotic command transmission thread and robotary transmission line of information journey；Described machine vision software starts main monitoring after running
Software communication thread and robot communication thread.
Wherein, PLC monitoring thread sends querying command by active cycle incessantly, according to the result obtained, in real time
Supplied materials sensor information and other sensor information in ground change data storage file, other sensor regards concrete actual application ring
Needed for border, sensor is disposed, this PLC thread another one effect be exactly incessantly scan data storage file in robot
Control information, described robot controls information and includes: starts shooting, shut down, suspend, stop and continuing, when described robot controls letter
Breath changes when needing robotary to change, and PLC controls robot by remote input output port and starts shooting, closes
Machine, suspend, stop and the action such as continuation.
Test dataphone thread is referred to as communication thread group, has 10 test computers in the present embodiment, therefore has 10
Test dataphone thread, in 10 test dataphone threads, the IP address of industrial computer is constant, and industry calculates
Machine is as service end, and test computer is as client, and industrial computer receives shielding box test result information in real time, and by institute
State in shielding box test result information write data storage file.
Shielding box communication thread obtains shielding box status information in real time, loads onto serial ports control on each shielding box
Part, certain industrial computer is also required to install a serial port expanding module, and described serial port expanding module provides RS232 port to come and shielding
Box is attached；Shielding box is passive equipment, needs industrial computer constantly to send querying command, obtains shielding box state
Information.
Machine vision software communication thread is used for and main monitoring software communication thread communication by main monitoring software.
Robotic command transmission thread, for sending order to robot, is closed voluntarily when robot breaks down.
Robotary transmission line of information journey, for distribution of machine people status inquiry command on one's own initiative, it is also possible to passively connect
The status information sent by robot.
Main monitoring software communication thread is used for and machine vision software communication thread communication by machine vision software.
Robot communication thread is used for and robot communication by machine vision software, and machine vision software is driven by USB
Industrial camera obtains the coordinate of object to be tested, and by the coordinate of described object to be tested by described robot communication thread
Send to robot, and accept the feedback of robot.
Embodiments providing automatic detection control method, as shown in Figure 3, concrete steps include described method:
In step S301, read screen shielding box current state information from data storage file and whether shielding box allows to take
Put test block information.
It should be noted that data storage file is the medium of storage information, data base or other letters can be used
The mode of breath storage substitutes.
In the present embodiment, before described step S301, need to carry out System self-test, interface renewal, robot initial
Change and system parameter settings.
In step s 302, according to described shielding box current state information, update whether shielding box allows to pick and place test block
Information also writes data storage file.
In the present embodiment, the method implementing described S302 is, when described shielding box current state value is non-work
Making, force whether this shielding box is allowed pick and place test block value and change to not allow, such as shielding box number is the shielding box pair of 5
Whether the shielding box of shielding box number 5 correspondence, for not work, directly is allowed to pick and place test block by the shielding box current state value answered
Value changes to not allow.The purpose of this step is will not have whether the shielding box corresponding in harness shielding box allows to pick and place survey
Test specimen value changes to not allow, and subsequent read, to after not allowing this value, does not the most consider the robot behaviour to shielding box
Make.
In step S303, read supplied materials sensor status information, shielding box test result information from data storage file
Whether allow to pick and place test block information with shielding box, according to described supplied materials sensor status information, shielding box test result information
Whether allow to pick and place test block information with shielding box and whether shielding box allows to pick and place test block information, calculate optimum robot and hold
Row instruction.
It should be noted that supplied materials sensor mainly determines whether that object to be tested needs robot to go to process, detection
To need test article time, supplied materials sensor states value never supplied materials in data storage file is updated to supplied materials, described
Object to be tested refers to circuit board to be tested or other electronic devices to be tested.
In the present embodiment, described optimum robot performs to instruct and refers to calculate according to current environment and our algorithm
Come the most reasonably, the instruction of full blast, described the most rationally, the instruction of optimum efficiency refer to that robot is according to described instruction energy
Enough the most rationally, full blast complete task.
Optionally, it is achieved the method for described S303 includes:
When supplied materials sensor states value is non-supplied materials, read whether the shielding box after the change of data storage file is permitted
Permitted to pick and place test block value and shielding box test result value；
If whether the shielding box after Geng Gai allows to pick and place test block value take for permission and described shielding box test result
Value is not empty, and being calculated instruction is to take out the instruction of shielding box build-in test object, and described taking-up shielding box build-in test object instructs
Take including instruction code, target shielding box number and the shielding box test result taking out the instruction of shielding box build-in test price corresponding
Value.
