CN112139712A - Method, equipment and system for controlling welding robot - Google Patents
Method, equipment and system for controlling welding robot Download PDFInfo
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- CN112139712A CN112139712A CN202011037367.2A CN202011037367A CN112139712A CN 112139712 A CN112139712 A CN 112139712A CN 202011037367 A CN202011037367 A CN 202011037367A CN 112139712 A CN112139712 A CN 112139712A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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Abstract
The embodiment of the application provides a method, equipment and a system for controlling a welding robot, wherein the method is applied to environment monitoring equipment, and the method comprises the following steps: acquiring environment information in the welding environment of the welding robot; and sending the environment information to a control device of the welding robot so that the control device controls the welding robot according to the environment information. The method provided by the embodiment of the application can effectively monitor the change and abnormal conditions of the welding environment, prevent the generation of welding defects and contribute to improving the production quality and the production efficiency.
Description
Technical Field
The present application relates to the field of environmental monitoring, and in particular, to a method, apparatus, and system for controlling a welding robot.
Background
The welding operation site is easily affected by environmental factors, and in the welding site without environmental monitoring, monitoring management may be lacked, so that defects are easily generated in the welding operation, and the cost is increased to influence the efficiency. In order to solve the problem, an environment monitoring device appears on a welding operation site, the welding environment is monitored in real time, and when the welding environment does not accord with a threshold value, an alarm signal is sent out, but the existing welding environment monitoring system cannot enable the welding operation site to recover normal work after alarming.
Therefore, how to better monitor the abnormal situation of the welding environment becomes an urgent problem to be solved.
Disclosure of Invention
The application provides a method, equipment and system for controlling a welding robot, which can effectively monitor the change of a welding environment, prevent the generation of welding defects and contribute to improving the production quality and the production efficiency and better monitoring the abnormal condition of the welding environment.
In a first aspect, a method for controlling a welding robot is applied to an environment monitoring apparatus, and the method includes:
acquiring environment information in the welding environment of the welding robot;
and sending the environment information to a control device of the welding robot so that the control device controls the welding robot according to the environment information.
Therefore, the embodiment of the application acquires the environment information in the welding environment of the welding robot; to welding robot's controlgear sends environmental information, so that controlgear basis environmental information control welding robot can effectual control welding environment's change, prevents welding defect's production, helps improving the abnormal conditions of the better control welding environment of production quality and production efficiency.
With reference to the first aspect, in one possible implementation, before acquiring the environment information in the welding environment of the welding robot, the method further includes:
acquiring an environmental parameter in a welding environment, wherein the environmental parameter comprises at least one of temperature, humidity or wind speed;
wherein the acquiring of the environmental information in the welding environment of the welding robot comprises:
and determining the working environment state of the welding robot according to the environment parameters, wherein the environment information is the working environment state.
Therefore, this application embodiment is through the environmental parameter who obtains among the welding environment, according to the environmental parameter confirms welding robot's operational environment state can judge the parameter among the welding environment who obtains, confirms welding robot's operational environment state according to the contrast result to can effectual protection welding robot.
With reference to the first aspect, in another possible implementation manner, when the environmental parameter includes a temperature parameter, the determining the working environment state of the welding robot according to the environmental parameter includes:
when the temperature parameter is greater than or equal to a first temperature threshold value, judging that the working environment state of the welding robot is a normal temperature state;
when the temperature parameter is greater than a second temperature threshold and smaller than a first temperature threshold, judging that the working environment state of the welding robot is a temperature early warning state;
when the temperature parameter is less than or equal to a second temperature threshold value, judging that the working environment state of the welding robot is a temperature abnormal state;
wherein the first temperature threshold is greater than a second temperature threshold.
Therefore, the working environment state is judged when the environment parameters comprise the temperature parameters, the working environment state of the welding environment can be monitored in real time, and therefore the welding robot can perform welding operation in the normal working environment state.
With reference to the first aspect, in another possible implementation manner, when the environmental parameter includes a humidity parameter, the determining the working environment state of the welding robot according to the environmental parameter includes:
when the humidity parameter is less than or equal to a first humidity threshold value, judging that the working environment state of the welding robot is a humidity normal state;
when the humidity parameter is greater than a first humidity threshold value and less than or equal to a second humidity threshold value, judging that the working environment state of the welding robot is a humidity early warning state;
when the humidity parameter is greater than a second humidity threshold value, judging that the working environment state of the welding robot is a humidity abnormal state;
wherein the first humidity threshold is less than a second humidity threshold.
Therefore, the working environment state is judged when the environment parameters comprise the humidity parameters, the working environment state of the welding environment can be monitored in real time, and therefore the welding robot can perform welding operation in the normal working environment state.
