CN112777058B - Control method, system, device, storage medium and processor of robot - Google Patents
Control method, system, device, storage medium and processor of robot Download PDFInfo
- Publication number
- CN112777058B CN112777058B CN202011536309.4A CN202011536309A CN112777058B CN 112777058 B CN112777058 B CN 112777058B CN 202011536309 A CN202011536309 A CN 202011536309A CN 112777058 B CN112777058 B CN 112777058B
- Authority
- CN
- China
- Prior art keywords
- product
- robot
- packaging
- packaging line
- verification result
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
- B65B57/04—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of such material, containers, or packages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B2220/00—Specific aspects of the packaging operation
- B65B2220/16—Packaging contents into primary and secondary packaging
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a control method, a control system, a control device, a storage medium and a control processor for a robot. Wherein the method comprises the following steps: packaging the first product based on the packaging resource to obtain a second product; verifying the second product to obtain a verification result; and boxing the second product based on the verification result. The invention solves the technical problem of low efficiency of controlling the robot.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a method, a system, an apparatus, a storage medium, and a processor for controlling a robot.
Background
At present, domestic industrial robots are very successful in carrying, sorting, stacking, welding and other functions, and are applied to industries such as automobiles, but in some labor-intensive industries, such as manufacturing industries of fine division scenes of sewing, electronic product assembly, food packaging and the like, full automation cannot be realized, the production process of the domestic industrial robots can be performed through the robots, but some products which need fine packaging still need to be put into a large amount of manpower and time cost, so that the control efficiency of the robots is still low.
For the above-mentioned problem of inefficiency in controlling the robot, no effective solution has been proposed yet.
Disclosure of Invention
The embodiment of the invention provides a control method, a control system, a control device, a storage medium and a processor for a robot, which at least solve the technical problem of low control efficiency of the robot.
According to an aspect of an embodiment of the present invention, there is provided a control method of a robot, including: packaging the first product based on the packaging resource to obtain a second product; verifying the second product to obtain a verification result; and boxing the second product based on the verification result.
Optionally, before packaging the first product based on the packaging resource to obtain the second product, the method further comprises: determining at least one of the following as a packaging resource: the robot comprises a working frequency of the robot, posture change information of the robot and packaging materials, wherein the posture change information is used for representing the working sequence of the robot.
Optionally, after packaging the first product based on the packaging resource to obtain the second product, the method further comprises: and setting identification information for the second product, wherein the identification information is used for identifying the second product.
Optionally, setting identification information for the second product includes: and setting identification information for the second product based on the coding machine.
Optionally, when the identification information is set for the second product, the method further comprises: monitoring a product packaging line, wherein the product packaging line is a process of packaging and boxing products by a robot; and outputting alarm information under the condition that the product packaging line is in an abnormal state, wherein the alarm information is used for indicating that the product packaging line is in the abnormal state.
Optionally, the boxing process is performed on the second product based on the verification result, including: under the condition that the verification result is that the second product is qualified, the second product is transported to a first product box, wherein the first product box is used for accommodating the products which are qualified in packaging; and in the case that the verification result is that the second product is unqualified, transporting the second product into a second product box, wherein the second product box is used for containing the unqualified product.
Optionally, the first product is a food product.
According to another aspect of the embodiment of the present invention, there is also provided a control system of a robot, including: the robot is used for packaging the first product to obtain a second product and boxing the second product; and the first controller is connected with the robot and used for controlling the robot.
Optionally, the control system of the robot further includes: the power supply is connected with the first controller and used for providing current; the air source is connected with the power supply and used for starting the pneumatic valve; and the pneumatic valve is connected with the air source and the robot and is used for starting the robot.
Optionally, the robot comprises at least one of: the system comprises a second controller and a demonstrator, wherein the second controller is used for controlling the working frequency of the robot, and the demonstrator is used for storing the posture change information of the robot.
