CN110744542A - Robot digital simulation method and device, storage medium and electronic terminal - Google Patents
Robot digital simulation method and device, storage medium and electronic terminal Download PDFInfo
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- CN110744542A CN110744542A CN201911024723.4A CN201911024723A CN110744542A CN 110744542 A CN110744542 A CN 110744542A CN 201911024723 A CN201911024723 A CN 201911024723A CN 110744542 A CN110744542 A CN 110744542A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention discloses a robot digital simulation device and a method, wherein the simulation device comprises: the first simulation module runs first simulation software and is used for generating a simulation port; the simulation device communicates with external equipment through the simulation port; the external equipment runs control software and is used for collecting field signals, calling a robot program and sending a variable for controlling movement to control the movement of the robot; the server is used for collecting variable data in the control software, and transferring the data into a uniform communication protocol format for external transmission; the second simulation module runs second simulation software and is used for completing the writing of the robot program; and the client communicates with the server through a communication protocol and is used for pairing the variable data in the control software and the variable data in the second simulation software. The invention completes joint debugging simulation of the control program and the robot motion program at the computer end, avoids the need of connecting a machine entity during joint debugging, and improves the efficiency and the safety of integrated development.
Description
Technical Field
The invention relates to the field of robot simulation and PLC (programmable logic controller) opc ua communication, in particular to a robot digital simulation method and device based on opc ua communication.
Background
The simulation technology has become an important tool means for feasibility analysis and program verification in the field of industrial automation at present. For an industrial robot, the simulation technology is particularly important, the program time sequence can be verified, the robot action interference can be observed, and visual display experience can be provided for a client. Therefore, various large equipment manufacturers have also launched own simulation software.
However, most of robot simulation software is in a closed stage, only the action simulation of a robot body program can be completed, and interaction with an external control program cannot be performed. Therefore, when a robot integration project is developed, people in charge of robot program development and people in charge of industrial control program development often fight against each other, and when joint debugging is needed, a robot simulation program and a PLC simulation program need to be downloaded into an entity respectively to be connected with the entity to observe the effect. Not only is the efficiency low, but also developers bear corresponding safety risks.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention provides a method and a system for simulating the digital number of a robot based on opc ua communication, which are used to solve the shortcomings of the prior art.
To achieve the above and other related objects, the present invention provides a robot digital simulation apparatus, comprising:
the first simulation module runs first simulation software and is used for generating a simulation port in the simulation device; the simulation device communicates with an external device through the simulation port; the external equipment runs control software and is used for collecting field signals, calling a robot program according to the field signals, sending variables for controlling the motion of the robot and controlling the motion of the robot;
the server is used for collecting the variable data in the control software and transferring the variable data into a uniform communication protocol format to be transmitted to the outside;
the second simulation module runs second simulation software and is used for completing the programming of the robot program and displaying the motion trail and the posture of the robot in real time;
and the client communicates with the server through the communication protocol and is used for pairing the variable data in the control software and the variable data in the second simulation software and updating in real time.
Optionally, the Server and the client both use a binary communication protocol of opc ua, and the URL format of the binary communication protocol is opc.
Optionally, pairing the variable data in the control software and the variable data in the second simulation software includes:
and serializing variable data in the control software into a standard opc ua protocol, and deserializing into corresponding variables.
Optionally, the variable data obtained by the client is processed by adopting python api.
To achieve the above and other related objects, the present invention provides a robot digital simulation method, including:
running first simulation software to generate a simulation port in the simulation device; the simulation device communicates with an external device through the simulation port; the external equipment runs control software and is used for collecting field signals, calling a robot program according to the field signals, sending variables for controlling the motion of the robot and controlling the motion of the robot;
collecting variable data in the control software through a server, and transferring the variable data into a uniform communication protocol format to be transmitted to the outside;
running second simulation software to finish the programming of the robot program and display the motion trail posture of the robot in real time;
periodically sending a request to a server by a client, and subscribing variable data in real time;
receiving variable data in first simulation software sent by the server, pairing the variable data in the first simulation software with variable data in second simulation software, and updating in real time;
and calling the robot program.