In the present embodiment, when sensor detect there is no object to be tested time, shielding box allow to pick and place test article and
Shielding box has test result, and the explanation detection work of this situation is in the ending stage, it is thus only necessary to robot takes away in shielding box
Test article, according to shielding box test result value, test article is placed into default qualified object set-point or preset not
Qualified object set-point, when shielding box test result value is qualified, is placed into qualified object set-point, otherwise by test article
Being placed into defective object set-point, above-mentioned " 004 " instruction will be sent to robot, and robot resolves described " 004 " instruction, and
Perform the operation that " 004 " instruction is corresponding.
Optionally, it is achieved the method for described S303 includes:
When supplied materials sensor states value is supplied materials, read whether the shielding box after the change of data storage file is permitted
Permitted to pick and place test block information value and shielding box test result information value；
If whether the shielding box after Geng Gai allows to pick and place test block information value for allowing and described shielding box test knot
Really information value is not empty, is calculated instruction and for taking-up shielding box build-in test object and puts into object to be tested instruction, described
Take out shielding box build-in test object and put into object to be tested instruction and include taking out shielding box build-in test object put into be tested
Instruction code, target shielding box number and the shielding box test result information value that object instruction is corresponding；
If whether the shielding box after Geng Gai allows to pick and place test block value take for permission and described shielding box test result
Value is sky, is calculated instruction for putting into object to be tested instruction, described in put into object to be tested instruct include putting into be tested
The code of object instruction correspondence and target shielding box number.
In the present embodiment, when there being supplied materials, being divided into two kinds of situations, a kind of situation is just to have proceeded by test, another kind of
Situation is during test job is carried out, and when just proceeding by test, owing to also not having test article in shielding box, is calculated
Instruction for putting into object to be tested instruction, the most above-mentioned " 003 " instruction；Another kind of situation is during test job is carried out,
Both needing to put into object to be tested, need again to take away and tested object, calculated instruction is for taking out in shielding box
Test article also puts into object to be tested instruction, the most above-mentioned " 005 " instruction.
In step s 304, described optimum robot is performed instruction and be sent to robot, so that robot is according to institute
State the execution instruction of optimum robot and perform operation.
If it should be noted that calculating optimum robot to perform instruction for, time empty, not being sent to robot.
The embodiment of the present invention is by obtaining shielding box status information, shielding box test result information and supplied materials sensor states
Information, calculates optimum robot and performs instruction, and perform operation exactly by the described control robot that instructs.
Optionally, also included before described step S301:
Change to be currently running by the robot current state value in data storage file, so that PLC monitoring thread
By reading data storage file, notice PLC sends order to robot and closes manual debugging machine people's function.
Before this step provides the benefit that to bring into operation in robot, by the current shape of robot in storage file
State value changes into being currently running, so that machine is by reading data storage file, closes manual debugging machine people's function, it is to avoid
The interference that outer bound pair robot runs, it is ensured that the safety that robot runs.
Optionally, said method also includes:
Described optimum robot is performed the robot in the shielding box number write data storage file that instruction is corresponding
In the target shielding box value of operation so that shielding box is not operated by miscellaneous equipment.
This step provides the benefit that, by operated by the robot in shielding box number write data storage file
In target shielding box value, the target shielding box that the robot in miscellaneous equipment reads data storage file is operating
Number value, would not operate the shielding box that described target shielding box value is corresponding, it is to avoid miscellaneous equipment is to shielding
Box disturbs, and miscellaneous equipment refers to the equipment beyond robot here, such as, read the robot in data storage file
The target shielding box value operated, would not send out to the test computer that the described corresponding shielding box of target shielding box number connects
Send the instruction of test.
Optionally, described method also includes:
When robot performs operation according to described optimum robot instruction, control industrial camera and obtain object to be tested
Coordinate, and the coordinate of described object to be tested is sent to robot, so that robot can accurately capture thing to be tested
Part.
In the present embodiment, by change industrial camera status information in vision module duty value be
Work, is started working by driving after industrial camera reads vision module duty value, helps robot to be accurately positioned
The coordinate of object to be tested, and the coordinate of described object to be tested is sent to robot, so that robot can accurately grab
Take object to be tested, and if time robot the most accurately captures object to be tested, industrial camera can be asked again to carry
For positioning help, accurately capture the effect of object to be tested by the most repeatedly arriving robot.
This step location by industrial camera, helps robot accurately to capture object to be tested, has reached machine
The beneficial effect that people accurately controls.