According to another aspect of the embodiment of the present invention, there is also provided a control device for a robot, including: the packaging unit is used for packaging the first product based on the packaging resources to obtain a second product; the verification unit is used for verifying the second product to obtain a verification result; and the processing unit is used for boxing the second product based on the verification result.
According to another aspect of the embodiments of the present invention, there is also provided a robot including a control device of a coral tree robot.
According to another aspect of the embodiment of the present invention, there is also provided a computer readable storage medium including a stored program, where the apparatus on which the computer readable storage medium is controlled to execute the control method of the robot according to the embodiment of the present invention when the program runs.
According to another aspect of the embodiment of the present invention, there is also provided a processor for running a program, wherein the program when run by the processor performs the control method of the robot of the embodiment of the present invention.
In the embodiment of the invention, the first product is packaged based on the packaging resource to obtain the second product; verifying the second product to obtain a verification result; and boxing the second product based on the verification result. That is, the robot is led in, so that the robot packages the products based on the packaging resources, verifies the packaged products, and performs boxing treatment on the packaged products based on the verification results after the verification results are obtained, thereby achieving the purpose of controlling a packaging line of the whole products based on the robot, further solving the technical problem of low efficiency of controlling the robot, and achieving the technical effect of improving the efficiency of controlling the robot.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a schematic diagram of a control system for a robot according to an embodiment of the invention;
fig. 2 is a flowchart of a control method of a robot according to an embodiment of the present invention;
fig. 3 is a flowchart of another control method of a robot according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the hardware connections of a control system of a robot according to an embodiment of the invention;
fig. 5 is a schematic view of a control device of a robot according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to an embodiment of the invention, a control system of a robot is provided.
Fig. 1 is a schematic view of a control system of a robot according to an embodiment of the present invention. As shown in fig. 1, the control system 10 of the robot may include: a robot 11 and a first controller 12.
And the robot 11 is used for packaging the first product, obtaining a second product and boxing the second product.
In this embodiment, the robot may be used to package a first product, obtain a second product, and perform a boxing process on the second product.
Alternatively, the robot in this embodiment may be an industrial robot, and the model may be a grid industrial robot GR608, which may be ground mounted.
The first controller 12 is connected to the robot 11 and is configured to control the robot 11.
In this embodiment, the first controller may be connected to the robot so that the robot may be controlled by the first controller to realize packaging of the product based on the robot and to perform a boxing process of the packaged product.
Alternatively, the first controller in this embodiment may be a programmable logic controller (Programmable LogicController, abbreviated as PLC).
As an alternative embodiment, the control system 10 of the robot may further include: a power supply connected to the first controller 12 for supplying current; the air source is connected with the power supply and used for starting the pneumatic valve; and the pneumatic valve is connected with the air source and the robot 11 and is used for starting the robot 11.
In this embodiment, the control system of the robot may further include a power source, an air source, a pneumatic valve, and the like, wherein the power source may be connected to the PLC and the air source through a power line, so that current may be supplied to the entire control system; the air source is connected with a pneumatic valve through an air pipe, so that the pneumatic valve can be started through the air source; the pneumatic valve can be connected with the robot through an air pipe, so that the robot can be started to work.
Optionally, the control system in this embodiment may further include a laser coding machine, a fixed code scanner module, a clamping jaw, and the like, where the laser coding machine may be connected to a robot, so that the robot may code the packaged product through the laser coding machine; the fixed code scanner module can be connected with the robot, so that the robot can scan codes printed on products through the fixed code scanner module; the jaws may be connected to a robot such that the robot may grip a product through the jaws.
As an alternative embodiment, the robot 11 includes at least one of: the system comprises a second controller and a demonstrator, wherein the second controller is used for controlling the working frequency of the robot, and the demonstrator is used for storing the posture change information of the robot.