Optionally, the Server and the client both use a binary communication protocol of opc ua, and the URL format of the binary communication protocol is opc.
Optionally, pairing the variable data in the control software and the variable data in the second simulation software includes:
and serializing variable data in the control software into a standard opc ua protocol, and deserializing into corresponding variables.
Optionally, the variable data obtained by the client is processed by adopting python api.
To achieve the above and other related objects, the present invention provides a storage medium storing a computer program which, when executed by a processor, performs the method.
To achieve the above and other related objects, the present invention provides an electronic terminal, comprising: a processor and a memory;
the memory is used for storing computer programs, and the processor is used for executing the computer programs stored by the memory so as to enable the terminal to execute the method.
As described above, the robot digital simulation method and system of the present invention have the following beneficial effects:
the invention realizes the communication between the first simulation software and the second simulation software, can complete joint debugging simulation of a control program and a robot motion program at a computer end, avoids the need of connecting a machine entity during joint debugging, and improves the efficiency and the safety of integrated development.
Drawings
FIG. 1 is a schematic diagram of a digital simulation of a robot according to an embodiment of the present invention;
FIG. 2 is a diagram of a PLC control program human-computer interaction according to an embodiment of the present invention;
FIG. 3 is a diagram of a PLC simulation software interface according to an embodiment of the present invention;
FIG. 4 is a diagram of an opc ua server interface embedded in a PLC according to an embodiment of the invention;
FIG. 5 is a diagram of a robot simulation software interface according to an embodiment of the present invention;
FIG. 6 is an opc ua client interface diagram embedded in the robot simulation software according to an embodiment of the present invention;
FIG. 7 is a signal pairing diagram according to an embodiment of the present invention;
FIG. 8 is a diagram of a robot simulation software python api interface according to an embodiment of the invention;
fig. 9 is a flowchart of a robot digital simulation method according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
As shown in fig. 1, a robot digital simulation apparatus, the simulation apparatus comprising:
the first simulation module 11 runs first simulation software and is used for generating a simulation port in the simulation device; the simulation device communicates with an external device through the simulation port; the external equipment runs control software and is used for collecting field signals, calling a robot program according to the field signals, sending variables for controlling movement and controlling the movement of the robot;
the server 12 is used for collecting variable data in the control software, and transferring the data into a uniform communication protocol format for external transmission;
the second simulation module 13 runs second simulation software, and is used for completing the programming of the robot program and displaying the motion trail posture of the robot in real time;
and the client 14 is communicated with the server through the communication protocol and is used for pairing the variable data in the control software and the variable data in the second simulation software.
In an embodiment, the first simulation module, the server, the second simulation module, and the client are disposed on the same platform. For example, the first simulation module, the server, the second simulation module, and the client may be disposed on the same computer, and all of them are a virtual module disposed in the computer. The first simulation module is also provided with a human-computer interaction interface.
The invention realizes the communication between the first simulation software and the second simulation software, can complete joint debugging simulation of a control program and a robot motion program at a computer end, avoids the need of connecting a machine entity during joint debugging, and improves the efficiency and the safety of integrated development.
In one embodiment, the external device is a PLC upper computer, PLC control software runs on the PLC upper computer, and the PLC control software is used for collecting a field signal of a robot running field, calling a robot program according to the field signal, controlling a robot action sequence, and providing a coordinate value or an offset for robot movement.
In an embodiment, the first emulation software is PLC emulation software for generating an ethernet port with an ip address for emulating a PLC at the computer. As shown in fig. 3, which is a simulation software interface diagram of the PLC, the PLC simulation software simulates an internet access at a computer end and has an independent ip address, and a PLC control program can be simulated inside the computer by downloading a PLC control program into the ip address, and the server also uses the ip address to communicate with the client.