Another embodiment of the present invention provides System self-test method, and as shown in Figure 4, concrete steps include described method:
In step S401, receiving robotary control instruction, the robot that can change in data storage file refers to
Configuration information, described robot instruction's configuration information is made to start shooting, suspend, continue and shut down after including start, replacement.
Referring at main monitoring software interface it should be noted that receive robotary control instruction, user clicks on and " opens
Machine ", " shutdown ", " time-out " or " continuation " button, by above-mentioned click button actions amendment data storage file in robot
Instruction configuration information.
In step S402, PLC monitoring thread is set up communication with PLC and is connected, read machine people from data storage file
Instruction configuration information.
In step S403, PLC monitoring thread judges whether robot instruction's configuration information is zero, is to perform S406,
Otherwise perform S404.
In step s 404, PLC monitoring thread rewrites data register D0 and the D2 of PLC.
It should be noted that described data register D0 control PLC outfan 0 to 7, described D2 control PLC outfan 8
To 15, by rewriting the external device (ED)s such as D0 control system run indicator, warning and material conveying equipment, by rewriting D2
Control the start of robot, shut down, suspend and continuation etc., by the robot instruction in data storage file after change D0 and D2
Configuration information resets, it is to avoid when subsequent cycle by false triggering；
Robot work state information in step S405, in PLC monitoring thread change data storage file.
In the present embodiment, the work state information of described robot include robot be not keyed up, robot have been switched on but
System is run the most automatically or robot has been switched on and system enters and automatically runs.
In step S406, PLC monitoring thread reads data register D1 of PLC.
In the present embodiment, described data register D1 deposits the state value of PLC input in real time, including supplied materials sensor
Status information and other sensor information, write data storage file by described supplied materials sensor status information.
In step S 407, the system during PLC monitoring thread reads data storage file runs error message, it is judged that system
Run whether error message is zero, if otherwise performing S408, if then circulation performs S401.
If makeing mistakes it should be noted that otherwise represent that system is run to have, do not make mistakes if then representing to run.
In step S408, PLC monitoring thread read machine people's work state information, it may be judged whether for robot work shape
State information is that robot has been switched on but system is run the most automatically or robot has been switched on and system enters and automatically runs, the most then
Perform S409, if it is not, then perform S410.
In step S409, PLC monitoring thread rewrites plc data memorizer D0 and D2, by the robot work after change
Robot work state information in state write data storage file.
In the present embodiment, the purpose rewriting D2 is in order to robot is under the system failure, controls robot by PLC temporary
Stop or shut down.
In step S410, PLC monitoring thread rewrites plc data memorizer D0.
In the present embodiment, it is not keyed up because robot duty is robot, therefore need not rewrite D2, Jin Jingai
Write D0, PLC send alarm.
Another embodiment of the present invention provides System self-test method, and described method is as it is shown in figure 5, concrete steps include:
In step S501, test dataphone thread is set up communication with test computer and is connected.
In step S502, obtain the test computerized information of successful connection.
In step S503, the test computerized information of described successful connection is write data storage file.
Another embodiment of the present invention provides System self-test method, and as shown in Figure 6, concrete steps include described method:
In step s 601, shielding box communication thread connects shielding box.
In step S602, shielding box communication thread sends status inquiry command to shielding box, obtains the current shape of shielding box
State, according to shielding box feedback information perform corresponding steps, if the information received be shielding box current state for opening, then perform
S603, if the information received is shielding box current state is closedown, then performing S604, surpassing if receiving shielding box feedback information
Time, then perform S605.
The current shape of shielding box in step S603, when shielding box current state is for opening, in change data storage file
State value is for opening.
In step s 604, when the shielding box current state current shape of shielding box for closing, in change data storage file
State value is for closing；
After sending shielding box open command, inquiry shielding box current state again, if shielding box current state is for opening,
Shielding box current state value in change data storage file, for opening, if receiving shielding box feedback information time-out, then performs
S605。
It should be noted that the purpose of described step S604 is to open shielding box, then in change data storage file
Shielding box current state value, serves the effect initializing shielding box current state information.
In step s 605, when receiving shielding box feedback information time-out, by current for the shielding box in data storage file shape
State value is changed to not work.
It should be noted that in described step S605, for there is no the shielding box of feedback information, at data storage file
Middle it is changed to not work by shielding box current state value, is not notified that this shielding box is operated by robot, saved and be
System resource.
Another embodiment of the present invention provides interface updating method, and described method is as it is shown in fig. 7, concrete steps include:
In step s 701, interface updates thread scans data storage file and the related data of interface content.