In this embodiment, the robot may include a second controller and a demonstrator, wherein the second controller may be connected to the first controller through a carrier network (Chinatelecom Next Carrier Network, abbreviated as CN 2), the second controller may be connected to the demonstrator through a teaching wire, the second controller may be used to control an operating frequency of the robot, and the demonstrator may be used to store posture change information of the robot. Optionally, the robot may further include a robot body, which may be connected to the pneumatic valve through an air pipe, and connected to the second controller through a direct current.
According to the robot control system, the packaging line of the product is controlled by the robot, so that the purpose of controlling the packaging line of the whole product based on the robot is achieved, the technical problem of low efficiency of controlling the robot is solved, and the technical effect of improving the efficiency of controlling the robot is achieved.
Example 2
According to an embodiment of the present invention, an embodiment of a control method of a robot is provided, and it should be noted that the control method of the robot may be performed by the control system of the robot in embodiment 1. The steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order different than that herein.
Fig. 2 is a flowchart of a control method of a robot according to an embodiment of the present invention. As shown in fig. 2, the method may include the steps of:
step S202, packaging the first product based on the packaging resources to obtain a second product.
In the technical scheme provided in the step S202, the first product may be packaged by the robot based on the packaging resource to obtain the second product.
Alternatively, the robot in this embodiment may be an industrial robot, and the model may be a grid industrial robot GR608, which may be ground mounted.
Step S204, verifying the second product to obtain a verification result.
In the technical scheme provided in the step S204, after the first product is packaged to obtain the second product, the obtained second product may be verified, so as to obtain a verification result.
Alternatively, in this embodiment, the packaging quality of the second product may be verified, and the verification result obtained may be whether the packaging quality of the second product is acceptable.
Step S206, boxing the second product based on the verification result.
In the technical solution provided in the above step S206 of the present invention, after the verification result is obtained, the second product may be packaged according to the information in the verification result.
Alternatively, if the verification result in this embodiment is that the packaging quality of the second product is acceptable, different boxing treatments may be performed on the second product according to different verification results.
Through the steps S202 to S204, the first product is packaged based on the packaging resource to obtain a second product; verifying the second product to obtain a verification result; and boxing the second product based on the verification result. That is, according to the embodiment, the robot is introduced to package the product based on the package resource, the packaged product is verified, and after the verification result is obtained, the packaged product is packaged based on the verification result, so that the purpose of controlling the packaging line of the whole product based on the robot is achieved, the technical problem of low control efficiency of the robot is solved, and the technical effect of improving the control efficiency of the robot is achieved.
The above-described method of this embodiment is further described below.
As an alternative embodiment, in step S202, before packaging the first product based on the packaging resource, the method further includes: determining at least one of the following as a packaging resource: the robot comprises a working frequency of the robot, posture change information of the robot and packaging materials, wherein the posture change information is used for representing the working sequence of the robot.
In this embodiment, the packaging resource may be determined first, and then the first product may be packaged based on the determined packaging resource to obtain the second product.
In the above embodiment, the packaging resources may include at least one of: the working frequency of the robot, the attitude change information of the robot and the packaging material, wherein the working frequency of the robot can be controlled by a second controller in the robot, so that the robot can work at a more reasonable frequency; the gesture change information of the robot can be gesture information such as weighing, packaging, sealing and the like of the robot, so that the working sequence of the robot can be determined according to the gesture change information of the robot, for example, the working sequence of the robot is that a product is clamped firstly, then the product is weighed, then the product is packaged, and finally the packaging is carried out; the packaging material is the material needed by the robot for packaging the product, such as the packaging material of hard paper shells, plastic bags, adhesive tapes, glue and the like.
Alternatively, the posture change information of the robot, such as the order in which the robot weighs, packages, seals, etc., may be designed in advance in this embodiment.
As an alternative embodiment, in step S202, after packaging the first product based on the packaging resource, the method further includes: and setting identification information for the second product, wherein the identification information is used for identifying the second product.