In one embodiment, the second simulation software is robot simulation software, and the robot simulation software is used for completing writing of a robot motion program and displaying the motion trail and the posture of the robot in real time.
In an embodiment, the server is an opc ua server, and the client is an opc ua client; the opc ua Server and the opc ua client both adopt a binary communication protocol of the opc ua, and the URL format of the binary communication protocol is opc.tcp:// Server: port.
Opc ua, Open Platform Communications Unified Architecture, Open Platform communication. The opc ua has the characteristics of cross-platform performance, service-oriented performance and unified architecture, realizes the unification of signal models of different platform data, and is an important standard of industrial 4.0 communication. The PLC simulation software and the robot simulation software realize signal transmission through an opc ua server/opc ua client which is respectively embedded in the two simulation software.
Specifically, the opc ua server is used for collecting and escaping variable signals in the PLC simulation software, and then serializing the variable signals into a standard opc ua protocol; the opc ua client requests to acquire information from the opc ua server, receives an opc ua protocol signal sent by the opc ua server, deserializes the received opc ua protocol signal into a corresponding variable, and accordingly completes pairing of the PLC variable and the simulation software variable.
Fig. 2 is a diagram of a PLC human-computer interaction interface, which is a PLC human-computer interaction interface for robot temperature measurement and sampling. The interface comprises a motion control command, a coordinate signal and an offset signal which are sent to the robot by the PLC. The variables of these signals are stored in the intermediate registers of the PLC, waiting for the opc ua server to collect.
Fig. 4 shows a setting interface of the opc ua server embedded in the PLC simulation software, which is mainly used to set the address of the server, the address port of the server, the maximum number of opc ua sessions monitored, the sampling and issuing interval time, and the maximum number of monitoring items.
Fig. 5 is an interface diagram of a robot simulation software, which simulates a working scene of a temperature measuring and sampling robot corresponding to a PLC control program, including a robot body, an electric furnace, a site construction environmental barrier, and the like. In the simulation program, a subprogram of the motion action of the robot and variables needing to be interacted with the PLC are added, wherein the variables comprise a program number called by the subprogram, coordinates and angles of motion point positions, offset of temperature measuring points and the like.
Fig. 6 shows an opc ua client setting interface embedded in the robot simulation software, which is mainly used for setting an address and a port number of an opc ua server that needs to request data, and keeping the server address consistent with the server in fig. 4.
Fig. 7 shows a signal variable matching table. After the configuration of the opc ua client is completed, connection with the opc ua server is started. And after the connection is successful, calling out a variable matching table, and selecting the variables needing to be matched for matching. For example: pairing a program number variable in the PLC simulation software with a program number in the robot simulation software; the offset amount x and offset _ x are paired. After the pairing is successful, the opc ua client in the robot simulation program subscribes data according to the signal sampling and publishing frequency of the opc ua server, and updates the robot data to be consistent with the PLC in real time, so that the digital joint debugging between simulation software is realized.
FIG. 8 is a python api interface inside the robot simulation software. The api can be understood as an access port of a robot actuator, a python language is used for accessing variables transmitted from an opc ua server in real time, and corresponding correction is carried out on the motion point position and the offset of the robot, so that the real-time change of the motion track posture of the robot in the second simulation module is realized. As shown in fig. 8, an offset instruction is made to the coordinates of the sampling point of the movement of the robot using python api.
The invention overcomes the defect that the existing robot simulation software can only simply simulate the self-motion of the robot and can not communicate with an upper computer, and the PLC signals are matched with the variables in the robot simulation software through the opc ua communication protocol, thereby realizing the simulation of the whole industrial field process at the computer end, avoiding the need of connecting the PLC and the robot entity during joint debugging and greatly improving the efficiency of the integrated development of the robot project.