With reference to the first aspect, in another possible implementation manner, when the environment parameter includes a wind speed parameter, the determining a working environment state of the welding robot according to the environment parameter includes:
when the wind speed parameter is less than or equal to a first wind speed threshold value, judging that the working environment state of the welding robot is a normal wind speed state;
when the wind speed parameter is larger than a first wind speed threshold and smaller than or equal to a second wind speed threshold, judging that the working environment state of the welding robot is a wind speed early warning state;
when the wind speed parameter is larger than a second wind speed threshold value, judging that the working environment state of the welding robot is a wind speed abnormal state;
wherein the first wind speed threshold is less than a second wind speed threshold.
Therefore, the working environment state is judged when the environment parameters comprise the wind speed parameters, the working environment state of the welding environment can be monitored in real time, and therefore the welding robot can perform welding operation in a normal working environment state.
With reference to the first aspect, in another possible implementation manner, the environment information is an environment parameter in the welding environment of the welding robot, wherein the environment parameter includes at least one of temperature, humidity, or wind speed.
Therefore, in the embodiment of the application, the environment information is collected through the environment monitoring equipment, the environment information is transmitted to the environment monitoring equipment, the environment information is compared with the threshold value through the environment monitoring equipment, the environment working state is obtained, the burden of the environment monitoring equipment can be reduced, and efficient monitoring is achieved.
In a second aspect, an environmental monitoring apparatus, comprising:
an acquisition unit for acquiring environmental information in a welding environment of the welding robot;
a transmission unit for transmitting the environmental information to a control device of the welding robot so that the control device controls the welding robot according to the environmental information.
With reference to the second aspect, in a possible implementation manner, the obtaining unit is further configured to:
acquiring an environmental parameter in a welding environment, wherein the environmental parameter comprises at least one of temperature, humidity or wind speed;
and the judging unit is used for determining the working environment state of the welding robot according to the environment parameters, wherein the environment information is the working environment state.
With reference to the second aspect, in another possible implementation manner, the determining unit is specifically configured to:
when the temperature parameter is greater than or equal to a first temperature threshold value, judging that the working environment state of the welding robot is a normal temperature state;
when the temperature parameter is greater than a second temperature threshold and smaller than a first temperature threshold, judging that the working environment state of the welding robot is a temperature early warning state;
when the temperature parameter is less than or equal to a second temperature threshold value, judging that the working environment state of the welding robot is a temperature abnormal state;
wherein the first temperature threshold is greater than a second temperature threshold.
With reference to the second aspect, in another possible implementation manner, the determining unit is specifically configured to:
when the humidity parameter is less than or equal to a first humidity threshold value, judging that the working environment state of the welding robot is a humidity normal state;
when the humidity parameter is greater than a first humidity threshold value and less than or equal to a second humidity threshold value, judging that the working environment state of the welding robot is a humidity early warning state;
when the humidity parameter is greater than a second humidity threshold value, judging that the working environment state of the welding robot is a humidity abnormal state;
wherein the first humidity threshold is less than a second humidity threshold.
With reference to the second aspect, in another possible implementation manner, the determining unit is specifically configured to:
when the wind speed parameter is less than or equal to a first wind speed threshold value, judging that the working environment state of the welding robot is a normal wind speed state;
when the wind speed parameter is larger than a first wind speed threshold and smaller than or equal to a second wind speed threshold, judging that the working environment state of the welding robot is a wind speed early warning state;
when the wind speed parameter is larger than a second wind speed threshold value, judging that the working environment state of the welding robot is a wind speed abnormal state;
wherein the first wind speed threshold is less than a second wind speed threshold.
With reference to the second aspect, in another possible implementation manner, the environment information is an environment parameter in the welding environment of the welding robot, wherein the environment parameter includes at least one of temperature, humidity, or wind speed.
In a third aspect, a method for controlling a welding robot is applied to a control apparatus, the method comprising:
receiving environment information in the welding environment of the welding robot, which is sent by environment monitoring equipment;
and controlling the welding robot according to the environment information.
Therefore, this application embodiment sends through receiving environment monitoring equipment environmental information among the welding robot welding environment, according to environmental information control welding robot can control welding robot and stop welding under the unusual circumstances appears in welding environment to can effectual control welding environment's change, prevent welding defect's production, help improving the abnormal conditions of the better control welding environment of production quality and production efficiency.
With reference to the third aspect, in a possible implementation manner, the environment information is a working environment state, where the working environment state is determined by the environment monitoring device according to the environment parameter, and the environment parameter includes at least one of temperature, humidity, or wind speed.
With reference to the third aspect, in another possible implementation, when the environmental parameter includes a temperature parameter, the environmental state includes a normal temperature state, a temperature early warning state, or an abnormal temperature state;
when the environmental parameter comprises a humidity parameter, the environmental state comprises a humidity normal state, a humidity early warning state or a humidity abnormal state;
and when the environmental parameters comprise wind speed parameters, the environmental state comprises a normal wind speed state, a wind speed early warning state or an abnormal wind speed state.