In this embodiment, after the second product is obtained, an identification information may be set to the second product, so that the robot may recognize the second product based on the identification information.
Optionally, the identification information in the embodiment corresponds to the second products one by one, that is, one second product contains one identification information, so that the robot can quickly identify the second product according to the identification information, confusion when the robot identifies the product is avoided, and further the efficiency of identifying the product by the robot is improved.
As an alternative embodiment, setting identification information for the second product includes: and setting identification information for the second product based on the coding machine.
In this embodiment, the second product may be coded (e.g., bar code, two-dimensional code, etc.) by a coding machine, thereby setting identification information for the second product.
Alternatively, the encoder in this embodiment may be a laser encoder.
Alternatively, the embodiment may code the second product by providing a code printer on the production line.
Alternatively, in this embodiment, the code scanner may be disposed on the production line, so that the robot may scan the code printed by the code printer through the code scanner, thereby implementing that the robot identifies the second product according to the identification information. The code scanner can be a fixed code scanner module.
As an alternative embodiment, when the identification information is set for the second product, the method further comprises: monitoring a product packaging line, wherein the product packaging line is a process of packaging and boxing products by a robot; and outputting alarm information under the condition that the product packaging line is in an abnormal state, wherein the alarm information is used for indicating that the product packaging line is in the abnormal state.
In this embodiment, the robot may monitor the product packaging line while the identification information is set for the second product, and when the robot detects that the product packaging line is abnormal, the robot may output alarm information to prompt the worker that the product packaging line is abnormal, at this time, the robot may temporarily stop the ongoing work, so that the worker may find the abnormality in time and process it.
Alternatively, the abnormal condition in this embodiment may be that the packaging line is unstable (shake condition).
Alternatively, the embodiment may provide robot vision beside the production line, so that the stability of the production line body is monitored according to the robot vision.
As an optional embodiment, step S206, performing a boxing process on the second product based on the verification result, includes: under the condition that the verification result is that the second product is qualified, the second product is transported to a first product box, wherein the first product box is used for accommodating the products which are qualified in packaging; and in the case that the verification result is that the second product is unqualified, transporting the second product into a second product box, wherein the second product box is used for containing the unqualified product.
In this embodiment, the robot may verify whether the second product is acceptable (may verify the packaging quality of the second product) while coding the second product, and after obtaining the verification result, if the verification result is that the second product is acceptable, the acceptable second product may be transported to the first product box (acceptable product box) at this time, and if the verification result is that the second product is unacceptable, the unacceptable second product may be transported to the second product box (unacceptable product box) at this time.
As an alternative embodiment, the first product is a food product.
In this embodiment, the food product may be packaged such that the product packaging line is a food product packaging line.
In the related art, since the product packaging line cannot be fully automated, for example, a process of food production may already be performed by a robot for pipelining, but some products that need to be carefully packaged still require a lot of manpower and time costs, resulting in a problem that the control efficiency of the robot is still low.
According to the control method of the robot, the robot is led in to package the product based on the package resource, the packaged product is verified, after the verification result is obtained, the packaged product is packaged based on the verification result, so that the purpose of controlling a packaging line of the whole product based on the robot is achieved, the technical problem of low control efficiency of the robot is solved, and the technical effect of improving the control efficiency of the robot is achieved.
Example 3
The above method of the present invention is further described below in connection with preferred embodiments.
Fig. 3 is a flowchart of another control method of a robot according to an embodiment of the present invention. As shown in fig. 3, the method may include the steps of:
step S301, it is determined whether the robot is at the origin.
In the solution provided in the above step S301 of the present invention, it is first required to determine whether the robot is at the origin of the product packaging line, if the robot is at the origin, step S303 is executed, and if the robot is not at the origin, step S302 is executed.
Step S302, the control robot returns to the origin.
Step S303, determining whether the robot can take the material.
In the technical solution provided in the above step S303, if the robot can take the material, step S305 is executed, and if the robot can not take the material, step S304 is executed.