It should be noted that interface more new thread is also to be realized by main monitoring software, because not connecting with other threads
Connect relation, occur the most in fig. 2.
In step S702, when Monitoring Data storage file and the related data variation of interface content, immediately according to institute
State data variation and update interface content.
Another embodiment of the present invention provides robot initial method, described method as shown in Figure 8, concrete steps bag
Include:
In step S801, robotary transmission line of information journey is set up communication with robot and is connected.
In the present embodiment, set up communication being connected with robot is exactly to set up communication with robot controller to be connected.
In step S802, to robot distribution of machine people's state information searching instruction, so that robot feedback states
Information.
In the present embodiment, it is the transmission of robotary information to the instruction of robot distribution of machine people's state information searching
Thread, it is understood that for industrial computer, robotary information inquiry instruction instructs for " 001 ", and robot is according to described
The status information of instruction feedback oneself.
In step S803, receive the robotary information of robot feedback, exist according to described robotary information
In data storage file, whether front 8 output states of recorder people and robot return initial point information.
Embodiments providing automatic detection and control system, described system as shown in Figure 9, specifically includes:
Read unit 91, for whether allowing to take from data storage file reading shielding box current state information and shielding box
Put test block information；
Updating block 92, for according to described shielding box current state information, updates whether shielding box allows to pick and place test
Part information also writes data storage file；
Computing unit 93, for reading supplied materials sensor status information, shielding box test result letter from data storage file
Whether breath and shielding box allow to pick and place test block information, according to described supplied materials sensor status information, shielding box test result letter
Whether breath and shielding box allow to pick and place test block information, calculate optimum robot and perform instruction；
Transmitting element 94, is sent to robot for described optimum robot is performed instruction so that robot according to
Described optimum robot performs instruction and performs operation.
Further, described data storage file is used for storing shielding box current state information, whether shielding box allows takes
Put test block information, supplied materials sensor status information, robotary information, shielding box test result information, robot instruction
Configuration information and robot work state information.
Further, described system also includes:
Close manual debugging unit, for changing to transport by the robot current state value in data storage file
OK, so that PLC monitoring thread is by reading data storage file, notice PLC sends order to robot and closes manually debugging
Robot function.
Further, described system also includes:
Protected location, for performing described optimum robot in the shielding box number write data storage file that instruction is corresponding
The target shielding box value that operating of robot in so that shielding box is not operated by miscellaneous equipment.
Further, described updating block 92 includes:
First more new module 921, for when described shielding box current state value is not for work, this shielding box is by pressure
No allow to pick and place test block value and change to do not allow and write data storage file.
Further, described computing unit 93 is used for:
When supplied materials sensor states value is non-supplied materials, whether the shielding box reading data storage file allows to pick and place survey
Test specimen value and shielding box test result value；
If whether shielding box allows to pick and place test block value for permission and described shielding box test result value is not sky,
Being calculated instruction and instruct for taking out shielding box build-in test object, the instruction of described taking-up shielding box build-in test object includes taking out screen
Cover instruction code, target shielding box number and shielding box test result value that the instruction of box build-in test object is corresponding.
Further, described computing unit 93 is used for:
When supplied materials sensor states value is supplied materials, whether the shielding box reading data storage file allows to pick and place survey
Test specimen information value and shielding box test result information value；
If whether shielding box allows to pick and place test block information value take for permission and described shielding box test result information
Value is not empty, is calculated and instructs as taking out shielding box build-in test object and putting into object to be tested instruction, and described taking-up shields
Box build-in test object and put into object to be tested instruction include take out shielding box build-in test object and put into object to be tested instruction
Corresponding instruction code, target shielding box number and shielding box test result information value；
If whether shielding box allows to pick and place test block value for permission and described shielding box test result value is sky, meter
Calculation obtains instruction for putting into object to be tested instruction, described in put into object to be tested instruction include putting into object to be tested instruct right
The code answered and target shielding box number.
Further, described system also includes:
Obtain coordinate unit, for when robot performs operation according to the execution instruction of described optimum robot, controlling work
Industry video camera obtains the coordinate of object to be tested, and sends the coordinate of described object to be tested to robot, so that machine
People can accurately capture object to be tested.
Further, described system also includes:
System self-test unit, interface updating block, robot initial unit and system parameter setting unit.