With reference to the third aspect, in another possible implementation, the method further includes:
and sending the working environment state to a user terminal.
In a fourth aspect, a control apparatus includes:
the receiving unit is used for receiving the environment information in the welding environment of the welding robot, which is sent by the environment monitoring equipment;
and the control unit is used for controlling the welding robot according to the environment information.
With reference to the fourth aspect, in an embodiment, the environment information is a working environment state, where the working environment state is determined by the environment monitoring device according to the environment parameter, and the environment parameter includes at least one of temperature, humidity, or wind speed.
With reference to the fourth aspect, in another embodiment, when the environmental parameter includes a temperature parameter, the environmental state includes a normal temperature state, a temperature early warning state, or an abnormal temperature state;
when the environmental parameter comprises a humidity parameter, the environmental state comprises a humidity normal state, a humidity early warning state or a humidity abnormal state;
and when the environmental parameters comprise wind speed parameters, the environmental state comprises a normal wind speed state, a wind speed early warning state or an abnormal wind speed state.
With reference to the fourth aspect, in another embodiment, the control unit is further configured to:
and sending the working environment state to a user terminal.
In a fifth aspect, a monitoring device includes: the welding robot control system comprises a processor, a memory, a bus and an environment monitoring sensor, wherein the processor is connected with the memory and the environment monitoring sensor through the bus, the memory stores computer readable instructions, the environment monitoring sensor monitors the temperature, the humidity and the wind speed in the environment, and when the computer readable instructions are executed by the processor, the computer readable instructions are used for realizing any one of the welding robot control methods applied to the environment monitoring device.
In a sixth aspect, a control apparatus includes: a processor, a memory and a bus, the processor being connected to the memory through the bus, the memory storing computer readable instructions for processing a method of controlling a welding robot to implement any of the above embodiments as applied to a control device when the computer readable instructions are executed by the processor.
In a seventh aspect, a system for controlling a welding robot, comprises: environment monitoring equipment and control equipment;
the environment monitoring equipment is used for acquiring environment information in the welding environment of the welding robot;
the control device is used for controlling the welding robot according to the environment information.
In an eighth aspect, a computer-readable storage medium has a computer program stored thereon, and the computer program, when executed by a server, implements the method for controlling a welding robot applied to an environment monitoring apparatus according to any one of all the embodiments.
In a ninth aspect, a computer-readable storage medium has a computer program stored thereon, and the computer program, when executed by a server, implements the method for controlling a welding robot applied to a control apparatus of any one of all the embodiments.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
Fig. 1 is a diagram of a scenario shown in an embodiment of the present application;
FIG. 2 is a diagram of a method for controlling a welding robot according to an embodiment of the present application;
FIG. 3 is a diagram of an environmental monitoring device according to an embodiment of the present application;
FIG. 4 is a diagram of a control device shown in an embodiment of the present application;
FIG. 5 is a diagram of another environment monitoring device shown in an embodiment of the present application;
FIG. 6 is a diagram of another control device shown in an embodiment of the present application;
fig. 7 is a system diagram for controlling a welding robot according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.
The embodiment of the application is applied to a welding operation scene of the welding robot, such as the scene shown in fig. 1, which includes an environment monitoring device 110, a control device 120, a welding robot 130 and a user terminal 140.
Specifically, the environment monitoring equipment monitors the environment parameters in the welding environment, compares the environment parameters with a threshold value to obtain a working environment state, sends a comparison result to the control equipment, and the control equipment sends an instruction to the welding robot and the user terminal according to the comparison result.
It should be understood that the user terminal in the embodiment of the present application is an intelligent device that receives a command of a control device, and is a generic term related to the user device, and may be a smart phone, a tablet computer, a computer, and the like.
It should be understood that the welding robot in the embodiment of the present application is a generic term of a robot that performs a welding operation.
The welding operation site is easily affected by environmental factors, and in the welding site without environmental monitoring, monitoring management may be lacked, so that defects are easily generated in the welding operation, and the cost is increased to influence the efficiency. In order to solve the problem, an environment monitoring device appears on a welding operation site, the welding environment is monitored in real time, and when the welding environment does not accord with a threshold value, an alarm signal is sent out, but the existing welding environment monitoring system cannot enable the welding operation site to recover normal work after alarming.
In view of the above, the present application provides a method and a system for controlling a welding robot, where the method is applied to an environment monitoring device, and the method includes: acquiring environment information in the welding environment of the welding robot; and sending the environment information to a control device of the welding robot so that the control device controls the welding robot according to the environment information. The method provided by the embodiment of the application can effectively monitor the change of the welding environment, prevent the generation of welding defects, and is beneficial to improving the production quality and the production efficiency and better monitoring the abnormal conditions of the welding environment.