As shown in fig. 9, a robot digital simulation method includes:
s11, running the first simulation software to generate a simulation port in the simulation device; the simulation device communicates with an external device through the simulation port; the external equipment runs control software and is used for collecting field signals, calling a robot program according to the field signals, sending variables for controlling the motion of the robot and controlling the motion of the robot;
s12, collecting the variable data in the control software through a server, and transferring the variable data into a uniform communication protocol format to be sent to the outside;
s13, running second simulation software to finish the programming of the robot program and display the motion trail posture of the robot in real time;
s14, the client periodically sends a request to the server to subscribe variable data in real time;
s15 receiving the variable data in the first simulation software sent by the server, pairing the variable data in the first simulation software with the variable data in the second simulation software, and updating in real time;
s16 calls the robot program.
In one embodiment, the Server and the client both use the binary communication protocol of the opc ua, and the URL format of the binary communication protocol is opc.
In one embodiment, pairing the variable data in the control software with the variable data in the second simulation software comprises:
and serializing variable data in the control software into a standard opc ua protocol, and deserializing into corresponding variables.
In one embodiment, the variable data obtained by the client is processed by python api.
Since the embodiment of the method portion corresponds to the embodiment of the apparatus portion, please refer to the description of the embodiment of the apparatus portion for the content of the embodiment of the method portion, which is not repeated here.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may comprise any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, etc.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A digital simulation apparatus for a robot, the simulation apparatus comprising:
the first simulation module runs first simulation software and is used for generating a simulation port in the simulation device; the simulation device communicates with an external device through the simulation port; the external equipment runs control software and is used for collecting field signals, calling a robot program according to the field signals, sending variables for controlling the motion of the robot and controlling the motion of the robot;
the server is used for collecting the variable data in the control software and transferring the variable data into a uniform communication protocol format to be transmitted to the outside;
the second simulation module runs second simulation software and is used for completing the programming of the robot program and displaying the motion trail and the posture of the robot in real time;
and the client communicates with the server through the communication protocol and is used for pairing the variable data in the control software and the variable data in the second simulation software and updating in real time.
2. The digital robot simulation system of claim 1, wherein the Server and the client both use a binary communication protocol of opc ua, and the URL format of the binary communication protocol is opc.
3. A robot digital simulation apparatus according to claim 1, wherein pairing the variable data in the control software with the variable data in the second simulation software comprises:
and serializing variable data in the control software into a standard opc ua protocol, and deserializing into corresponding variables.
4. A robotic digital simulation device according to claim 1 wherein the client derived variable data is processed using a python api.
5. A robot digital simulation method is characterized by comprising the following steps:
running first simulation software to generate a simulation port in the simulation device; the simulation device communicates with an external device through the simulation port; the external equipment runs control software and is used for collecting field signals, calling a robot program according to the field signals, sending variables for controlling the motion of the robot and controlling the motion of the robot;
collecting variable data in the control software through a server, and transferring the variable data into a uniform communication protocol format to be transmitted to the outside;
running second simulation software to finish the programming of the robot program and display the motion trail posture of the robot in real time;
periodically sending a request to a server by a client, and subscribing variable data in real time;
receiving variable data in first simulation software sent by the server, pairing the variable data in the first simulation software with variable data in second simulation software, and updating in real time;
and calling the robot program.
6. The robot digital simulation method of claim 5, wherein the Server and the client both use a binary communication protocol of opc ua, and the URL format of the binary communication protocol is opc.tcp:// Server: port.
7. A robot digital simulation device according to claim 5, wherein pairing the variable data in the control software with the variable data in the second simulation software comprises:
and serializing variable data in the control software into a standard opc ua protocol, and deserializing into corresponding variables.
8. A robotic digital simulation device according to claim 5 wherein the client derived variable data is processed using a python api.
9. A storage medium storing a computer program, characterized in that the computer program, when executed by a processor, performs the method according to any one of claims 1 to 4.
10. An electronic terminal, comprising: a processor and a memory;
the memory is for storing a computer program and the processor is for executing the computer program stored by the memory to cause the terminal to perform the method of any of claims 1 to 4.
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