Further, described System self-test unit is used for:
Receive robotary control instruction, the robot instruction's configuration information in data storage file can be changed；
PLC monitoring thread is set up communication with PLC and is connected, and from data storage file, read machine people instructs configuration information；
PLC monitoring thread judges whether robot instruction's configuration information is zero；
When robot instruction's configuration information is not zero, PLC monitoring thread rewrites data register D0 and D2, the institute of PLC
State data register D0 control PLC outfan 0 to 7, described D2 control PLC outfan 8 to 15, control system by rewriting D0
The external device (ED) such as system run indicator, warning and material conveying equipment, by rewrite D2 control the start of robot, shutdown,
Time-out and continuation etc., reset the robot instruction's configuration information in data storage file, it is to avoid under after change D0 and D2
By false triggering during one circulation；
The work state information of the robot in PLC monitoring thread change data storage file, the work of described robot
Status information includes that robot is not keyed up, robot has been switched on but system is run the most automatically or robot has been switched on and system enters
Automatically run；
PLC monitoring thread reads data register D1 of PLC, and described data register D1 deposits PLC input in real time
State value, including supplied materials sensor status information and other sensor information, writes number by described supplied materials sensor status information
According to storage file；
PLC monitoring thread reads the system in data storage file and runs error message, it is judged that system runs error message
Whether it is zero；
When system operation error message is not zero, PLC monitoring thread rewrites plc data memorizer D0 and D2, will change
After robot duty write data storage file in robot work state information.
Further, described System self-test unit is used for:
Set up communication with test computer to be connected；
Obtain the test computerized information of successful connection；
The test computerized information of described successful connection is write data storage file.
Further, described System self-test unit is used for:
Connect shielding box；
Send status inquiry command to shielding box, obtain shielding box current state；
When the shielding box current state of reception shielding box feedback is for opening, and the shielding box in change data storage file is current
State value is for opening；
When shielding box current state is for closing, and the shielding box current state value in change data storage file is closedown,
Sending open command, again inquiry shielding box current state to shielding box, if shielding box current state is for opening, change data are deposited
Shielding box current state value in storage file is for opening；
When receiving shielding box feedback information time-out, the shielding box current state value in data storage file is changed to not
Work.
Further, described interface more new module is used for:
Scan data storage file and the related data of interface content；
When Monitoring Data storage file and the related data variation of interface content, update according to described data variation immediately
Interface content.
Further, described robot initial module is used for:
Scan data storage file and the related data of interface content；
When Monitoring Data storage file and the related data variation of interface content, update according to described data variation immediately
Interface content.
One of ordinary skill in the art will appreciate that the modules included by above-described embodiment is simply patrolled according to function
Volume carry out dividing, but be not limited to above-mentioned division, as long as being capable of corresponding function；It addition, each function mould
The specific name of block also only to facilitate mutually distinguish, is not limited to protection scope of the present invention.
Those of ordinary skill in the art it is also understood that, it is achieved above-described embodiment rapidly enter whole in application process or
Part steps can be by program and completes to instruct relevant hardware, and described program can read in the system of being stored in
In storage medium, described storage medium, including ROM/RAM etc..
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.
Claims (28)
1. an automatic detection control method, it is characterised in that described method includes:
Read shielding box current state information from data storage file and whether shielding box allows to pick and place test block information；
According to described shielding box current state information, update whether shielding box allows pick and place test block information and write data storage
File；
Read whether supplied materials sensor status information, shielding box test result information and shielding box allow to take from data storage file
Put test block information, whether allow to take according to described supplied materials sensor status information, shielding box test result information and shielding box
Put test block information, calculate optimum robot and perform instruction；
Described optimum robot is performed instruction and is sent to robot, so that robot performs to refer to according to described optimum robot
Order performs operation.
2. the method for claim 1, it is characterised in that described data storage file is used for storing shielding box current state
Whether information, shielding box allow to pick and place test block information, supplied materials sensor status information, robotary information, shielding box survey
Test result information, described robotary information includes robot current state value, robot instruction's configuration information and machine
People's work state information.
3. method as claimed in claim 2, it is characterised in that described from data storage file read shielding box status information and
Whether shielding box also includes before allowing to pick and place test block information:
Change to be currently running by the robot current state value in data storage file, so that PLC monitoring thread is passed through
Reading data storage file, notice PLC sends order to robot and closes manual debugging machine people's function.
4. the method for claim 1, it is characterised in that described method also includes:
The robot performed by described optimum robot in the shielding box number write data storage file that instruction is corresponding operates
Target shielding box value in so that shielding box is not operated by miscellaneous equipment, and described miscellaneous equipment is beyond robot
Equipment.