In the following, a detailed description is given with reference to fig. 2 of a specific example, in a welding operation scenario, where a method for controlling a welding robot in the embodiment of the present application is applied in the scenario shown in fig. 1, as shown in fig. 2, the method includes:
the environment monitoring device obtains environment information in the welding environment of the welding robot 210.
Specifically, before acquiring environmental information in a welding environment of the welding robot, acquiring environmental parameters in the welding environment, wherein the environmental parameters comprise at least one of temperature, humidity or wind speed; wherein the acquiring of the environmental information in the welding environment of the welding robot comprises: and determining the working environment state of the welding robot according to the environment parameters, wherein the environment information is the working environment state.
Therefore, this application embodiment is through the environmental parameter who obtains among the welding environment, according to the environmental parameter confirms welding robot's operational environment state can judge the parameter among the welding environment who obtains, confirms welding robot's operational environment state according to the contrast result to can effectual protection welding robot.
Specifically, when the environmental parameter includes a temperature parameter, the determining the working environment state of the welding robot according to the environmental parameter includes: when the temperature parameter is greater than or equal to a first temperature threshold value, judging that the working environment state of the welding robot is a normal temperature state; when the temperature parameter is greater than a second temperature threshold and smaller than a first temperature threshold, judging that the working environment state of the welding robot is a temperature early warning state; when the temperature parameter is less than or equal to a second temperature threshold value, judging that the working environment state of the welding robot is a temperature abnormal state; wherein the first temperature threshold is greater than a second temperature threshold.
Therefore, the working environment state is judged when the environment parameters comprise the temperature parameters, the working environment state of the welding environment can be monitored in real time, and therefore the welding robot can perform welding operation in the normal working environment state.
Specifically, when the environmental parameter includes a humidity parameter, the determining the working environment state of the welding robot according to the environmental parameter includes: when the humidity parameter is less than or equal to a first humidity threshold value, judging that the working environment state of the welding robot is a humidity normal state; when the humidity parameter is greater than a first humidity threshold value and less than or equal to a second humidity threshold value, judging that the working environment state of the welding robot is a humidity early warning state; when the humidity parameter is greater than a second humidity threshold value, judging that the working environment state of the welding robot is a humidity abnormal state; wherein the first humidity threshold is less than a second humidity threshold.
Therefore, the working environment state is judged when the environment parameters comprise the humidity parameters, the working environment state of the welding environment can be monitored in real time, and therefore the welding robot can perform welding operation in the normal working environment state.
Specifically, when the environmental parameter includes a wind speed parameter, the determining the working environment state of the welding robot according to the environmental parameter includes: when the wind speed parameter is less than or equal to a first wind speed threshold value, judging that the working environment state of the welding robot is a normal wind speed state; when the wind speed parameter is larger than a first wind speed threshold and smaller than or equal to a second wind speed threshold, judging that the working environment state of the welding robot is a wind speed early warning state; when the wind speed parameter is larger than a second wind speed threshold value, judging that the working environment state of the welding robot is a wind speed abnormal state; wherein the first wind speed threshold is less than a second wind speed threshold.
Therefore, the working environment state is judged when the environment parameters comprise the wind speed parameters, the working environment state of the welding environment can be monitored in real time, and therefore the welding robot can perform welding operation in a normal working environment state.
Specifically, increase environmental monitoring equipment in this application embodiment with current welding robot on, environmental monitoring equipment includes: temperature sensor, humidity transducer, air velocity transducer and monitoring module, wherein temperature sensor is arranged in gathering the temperature parameter transmission in the welding environment and gives monitoring module, and wherein humidity transducer is arranged in gathering the humidity parameter transmission in the welding environment and gives monitoring module, and wherein air velocity transducer is arranged in gathering the air velocity parameter transmission in the welding environment and gives monitoring module, and monitoring module passes through data analysis, compares above-mentioned environmental parameter and the threshold value that sets up the completion in advance, obtains the operational environment state, and wherein the operational environment state includes: a normal temperature state, a temperature early warning state or an abnormal temperature state; a humidity normal state, a humidity early warning state or a humidity abnormal state; a normal wind speed state, a pre-warning wind speed state and an abnormal wind speed state.
Specifically, in one embodiment, the first temperature threshold is 5 ℃, the second temperature threshold is 0 ℃, and the first temperature threshold is not higher than the operation limit temperature of the welding robot, which is not limited to this embodiment.
When the temperature parameter is more than or equal to 5 ℃, judging that the working environment state of the welding robot is a normal temperature state; when the temperature parameter is more than 0 ℃ and less than 5 ℃, judging that the working environment state of the welding robot is a temperature early warning state; and when the temperature parameter is less than or equal to 0 ℃, judging that the working environment state of the welding robot is a temperature abnormal state.
Specifically, in one embodiment, the first humidity threshold is 70%, and the second humidity threshold is 90%, which is not limited to this embodiment.