Step S304, waiting for the robot to take the materials.
Step S305, the robot takes the material.
In the technical solution provided in the above step S305 of the present invention, the robot material taking may include a robot material taking packaging material, so that the robot may package the product according to the packaging material.
Step S306, the robot packs the product.
Step S307, judging whether the package is qualified.
In the technical solution provided in the above step S307 of the present invention, after the robot packages the product, the robot may determine whether the package is qualified, if the package is qualified, step S308 is executed, and if the package is not qualified, step S309 is executed.
Step S308, the robot puts the packaged qualified products into a qualified product box.
Step S309, the robot puts the unqualified packaged product into an unqualified product box.
In this embodiment, when an unpacked product (e.g., food) flows in from the previous link, the industrial robot packs the unpacked product according to a certain frequency and a previously designed posture change, and carries the unpacked product after packing, the robot needs to code and sweep the packed product in the carrying process, monitors whether the product production line shakes and whether the product package is qualified or not while coding, starts an alarm and pauses the current work of the robot if the product production line shakes, loads the qualified product into a qualified product box if the product package is qualified, and loads the unqualified product into an unqualified product box if the product package is unqualified.
Fig. 4 is a schematic diagram of hardware connections of a control system of a robot according to an embodiment of the invention. As shown in fig. 4, the control system of the robot may include: a power supply 41, a gas source 42, a pneumatic valve 43, a robot body 44, a controller 45, a programmable logic controller 46, and a teach pendant 47.
In this embodiment, the power supply 41 may be connected to the programmable logic controller 46 and the air source 42 via a power line so that current may be supplied to the overall control system; the air source 42 is connected with the pneumatic valve 43 through an air pipe, so that the pneumatic valve 43 can be started through the air source 42; the air valve 43 can be connected with the robot body 44 through an air pipe, so that the robot can be started to work.
In this embodiment, the robot may include a robot body 44, a controller 45, and a demonstrator 47, wherein the robot body 44 may be connected to the pneumatic valve 43 through an air pipe and to the controller 45 through a direct current, the controller 45 may be connected to the programmable logic controller 46 through a carrier network, and the controller 45 may be connected to the demonstrator 47 through a demonstrator wire.
According to the robot control method and the control system, the robot is used for controlling the packaging line of the product, so that the purpose of controlling the packaging line of the whole product based on the robot is achieved, the mechanization of product packaging is achieved, the efficiency of product packaging is improved, the technical problem of low efficiency of controlling the robot is solved, the technical effect of improving the efficiency of controlling the robot is achieved, the robot control method and the robot control system can be applied to the existing product production line needing manual packaging, the problem that in the prior art, aiming at the refinement requirement of food packaging, manual packaging is needed, whether packaging is qualified or not is detected, the process of the production line is completed through cooperation with front links and back links, and the purposes of improving the control efficiency of the robot during product packaging and stably operating the robot are achieved.
Example 4
According to the embodiment of the invention, a control device of the robot is also provided. The control device of the robot may be used to execute the control method of the robot in embodiment 2 of the present invention.
Fig. 5 is a schematic view of a control device of a robot according to an embodiment of the present invention. As shown in fig. 5, the control device 50 of the robot may include: a packaging unit 51, a verification unit 52 and a processing unit 53.
And a packaging unit 51, configured to package the first product based on the packaging resource to obtain a second product.
And the verification unit 52 is configured to verify the second product to obtain a verification result.
And a processing unit 53 for performing a boxing process on the second product based on the verification result.
According to the control device of the robot, the robot is led in to package products based on packaging resources, the packaged products are verified, after verification results are obtained, the packaged products are subjected to boxing treatment based on the verification results, the purpose of controlling a packaging line of the whole products based on the robot is achieved, the technical problem of low control efficiency of the robot is solved, and the technical effect of improving control efficiency of the robot is achieved.