5. the method for claim 1, it is characterised in that described according to described shielding box current state information, updates screen
Cover whether box allows to pick and place test block information and write data storage file to include:
When described shielding box current state value is not for work, force whether to allow this shielding box to pick and place the change of test block value
For not allowing and writing data storage file.
6. method as claimed in claim 5, it is characterised in that described from data storage file reading supplied materials sensor states letter
Whether breath, shielding box test result information and shielding box allow to pick and place test block information, believe according to described supplied materials sensor states
Whether breath, shielding box test result information and shielding box allow to pick and place test block information, calculate optimum robot and perform instruction bag
Include:
When supplied materials sensor states value is non-supplied materials, whether the shielding box reading data storage file allows to pick and place test block
Value and shielding box test result value；
If whether shielding box allows to pick and place test block value for permission and described shielding box test result value is not sky, calculate
Obtaining instruction and instruct for taking out shielding box build-in test part, the instruction of described taking-up shielding box build-in test part is surveyed in including taking out shielding box
Instruction code, target shielding box number and the shielding box test result value that test specimen instruction is corresponding.
7. method as claimed in claim 5, it is characterised in that described from data storage file reading supplied materials sensor states letter
Whether breath, shielding box test result information and shielding box allow to pick and place test block information, believe according to described supplied materials sensor states
Whether breath, shielding box test result information and shielding box allow to pick and place test block information, calculate optimum robot and perform instruction bag
Include:
When supplied materials sensor states value is supplied materials, whether the shielding box reading data storage file allows to pick and place test block
Information value and shielding box test result information value；
If shielding box whether allow to pick and place test block information value for allow and described shielding box test result information value not
For sky, it is calculated instruction for taking out shielding box build-in test part and putting into test specimen to be measured instruction, described taking-up shielding box build-in test
Part is also put into test specimen to be measured instruction and is included taking out shielding box build-in test part and putting into instruction code corresponding to test specimen to be measured instruction, mesh
Mark shielding box number and shielding box test result information value；
If whether shielding box allows to pick and place test block value for permission and described shielding box test result value is sky, calculate
To instruction for putting into test specimen to be measured instruction, described in put into test specimen to be measured instruction include putting into code corresponding to test specimen to be measured instruction with
Target shielding box number.
Method the most as claimed in claims 6 or 7, it is characterised in that described method also includes:
When robot performs instruction execution operation according to described optimum robot, control industrial camera and obtain test specimen to be measured
Coordinate, and the coordinate of described test specimen to be measured is sent to robot, so that robot accurately captures test specimen to be measured.
9. the method for claim 1, it is characterised in that described from data storage file reading shielding box current state letter
Whether breath and shielding box also include before allowing to pick and place test block information:
System self-test, interface renewal, robot initial and system parameter settings.
10. method as claimed in claim 9, it is characterised in that described System self-test includes:
Receive robotary control instruction, the robot instruction's configuration information in change data storage file；
PLC monitoring thread is set up communication with PLC and is connected, and from data storage file, read machine people instructs configuration information；
PLC monitoring thread judges whether robot instruction's configuration information is zero；
When robot instruction's configuration information is not zero, PLC monitoring thread rewrites data register D0 and D2, the described number of PLC
According to depositor D0 control PLC outfan 0 to 7, described D2 control PLC outfan 8 to 15, transport by rewriting D0 control system
Row display lamp, warning and material conveying equipment, control the start of robot, shut down, suspend and continue, more by rewriting D2
After changing D0 and D2, the robot instruction's configuration information in data storage file is reset, it is to avoid when subsequent cycle by false triggering；
The work state information of the robot in PLC monitoring thread change data storage file, the duty of described robot
Information includes that robot is not keyed up, robot has been switched on but system is run the most automatically or robot has been switched on and system enters automatically
Run；
PLC monitoring thread reads data register D1 of PLC, and described data register D1 deposits the state of PLC input in real time
Value, including supplied materials sensor status information, writes data storage file by described supplied materials sensor status information；
PLC monitoring thread reads the system in data storage file and runs error message, it is judged that whether system runs error message
It is zero；
When system operation error message is not zero, PLC monitoring thread rewrites plc data depositor D0 and D2, after change
In robot duty write data storage file.
11. methods as claimed in claim 9, it is characterised in that described System self-test includes:
Set up communication with test computer to be connected；
Obtain the test computerized information of successful connection；
The test computerized information of described successful connection is write data storage file.
12. methods as claimed in claim 9, it is characterised in that described System self-test includes:
Connect shielding box；
Send status inquiry command to shielding box, obtain shielding box current state；
When receiving the shielding box current state of the shielding box feedback shielding box current state for opening, in change data storage file
Value is for opening；
When shielding box current state is for closing, and the shielding box current state value in change data storage file is closedown, Xiang Ping
Cover box and send open command, again inquiry shielding box current state, if shielding box current state is for opening, change data storage literary composition
Shielding box current state value in part is for opening；
When receiving shielding box feedback information time-out, the shielding box current state value in data storage file is changed to non-work
Make.
13. methods as claimed in claim 9, it is characterised in that described interface updates and includes:
Scan data storage file and the related data of interface content；
When Monitoring Data storage file and the related data variation of interface content, update interface according to described data variation immediately
Content.
14. methods as claimed in claim 9, it is characterised in that described robot initial includes:
Set up communication with robot to be connected；
To robot distribution of machine people's state information searching instruction, so that robot feedback status information；
Receive the robotary information of robot feedback, according to described robotary information record in data storage file
Whether front 8 output states of robot and robot return initial point information.
15. 1 kinds of automatic detection and control systems, it is characterised in that described system includes:
Read unit, for whether allowing to pick and place test from data storage file reading shielding box current state information and shielding box
Part information；
Updating block, for according to described shielding box current state information, updates whether shielding box allows to pick and place test block information
And write data storage file；
Computing unit, for reading supplied materials sensor status information, shielding box test result information and screen from data storage file
Cover whether box allows to pick and place test block information, according to described supplied materials sensor status information, shielding box test result information and screen
Cover whether box allows to pick and place test block information, calculate optimum robot and perform instruction；
Transmitting element, is sent to robot for described optimum robot is performed instruction so that robot according to described
Excellent robot performs instruction and performs operation.
16. systems as claimed in claim 15, it is characterised in that described data storage file is used for storing the current shape of shielding box
Whether state information, shielding box allow to pick and place test block information, supplied materials sensor status information, robotary information, shielding box
Test result information, described robotary information includes robot current state value, robot instruction's configuration information and machine
Device people's work state information.
17. systems as claimed in claim 16, it is characterised in that described system also includes:
Close manual debugging unit, for changing to be currently running by the robot current state value in data storage file,
So that PLC monitoring thread is by reading data storage file, notice PLC sends order to robot and closes manual debugging machine
People's function.
18. systems as claimed in claim 15, it is characterised in that described system also includes:
Protected location, for performing the machine in the shielding box number write data storage file that instruction is corresponding by described optimum robot
In the target shielding box value that device people is operating so that shielding box is not operated by miscellaneous equipment, described miscellaneous equipment
For the equipment beyond robot.
19. systems as claimed in claim 15, it is characterised in that described updating block includes:
First more new module, for when described shielding box current state value is not for work, forces whether to allow this shielding box
Pick and place test block value to change to do not allow and write data storage file.
20. systems as claimed in claim 19, it is characterised in that described computing unit is used for:
When supplied materials sensor states value is non-supplied materials, whether the shielding box reading data storage file allows to pick and place test block
Value and shielding box test result value；
If whether shielding box allows to pick and place test block value for permission and described shielding box test result value is not sky, calculate
Obtaining instruction and instruct for taking out shielding box build-in test part, the instruction of described taking-up shielding box build-in test part is surveyed in including taking out shielding box
Instruction code, target shielding box number and the shielding box test result value that test specimen instruction is corresponding.
21. systems as claimed in claim 19, it is characterised in that described computing unit is used for:
When supplied materials sensor states value is supplied materials, whether the shielding box reading data storage file allows to pick and place test block
Information value and shielding box test result information value；
If shielding box whether allow to pick and place test block information value for allow and described shielding box test result information value not
For sky, it is calculated instruction for taking out shielding box build-in test part and putting into test specimen to be measured instruction, described taking-up shielding box build-in test
Part is also put into test specimen to be measured instruction and is included taking out shielding box build-in test part and putting into instruction code corresponding to test specimen to be measured instruction, mesh
Mark shielding box number and shielding box test result information value；
If whether shielding box allows to pick and place test block value for permission and described shielding box test result value is sky, calculate
To instruction for putting into test specimen to be measured instruction, described in put into test specimen to be measured instruction include putting into code corresponding to test specimen to be measured instruction with
Target shielding box number.
22. systems as described in claim 20 or 21, it is characterised in that described system also includes:
Obtain coordinate unit, for when robot performs operation according to the execution instruction of described optimum robot, controlling industry and take the photograph
Camera obtains the coordinate of test specimen to be measured, and sends the coordinate of described test specimen to be measured to robot, so that robot accurately grabs
Take test specimen to be measured.