When the humidity parameter is less than or equal to 70%, judging that the working environment state of the welding robot is a normal humidity state; when the humidity parameter is more than 70% and less than or equal to 90%, judging that the working environment state of the welding robot is a humidity early warning state; and when the humidity parameter is more than 90%, judging that the working environment state of the welding robot is a humidity abnormal state.
Specifically, in one embodiment, the first wind speed threshold is 2m/s and the second wind speed threshold is 4m/s, but the embodiments are not limited thereto.
When the wind speed parameter is less than or equal to 2m/s, judging that the working environment state of the welding robot is a normal wind speed state; when the wind speed parameter is more than 2m/s and less than or equal to 4m/s, judging that the working environment state of the welding robot is a wind speed early warning state; and when the wind speed parameter is more than 4m/s, judging that the working environment state of the welding robot is a wind speed abnormal state.
Optionally, the environment information is an environment parameter in the welding environment of the welding robot, where the environment parameter includes at least one parameter of temperature, humidity, or wind speed.
Specifically, the environment monitoring device only obtains temperature parameters, humidity parameters and wind speed parameters in the welding environment.
Therefore, in the embodiment of the application, the environment information is collected through the environment monitoring equipment, the environment information is transmitted to the environment monitoring equipment, the environment information is compared with the threshold value through the environment monitoring equipment, the environment working state is obtained, the burden of the environment monitoring equipment can be reduced, and efficient monitoring is achieved.
The environment monitoring device sends the environment information to the control device of the welding robot 220.
Specifically, the environment monitoring device sends the obtained working environment state to the control device of the welding robot according to the obtained environment parameter after being compared with the first temperature threshold, the second temperature threshold, the first humidity threshold, the second humidity threshold, the first wind speed threshold and the second wind speed threshold.
Specifically, the working environment state sent by the environment monitoring device may be a normal temperature state, a temperature early warning state or an abnormal temperature state; a humidity normal state, a humidity early warning state or a humidity abnormal state; a normal wind speed state, a pre-warning wind speed state and an abnormal wind speed state.
Therefore, the embodiment of the application acquires the environment information in the welding environment of the welding robot;
to welding robot's controlgear sends environmental information, so that controlgear basis environmental information control welding robot can effectual control welding environment's change, prevents welding defect's production, helps improving the abnormal conditions of the better control welding environment of production quality and production efficiency.
And 230, the control device controls the welding robot according to the environment information.
Specifically, the environmental information is a working environment state, where the working environment state is determined by the environment monitoring device according to the environmental parameter, and the environmental parameter includes at least one of temperature, humidity, and wind speed.
When the environmental parameter comprises a temperature parameter, the environmental state comprises a normal temperature state, a temperature early warning state or an abnormal temperature state; when the environmental parameter comprises a humidity parameter, the environmental state comprises a humidity normal state, a humidity early warning state or a humidity abnormal state; and when the environmental parameters comprise wind speed parameters, the environmental state comprises a normal wind speed state, a wind speed early warning state or an abnormal wind speed state.
Specifically, after the control device receives the working environment state sent by the environment monitoring device, the different working environment states correspond to different instructions, the different instructions are sent to the welding robot and the user terminal, and the welding robot and the user terminal execute the instructions.
Specifically, when the control equipment receives a temperature normal state signal, an instruction for normal welding is sent to the welding robot; when the control equipment receives the temperature early warning state signal, an arc stopping instruction is sent to the welding robot, and a user terminal is controlled to pop up a dialogue to prompt a worker that a workpiece needs to preheat a welding environment and the welding robot; when the temperature abnormal state signal is received, an instruction for forbidding welding operation is sent to the welding robot, if the welding robot is in the welding process, the welding is forcibly terminated, if the welding robot is not in the welding process, the welding cannot be started, and meanwhile, the user terminal is controlled to pop up a dialog to prompt a worker that the workpiece needs to be controlled in a normal range.
Specifically, when the control equipment receives a humidity normal state signal, an instruction for normal welding is sent to the welding robot; when the control equipment receives a humidity early warning state signal, an arc stopping instruction is sent to the welding robot, a user terminal is controlled to pop up a dialogue, and workers are prompted to bake and dehumidify workpieces, wherein the flame cutting gun, the electric heating plate and the like can be used for baking and dehumidifying; when the control equipment receives the humidity abnormal state signal, an instruction for forbidding welding operation is sent to the welding robot, if the welding robot is in the welding process, the welding is forcibly terminated, if the welding robot is not in the welding process, the welding cannot be started, and meanwhile, the user terminal is controlled to pop up a dialog to prompt a worker that the workpiece needs to control the humidity within a normal range.
Specifically, when the control equipment receives a normal wind speed state signal, an instruction for normal welding is sent to the welding robot; when controlgear received wind speed early warning state signal, to the instruction that welding robot sent to stop the arc to pop out the dialogue through control user terminal, the suggestion staff work piece need install safety device against wind, wherein, safety device against wind can be the cover body of welding robot self, also can be the support of preventing wind that the outside set up. When the control equipment receives the wind speed abnormal state signal, an instruction for forbidding welding operation is sent to the welding robot, if the welding robot is in the welding process, the welding is forcibly terminated, if the welding robot is not in the welding process, the welding cannot be started, and meanwhile, a user terminal is controlled to pop up a dialog to prompt a worker that the workpiece needs to control the wind speed within a normal range.
It should be understood that the welding robot can be controlled to normally weld only when the control device simultaneously receives signals of the normal temperature state, the normal humidity state and the normal wind speed state.
Specifically, the environment monitoring device is always in a monitoring state, the environment monitoring device can always monitor the temperature, the humidity and the wind speed of a welding site in the process of processing early warning and abnormal conditions and after processing is completed, when the welding environment is monitored to be within the range of a normal threshold value, the welding robot can be automatically restarted, or a worker is informed through software, the welding robot is manually started by the worker, and the welding operation is recovered to be normal.
Therefore, the embodiment of the application acquires the environment information in the welding environment of the welding robot; to the controlgear of welding robot sends environmental information, so that controlgear basis environmental information control welding robot sends through receiving environment supervisory equipment environmental information among the welding robot welding environment, according to environmental information control welding robot can control welding robot and stop the change that welding can effectual control welding environment under the welding environment condition that the anomaly appears, prevents welding defect's production, helps improving the abnormal condition of the better control welding environment of production quality and production efficiency.
It should be noted that the examples of fig. 1 and 2 are only for assisting the skilled person in understanding the embodiments of the present application, and are not intended to limit the embodiments of the present application to the specific scenarios illustrated. It will be apparent to those skilled in the art that various equivalent modifications or variations can be made in the examples given in fig. 1 and 2, and such modifications or variations also fall within the scope of the embodiments of the present application.
It should be understood that the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
The method for controlling the welding robot according to the embodiment of the present application is described above, the environment monitoring apparatus according to the embodiment of the present application is described in detail below with reference to fig. 3, and the control apparatus according to the embodiment of the present application is described in detail below with reference to fig. 4.
As shown in fig. 3, in particular, an environment monitoring apparatus includes: an acquisition unit 310 and a transmission unit 320.
Specifically, the acquiring unit is used for acquiring environmental information in the welding environment of the welding robot; a transmission unit for transmitting the environmental information to a control device of the welding robot so that the control device controls the welding robot according to the environmental information.
Specifically, the obtaining unit is further configured to: acquiring an environmental parameter in a welding environment, wherein the environmental parameter comprises at least one of temperature, humidity or wind speed; and the judging unit is used for determining the working environment state of the welding robot according to the environment parameters, wherein the environment information is the working environment state.
Specifically, the environment monitoring device further includes a determination unit, specifically configured to: when the temperature parameter is greater than or equal to a first temperature threshold value, judging that the working environment state of the welding robot is a normal temperature state; when the temperature parameter is greater than a second temperature threshold and smaller than a first temperature threshold, judging that the working environment state of the welding robot is a temperature early warning state; when the temperature parameter is less than or equal to a second temperature threshold value, judging that the working environment state of the welding robot is a temperature abnormal state; wherein the first temperature threshold is greater than a second temperature threshold.
Specifically, the determining unit is specifically configured to: when the humidity parameter is less than or equal to a first humidity threshold value, judging that the working environment state of the welding robot is a humidity normal state; when the humidity parameter is greater than a first humidity threshold value and less than or equal to a second humidity threshold value, judging that the working environment state of the welding robot is a humidity early warning state; when the humidity parameter is greater than a second humidity threshold value, judging that the working environment state of the welding robot is a humidity abnormal state; wherein the first humidity threshold is less than a second humidity threshold.
Specifically, the determining unit is specifically configured to: when the wind speed parameter is less than or equal to a first wind speed threshold value, judging that the working environment state of the welding robot is a normal wind speed state; when the wind speed parameter is larger than a first wind speed threshold and smaller than or equal to a second wind speed threshold, judging that the working environment state of the welding robot is a wind speed early warning state; when the wind speed parameter is larger than a second wind speed threshold value, judging that the working environment state of the welding robot is a wind speed abnormal state; wherein the first wind speed threshold is less than a second wind speed threshold.
Specifically, the environment information is an environment parameter in the welding environment of the welding robot, wherein the environment parameter includes at least one of temperature, humidity, and wind speed.
It should be understood that one environment monitoring device shown in fig. 3 is capable of implementing the processes involving the environment monitoring device in the method embodiments of fig. 1 and 2. The operation and/or function of each module in the environment monitoring device are respectively to implement the corresponding flow in the method embodiments in fig. 1 and fig. 2. Reference may be made specifically to the description of the above method embodiments, and a detailed description is appropriately omitted herein to avoid redundancy.
As shown in fig. 4, specifically, a control apparatus includes: a receiving unit 410 and a control unit 420.
Specifically, a control apparatus includes: the receiving unit is used for receiving the environment information in the welding environment of the welding robot, which is sent by the environment monitoring equipment; and the control unit is used for controlling the welding robot according to the environment information.
In one embodiment, the environmental information is a working environment status, wherein the working environment status is determined by the environment monitoring device according to the environmental parameter, and the environmental parameter includes at least one of temperature, humidity, or wind speed.
In another embodiment, when the environmental parameter includes a temperature parameter, the environmental state includes a normal temperature state, a temperature early warning state, or an abnormal temperature state; when the environmental parameter comprises a humidity parameter, the environmental state comprises a humidity normal state, a humidity early warning state or a humidity abnormal state; and when the environmental parameters comprise wind speed parameters, the environmental state comprises a normal wind speed state, a wind speed early warning state or an abnormal wind speed state.
In another embodiment, the control unit is further configured to: and sending the working environment state to a user terminal.
It should be understood that a control device as shown in fig. 4 is capable of implementing the various processes involving the control device in the method embodiments of fig. 1 and 2. The operation and/or function of each module in the control device is respectively for realizing the corresponding flow in the method embodiments in fig. 1 and 2. Reference may be made specifically to the description of the above method embodiments, and a detailed description is appropriately omitted herein to avoid redundancy.
Optionally, environmental monitoring equipment and controlgear in this application, wherein, detachable environmental monitoring equipment is installed on welding robot in a flexible way, can be when installation and use, does not change controlgear's frame, increases entire system's stability, and convenient debugging practices thrift the cost.
Fig. 5 shows another environment monitoring apparatus provided in an embodiment of the present application, including: a processor 510, a memory 520, a bus 530 and an environment monitoring sensor 540, the processor being connected to the memory and the environment monitoring sensor through the bus, the memory storing computer readable instructions, the environment monitoring sensor monitoring temperature, humidity and wind speed in the environment, the computer readable instructions when executed by the processor implementing any one of the methods for controlling a welding robot applied to the environment monitoring apparatus.
It should be appreciated that another environment monitoring device shown in fig. 5 is capable of implementing various processes involving the environment monitoring device in the method embodiments of fig. 1 and 2. The operations and/or functions of the respective modules in the other environment monitoring device are respectively for implementing the corresponding flows in the method embodiments in fig. 1 and 2. Reference may be made specifically to the description of the above method embodiments, and a detailed description is appropriately omitted herein to avoid redundancy.
Fig. 6 shows another control device provided in an embodiment of the present application, including: a processor 610, a memory 620 and a bus 630, the processor being connected to the memory through the bus, the memory storing computer readable instructions for processing a method of controlling a welding robot to implement any of the above embodiments as applied to a control device when the computer readable instructions are executed by the processor.
It should be understood that the further control device shown in fig. 6 is capable of carrying out the various processes involved in the control device in the method embodiments of fig. 1, 2. The operation and/or function of each module in the other control device is respectively for realizing the corresponding flow in the method embodiments in fig. 1 and 2. Reference may be made specifically to the description of the above method embodiments, and a detailed description is appropriately omitted herein to avoid redundancy.
Wherein the bus is used for realizing direct connection communication of the components. The processor in the embodiment of the present application may be an integrated circuit chip having signal processing capability. The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The Memory may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Read Only Memory (EPROM), an electrically Erasable Read Only Memory (EEPROM), and the like. The memory stores computer readable instructions that, when executed by the processor, perform any of the methods described in the above embodiments.
As shown in fig. 7, a system 700 for controlling a welding robot, comprising: an environment monitoring device 710 and a control device 720; the environment monitoring equipment is used for acquiring environment information in the welding environment of the welding robot; the control device is used for controlling the welding robot according to the environment information.
It should be understood that a system for controlling a welding robot as shown in fig. 7 can implement the various processes in the method embodiments of fig. 1 and 2. The operation and/or function of the individual modules in a system for controlling a welding robot is to implement the corresponding procedure in the method embodiments of fig. 1, 2, respectively. Reference may be made specifically to the description of the above method embodiments, and a detailed description is appropriately omitted herein to avoid redundancy.
It should be understood that the environment monitoring device may be integrated with the welding robot, in other words, the environment monitoring device may be mounted on the welding robot, or may be separated, and the embodiment of the present application is not limited thereto.
The present application further provides a computer-readable storage medium, which stores thereon a computer program, and when the computer program is executed by a server, the method for controlling a welding robot applied to an environment monitoring apparatus in any one of the embodiments is implemented, and in particular, the description in the above method embodiments may be referred to, and in order to avoid repetition, the detailed description is appropriately omitted here.
The present application further provides a computer-readable storage medium, which stores thereon a computer program, and when the computer program is executed by a server, the method for controlling a welding robot applied to a control device in any one of the embodiments is implemented, and the detailed description may be appropriately omitted herein to avoid redundancy, referring to the description in the above method embodiments.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device-like embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (13)
1. A method for controlling a welding robot, applied to an environment monitoring apparatus, the method comprising:
acquiring environment information in the welding environment of the welding robot;
and sending the environment information to a control device of the welding robot so that the control device controls the welding robot according to the environment information.
2. The method of claim 1, wherein prior to obtaining environmental information in the welding robot welding environment, the method further comprises:
acquiring an environmental parameter in a welding environment, wherein the environmental parameter comprises at least one of temperature, humidity or wind speed;
wherein the acquiring of the environmental information in the welding environment of the welding robot comprises:
and determining the working environment state of the welding robot according to the environment parameters, wherein the environment information is the working environment state.
3. The method of claim 2, wherein when the environmental parameter comprises a temperature parameter, the determining the operating environment state of the welding robot from the environmental parameter comprises:
when the temperature parameter is greater than or equal to a first temperature threshold value, judging that the working environment state of the welding robot is a normal temperature state;
when the temperature parameter is greater than a second temperature threshold and smaller than a first temperature threshold, judging that the working environment state of the welding robot is a temperature early warning state;
when the temperature parameter is less than or equal to a second temperature threshold value, judging that the working environment state of the welding robot is a temperature abnormal state;
wherein the first temperature threshold is greater than a second temperature threshold.
4. The method of claim 2, wherein when the environmental parameter comprises a humidity parameter, the determining the working environment state of the welding robot according to the environmental parameter comprises:
when the humidity parameter is less than or equal to a first humidity threshold value, judging that the working environment state of the welding robot is a humidity normal state;
when the humidity parameter is greater than a first humidity threshold value and less than or equal to a second humidity threshold value, judging that the working environment state of the welding robot is a humidity early warning state;
when the humidity parameter is greater than a second humidity threshold value, judging that the working environment state of the welding robot is a humidity abnormal state;
wherein the first humidity threshold is less than a second humidity threshold.
5. The method of claim 2, wherein when the environmental parameter comprises a wind speed parameter, the determining the working environment state of the welding robot according to the environmental parameter comprises:
when the wind speed parameter is less than or equal to a first wind speed threshold value, judging that the working environment state of the welding robot is a normal wind speed state;
when the wind speed parameter is larger than a first wind speed threshold and smaller than or equal to a second wind speed threshold, judging that the working environment state of the welding robot is a wind speed early warning state;
when the wind speed parameter is larger than a second wind speed threshold value, judging that the working environment state of the welding robot is a wind speed abnormal state;
wherein the first wind speed threshold is less than a second wind speed threshold.
6. The method of claim 1,
the environment information is an environment parameter in the welding environment of the welding robot, wherein the environment parameter comprises at least one of temperature, humidity or wind speed.
7. A method for controlling a welding robot, applied to a control device, the method comprising:
receiving environment information in the welding environment of the welding robot, which is sent by environment monitoring equipment;
and controlling the welding robot according to the environment information.
8. The method of claim 7, wherein the environmental information is a working environment status, wherein the working environment status is determined by the environmental monitoring device based on environmental parameters, the environmental parameters including at least one of temperature, humidity, or wind speed.
9. The method of claim 8,
when the environmental parameter comprises a temperature parameter, the working environment state comprises a normal temperature state, a temperature early warning state or an abnormal temperature state;
when the environmental parameter comprises a humidity parameter, the environmental state comprises a humidity normal state, a humidity early warning state or a humidity abnormal state;
and when the environmental parameters comprise wind speed parameters, the environmental state comprises a normal wind speed state, a wind speed early warning state or an abnormal wind speed state.
10. The method of claim 7, further comprising:
and sending the working environment state to the user terminal.
11. An environmental monitoring device, comprising:
an acquisition unit that acquires environmental information in a welding environment of the welding robot;
and a transmitting unit that transmits the environmental information to a control apparatus of the welding robot so that the control apparatus controls the welding robot according to the environmental information.
12. A control apparatus, characterized by comprising:
the receiving unit is used for receiving the environment information in the welding environment of the welding robot, which is sent by the environment monitoring equipment;
and a control unit for controlling the welding robot according to the environment information.
13. A system for controlling a welding robot, comprising: environment monitoring equipment and control equipment;
the environment monitoring equipment is used for acquiring environment information in the welding environment of the welding robot;
the control device is used for controlling the welding robot according to the environment information.
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| CN202011037367.2A CN112139712A (en) | 2020-09-27 | 2020-09-27 | Method, equipment and system for controlling welding robot |
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| CN202011037367.2A CN112139712A (en) | 2020-09-27 | 2020-09-27 | Method, equipment and system for controlling welding robot |
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Application publication date: 20201229 |