Example 5
According to an embodiment of the present invention, there is also provided a robot that may include the control device of the robot in embodiment 4 described above.
Example 6
According to an embodiment of the present invention, there is also provided a computer-readable storage medium including a stored program, where a device in which the computer-readable storage medium is controlled to execute the control method of the robot of embodiment 2 of the present invention when the program runs.
Example 7
According to an embodiment of the present invention, there is also provided a processor for running a program, wherein the program when run by the processor performs the control method of the robot of embodiment 2 of the present invention.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
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 units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (13)
1. A control method of a robot, comprising:
packaging the first product based on the packaging resource to obtain a second product;
verifying the second product to obtain a verification result;
boxing the second product based on the verification result;
wherein the method further comprises: based on robot vision deployed on a product packaging line, monitoring the stability of the product packaging line; and responding to the abnormal situation on the product packaging line, outputting alarm information, and stopping working on the product packaging line, wherein the product packaging line is used for indicating the process of packaging and boxing the first product and the second product by the robot, the abnormal situation is an unstable situation of the product packaging line, and the alarm information is used for prompting the abnormal situation of the product packaging line.
2. The method of claim 1, wherein prior to packaging the first product based on the packaging resource to obtain the second product, the method further comprises:
determining as the packaging resource at least one of: the robot comprises a working frequency of the robot, posture change information of the robot and packaging materials, wherein the posture change information is used for representing a working sequence of the robot.
3. The method of claim 1, wherein after packaging the first product based on the packaging resource to obtain the second product, the method further comprises:
and setting identification information for the second product, wherein the identification information is used for identifying the second product.
4. A method according to claim 3, wherein setting identification information for the second product comprises:
and setting the identification information for the second product based on a coding machine.
5. The method of claim 1, wherein boxing the second product based on the verification result comprises:
if the verification result is that the second product is qualified, the second product is transported to a first product box, wherein the first product box is used for accommodating the products which are qualified in packaging;
and if the verification result is that the second product is unqualified, transporting the second product into a second product box, wherein the second product box is used for containing the unqualified product.
6. The method of any one of claims 1 to 5, wherein the first product is a food product.
7. A control system for a robot, comprising:
the robot is used for packaging the first product based on the packaging resource to obtain a second product, and boxing the second product;
the first controller is connected with the robot and used for controlling the robot;
wherein the system is further configured to perform the steps of: based on robot vision deployed on a product packaging line, monitoring the stability of the product packaging line; and responding to the abnormal situation on the product packaging line, outputting alarm information, and stopping working on the product packaging line, wherein the product packaging line is used for indicating the process of packaging and boxing the first product and the second product by the robot, the abnormal situation is an unstable situation of the product packaging line, and the alarm information is used for prompting the abnormal situation of the product packaging line.
8. The system of claim 7, further comprising:
the power supply is connected with the first controller and used for providing current;
the air source is connected with the power supply and used for starting the pneumatic valve;
the pneumatic valve is connected with the air source and the robot and used for starting the robot.
9. The system of claim 7, wherein the robot comprises at least one of: the system comprises a second controller and a demonstrator, wherein the second controller is used for controlling the working frequency of the robot, and the demonstrator is used for storing the posture change information of the robot.
10. A control device for a robot, comprising:
the packaging unit is used for packaging the first product based on the packaging resources to obtain a second product;
the verification unit is used for verifying the second product to obtain a verification result;
the processing unit is used for boxing the second product based on the verification result;
wherein the apparatus is further configured to perform the steps of: based on robot vision deployed on a product packaging line, monitoring the stability of the product packaging line; and responding to the abnormal situation on the product packaging line, outputting alarm information, and stopping working on the product packaging line, wherein the product packaging line is used for indicating the process of packaging and boxing the first product and the second product by the robot, the abnormal situation is an unstable situation of the product packaging line, and the alarm information is used for prompting the abnormal situation of the product packaging line.