23. systems as claimed in claim 15, it is characterised in that described system also includes: System self-test unit, interface update
Unit, robot initial unit and system parameter setting unit.
24. systems as claimed in claim 23, it is characterised in that described System self-test unit is used for:
Receive robotary control instruction, the robot instruction's configuration information in change data storage file；
PLC monitoring thread is set up communication with PLC and is connected, and from data storage file, read machine people instructs configuration information；
PLC monitoring thread judges whether robot instruction's configuration information is zero；
When robot instruction's configuration information is not zero, PLC monitoring thread rewrites data register D0 and D2, the described number of PLC
According to depositor D0 control PLC outfan 0 to 7, described D2 control PLC outfan 8 to 15, transport by rewriting D0 control system
Row display lamp, warning and material conveying equipment, control the start of robot, shut down, suspend and continue, more by rewriting D2
After changing D0 and D2, the robot instruction's configuration information in data storage file is reset, it is to avoid when subsequent cycle by false triggering；
The work state information of the robot in PLC monitoring thread change data storage file, the duty of described robot
Information includes that robot is not keyed up, robot has been switched on but system is run the most automatically or robot has been switched on and system enters automatically
Run；
PLC monitoring thread reads data register D1 of PLC, and described data register D1 deposits the state of PLC input in real time
Value, including supplied materials sensor status information, writes data storage file by described supplied materials sensor status information；
PLC monitoring thread reads the system in data storage file and runs error message, it is judged that whether system runs error message
It is zero；
When system operation error message is not zero, PLC monitoring thread rewrites plc data depositor D0 and D2, after change
In robot duty write data storage file.
25. systems as claimed in claim 23, it is characterised in that described System self-test unit is used for:
Set up communication with test computer to be connected；
Obtain the test computerized information of successful connection；
The test computerized information of described successful connection is write data storage file.
26. systems as claimed in claim 23, it is characterised in that described System self-test module is used for:
Connect shielding box；
Send status inquiry command to shielding box, obtain shielding box current state；
When receiving the shielding box current state of the shielding box feedback shielding box current state for opening, in change data storage file
Value is for opening；
When shielding box current state is for closing, and the shielding box current state value in change data storage file is closedown, Xiang Ping
Cover box and send open command, again inquiry shielding box current state, if shielding box current state is for opening, change data storage literary composition
Shielding box current state value in part is for opening；
When receiving shielding box feedback information time-out, the shielding box current state value in data storage file is changed to non-work
Make.
27. systems as claimed in claim 23, it is characterised in that described interface more new module is used for:
Scan data storage file and the related data of interface content；
When Monitoring Data storage file and the related data variation of interface content, update interface according to described data variation immediately
Content.
28. systems as claimed in claim 23, it is characterised in that described robot initial module is used for:
Set up communication with robot to be connected；
To robot distribution of machine people's state information searching instruction, so that robot feedback status information；
Receive the robotary information of robot feedback, according to described robotary information record in data storage file
Whether front 8 output states of robot and robot return initial point information.
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| CN106885594B (en) * | 2017-03-24 | 2024-03-15 | 深圳市艾特讯科技有限公司 | Testing device, product testing line and testing system |
| CN106843131A (en) * | 2017-03-24 | 2017-06-13 | 深圳市艾特讯科技有限公司 | A kind of test system |
| CN108196476A (en) * | 2017-12-08 | 2018-06-22 | 上海精密计量测试研究所 | Handheld multimeter test method |
| CN108196504A (en) * | 2017-12-29 | 2018-06-22 | 上海移远通信技术股份有限公司 | The control system and method for industrial robot |
| CN108958773A (en) * | 2018-07-10 | 2018-12-07 | 北京贞宇科技有限公司 | intelligent robot |
| CN110238878B (en) * | 2019-04-30 | 2021-03-30 | 北京云迹科技有限公司 | Self-checking method and device for robot |
| CN112379781B (en) * | 2020-12-10 | 2023-02-28 | 深圳华芯信息技术股份有限公司 | Man-machine interaction method, system and terminal based on foot information identification |
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| CN102608479A (en) * | 2012-04-10 | 2012-07-25 | 李春光 | Automatic multi-machine testing system |
| CN102621481A (en) * | 2012-04-24 | 2012-08-01 | 河南正泰信创新基地有限公司 | System and method for automatically diagnosing fault of circuit board |
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