11. A robot comprising the control device of the robot according to claim 10.
12. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program, when run, controls a device in which the computer-readable storage medium is located to perform the method of controlling a robot according to any one of claims 1 to 6.
13. A processor, characterized in that the processor is adapted to run a program, wherein the program, when run by the processor, performs the control method of the robot according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011536309.4A CN112777058B (en) | 2020-12-22 | 2020-12-22 | Control method, system, device, storage medium and processor of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011536309.4A CN112777058B (en) | 2020-12-22 | 2020-12-22 | Control method, system, device, storage medium and processor of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112777058A CN112777058A (en) | 2021-05-11 |
| CN112777058B true CN112777058B (en) | 2023-07-14 |
Family
ID=75751870
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011536309.4A Active CN112777058B (en) | 2020-12-22 | 2020-12-22 | Control method, system, device, storage medium and processor of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112777058B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113665916B (en) * | 2021-07-02 | 2023-02-03 | 格力电器（武汉）有限公司 | Automatic packaging method, electronic device and storage medium |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206125586U (en) * | 2016-10-25 | 2017-04-26 | 温州通尔自动化有限公司 | Say package system after intelligence shoes industry |
| CN109822549B (en) * | 2018-12-31 | 2021-05-11 | 深圳市越疆科技有限公司 | Robot programming method and device and controller |
| CN111267111B (en) * | 2020-03-31 | 2021-10-01 | 烟台艾睿光电科技有限公司 | Robot control method, device and system |
| CN111846355B (en) * | 2020-07-14 | 2022-03-18 | 光沦科技(深圳)有限公司 | Method and device for packaging multi-material-package food, computer equipment and storage medium |
-
2020
- 2020-12-22 CN CN202011536309.4A patent/CN112777058B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112777058A (en) | 2021-05-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112777058B (en) | Control method, system, device, storage medium and processor of robot | |
| CN102446313A (en) | Method for managing and controlling quality of product and method for tracking quality of electronic product | |
| CN104008475A (en) | Commodity ex-warehouse method | |
| CN105184579A (en) | Commodity traceability method and traceability system based on combined label | |
| CN106628420B (en) | A kind of method and system of industrial automation automatic sorting packaging | |
| CN103813962A (en) | Integrated quality control of consumable materials for packaging machines | |
| CN107442436A (en) | A kind of ecommerce, which is given out a contract for a project, checks method for sorting | |
| JP2011100711A (en) | Electric wire terminal treatment device and electric wire terminal treatment method | |
| CN113095845A (en) | Container, package, production system and distribution system | |
| CN105758439A (en) | Robot detection device and system | |
| ATE237503T1 (en) | DEVICE FOR COLLECTING ITEMS FOR PACKAGING | |
| CN106043748A (en) | Automatic encasing system and method for tobacco shred products being processed | |
| JP6369155B2 (en) | Assembly line, method for manufacturing steering device, and method for manufacturing product | |
| CN100369043C (en) | Package verification system and method | |
| CN111003297A (en) | Packing control method and device for enameled wire | |
| CN107407930A (en) | Operation indicates system | |
| CN111178104B (en) | Method for scanning and synthesizing information of various two-dimension codes of commodity and intelligent packaging production line system | |
| CN111038792A (en) | Weighing control method and device for incoming materials of enameled wire | |
| CN107515230A (en) | A kind of welding system and product inspection method | |
| CN105930760A (en) | Packing method based on automatic code scanning and packing system thereof | |
| CN207851857U (en) | A kind of online detection device tightened inspection and reprocessed | |
| JP2018144226A (en) | Assembly line, manufacturing method of steering device, and manufacturing method of product | |
| Gabellieri et al. | Towards an autonomous unwrapping system for intralogistics | |
| CN113222550A (en) | Production management method and device, station host and storage medium | |
| CN211756923U (en) | Automatic production line of air filter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |