CN114393578B - Process action judging method, system, equipment and storage medium - Google Patents
Process action judging method, system, equipment and storage medium Download PDFInfo
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- CN114393578B CN114393578B CN202111683402.2A CN202111683402A CN114393578B CN 114393578 B CN114393578 B CN 114393578B CN 202111683402 A CN202111683402 A CN 202111683402A CN 114393578 B CN114393578 B CN 114393578B
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- 230000009471 action Effects 0.000 title claims abstract description 172
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- 230000033001 locomotion Effects 0.000 claims abstract description 204
- 230000008859 change Effects 0.000 claims description 15
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- 238000004458 analytical method Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 15
- 238000004519 manufacturing process Methods 0.000 description 15
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- 238000009776 industrial production Methods 0.000 description 8
- 238000003754 machining Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
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Abstract
The invention discloses a process action judging method, a system, equipment and a storage medium, wherein the method comprises the following steps: acquiring the running speed of each joint of the industrial robot; generating a motion schedule of each joint of the process robot according to the running speed of each joint and a time axis; judging whether the motion of each joint belongs to a process action or not based on the motion schedule of each joint of the robot. Therefore, the operation speed and the operation time period of each joint of the industrial robot are monitored to judge which actions of the industrial robot belong to the process actions and which actions belong to the non-process actions, and further, an action optimization scheme can be provided for the industrial robot through analysis of the non-process actions of the industrial robot, so that the generation efficiency of workpieces is further improved, and the industrial cost is reduced.
Description
Technical Field
The present invention relates to the field of manufacturing technologies, and in particular, to a method, a system, an apparatus, and a storage medium for determining a process action.
Background
In the background that robots are increasingly widely used in the current industrial manufacturing, in order to consider the use cost, people pay more attention to which meaningful technological actions and which nonsensical non-technological actions are in the running process of the robots, and the first thing to do this is to know which actions are technological actions and which actions are non-technological actions. The existing method for distinguishing the process/non-process actions is to add signal points between the process and non-process actions, and the PLC calculates the process and non-process time by judging the time difference between the signal points. Such drawbacks are evident: firstly, adding signal points means changing the programs of the robot and the PLC, so that the workload of the robot and the PLC is increased; secondly, the added signal points bring hidden danger to the stability of the system, and the fault probability of the system is increased, thirdly, the response time of the system is prolonged due to the added signal points, and the originally very compact working beat is influenced. Therefore, how to judge the process action and the non-process action without increasing the failure rate of the system is a technical problem to be solved urgently.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a process action judging method, a system, equipment and a storage medium, which are used for solving the problems that the process action is difficult to judge and the beat is easy to lengthen in the prior art.
One embodiment of the present invention provides a process action determining method, including:
Acquiring the running speed of each joint of the industrial robot;
Generating a motion schedule of each joint of the industrial robot according to the running speed of each joint and a time axis;
And judging whether the motion of each joint belongs to a process action or not based on the motion schedule of each joint of the industrial robot.
In one embodiment, the step of obtaining the running speed of each joint of the industrial robot includes:
Acquiring a programming program of the industrial robot;
Acquiring a motion trail of the industrial robot according to the programming program;
And acquiring the running speed of each joint of the industrial robot according to the motion trail.
In one embodiment, the step of obtaining the programming of the industrial robot comprises:
Acquiring order information of a current workpiece to be processed;
Determining a process flow card of the workpiece to be processed according to the order information;
and determining programming information of the industrial robot according to the process flow card.
In one embodiment, the step of generating a motion schedule for each joint of the industrial robot based on the each joint travel speed in combination with a time axis comprises:
Generating the identity ID of each joint;
And generating a motion schedule of each joint of the industrial robot by combining the motion speed, the identification ID and the time axis of each joint.
In one embodiment, the step of generating the ID of each joint includes:
and determining effective joints in all joints of the industrial robot according to the motion characteristics of the industrial robot, wherein the effective joints comprise joints related to the process of the process flow.
In one embodiment, the determining the effective joints of the industrial robot from the motion characteristics of the industrial robot comprises:
The effective joint includes an application axis when performing a process, wherein the application axis includes: a shaft capable of turning or rotating itself.
In one embodiment, the step of determining whether the motion of each joint of the industrial robot belongs to a process action based on a motion schedule of each joint comprises:
determining whether the joints are effective joints according to the ID values of the joints of the industrial robot;
if the joint is an effective joint, extracting motion data of the effective joint from the motion schedule;
And determining whether the motion of the effective joint belongs to a process action according to the motion data.
In one embodiment, the step of determining from the motion data whether the motion of the active joint is a process action comprises:
Detecting whether the movement speed of the effective joint shows regular change;
if the motion speed of the effective joint shows regular change, the motion of the effective joint belongs to the process action.
In one embodiment, the step of detecting whether the motion of the active joint exhibits a regular change comprises:
Detecting whether the maximum speed of the effective joint is reduced to zero in a preset time range;
If present, the motion of the active joint is a process action.
In one embodiment, the method further comprises:
acquiring duration time of the process action and the non-process action;
and respectively calculating the duty ratio of the process action time and the non-process action time.
One embodiment of the present invention provides a process action determining system, including:
the acquisition module is used for acquiring the running speed of each joint of the industrial robot;
The generation module is used for generating a motion schedule of each joint of the process robot according to the running speed of each joint and a time axis;
and the judging module is used for judging whether the motion of each joint belongs to a process action or not based on the motion schedule of each joint of the robot.
One embodiment of the present invention provides a computing electronic device comprising:
At least one processor; and
A memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can implement the step of determining the process action according to any one of the above steps when executing the instructions.
One embodiment of the present invention provides a computer storage medium, where a program for determining a process action is stored, where the program for determining a process action, when executed by a processor, implements the steps for determining a process action according to any one of the above.
The process action judging method and the process action judging system provided by the embodiment of the invention have the following beneficial effects:
1. Acquiring the running speed of each joint of the industrial robot; generating a motion schedule of each joint of the process robot according to the running speed of each joint and a time axis; judging whether the motion of each joint belongs to a process action or not based on the motion schedule of each joint of the robot. Therefore, the operation speed and the operation time period of each joint of the industrial robot are monitored to judge which actions of the industrial robot belong to the process actions and which actions belong to the non-process actions, and further, an action optimization scheme can be provided for the industrial robot through analysis of the non-process actions of the industrial robot, so that the generation efficiency of workpieces is further improved, and the industrial cost is reduced.
2. In one embodiment, order information of a workpiece to be processed is obtained; determining a process flow card of the workpiece to be processed according to the order information; and determining programming information of the industrial robot according to the process flow card. In this way, the running speed of each joint of the robot is found by searching the programming program corresponding to the industrial robot under the production line process in the control system, so that the increase of the signal acquisition points on the PLC is reduced, the reaction time of the system is prevented from being prolonged, and the originally very compact working beat is influenced.
3. In one embodiment, the identity ID of each joint is generated; and generating a motion schedule of each joint of the process robot by combining the motion speed, the identification ID and the time axis of each joint. The corresponding motion timetable is generated by combining different corresponding identity ID values of the actions of each joint, the running speed, the motion duration and the motion time period of the joint and is displayed on an operation terminal or a mobile terminal of a corresponding operator, the operator can observe the motion condition of each joint of the industrial robot through the motion timetable, and the judgment of the time periods of the technological action and the non-technological action of the robot and the technological action and the non-technological action of the robot is facilitated by the identity ID values.
4. In one embodiment, determining whether the joints are valid joints according to the identity ID values of the joints of the robot; if the joint is an effective joint, extracting motion data of the effective joint from the motion schedule; and determining whether the motion of the effective joint belongs to a process action according to the motion data. Namely, a corresponding motion timetable is generated according to the identity ID value, the motion speed and the duration time of each joint of the industrial robot, corresponding process action time and non-process action time are determined according to the duration time, the motion speed and other relevant factors of the effective joint in the motion timetable, and the non-process action is optimized to improve the industrial production efficiency and further save cost investment for enterprises.
5. In one embodiment, by detecting whether the motion of the active joint exhibits a regular change; if the motion of the effective joint shows regular change, the motion of the effective joint belongs to the technical action. Detecting whether the maximum speed of the effective joint is reduced to zero in a preset time range; if present, the motion of the active joint is a process action. The motion speed of the effective joint is monitored to judge whether the motion of the effective joint is a process motion, so that the judgment scheme of the process motion is simple and easy to realize, the industrial production efficiency is improved, and the enterprise resources are saved.
Drawings
FIG. 1 is a schematic diagram of a terminal/device structure of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of an embodiment of a process action determining method according to the present invention;
FIG. 3 is a schematic diagram of a refinement flow chart of step S10 in FIG. 2;
FIG. 4 is a schematic diagram of a refinement flow chart of step S101 in FIG. 3;
FIG. 5 is a motion schedule of an industrial robot in one embodiment of the invention;
FIG. 6 is a schematic diagram of the refinement flow of step S20 in FIG. 2;
FIG. 7 is a schematic view of an industrial robot according to one embodiment of the present invention;
FIG. 8 is a schematic diagram of a refinement flow chart of step S30 in FIG. 2;
Fig. 9 is a schematic diagram of a refinement flow of step S303 in fig. 8;
Fig. 10 is a schematic diagram of a refinement flow chart of step S3031 in fig. 9;
FIG. 11 is a flow chart of another embodiment of the present invention;
fig. 12 is a schematic block diagram of a process action determining system according to another embodiment of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The main solutions of the embodiments of the present invention are: acquiring the running speed of each joint of the industrial robot; generating a motion schedule of each joint of the industrial robot according to the running speed of each joint and a time axis; and judging whether the motion of each joint belongs to a process action or not based on the motion schedule of each joint of the industrial robot.
As robots are increasingly used in industrial manufacturing in the prior art, in consideration of use cost, people pay more attention to which actions are meaningful and which actions are nonsensical in the running process of the robots, and it is first clear which actions are meaningful and which actions are nonsensical. The existing method for distinguishing the process/non-process actions is to add signal points between the process and non-process actions, and the PLC calculates the process and non-process time by judging the time difference between the signal points. Such drawbacks are evident: firstly, adding signal points means changing the programs of the robot and the PLC, so that the workload of the robot and the PLC is increased; secondly, the added signal points bring hidden danger to the stability of the system, and the fault probability of the system is increased, thirdly, the response time of the system is prolonged due to the added signal points, and the originally very compact working beat is influenced. Therefore, how to judge the process action and the non-process action without increasing the failure rate of the system is a technical problem to be solved urgently.
The invention provides a solution to accurately judge the process time and the non-public process time of the robot without adding any signal points on the PLC end and the robot end. The method is simple in scheme and easy to implement, and the judgment of the process time is further improved.
Referring to fig. 1, fig. 1 is a schematic diagram of a terminal/device structure of a hardware running environment of the hardware running environment according to an embodiment of the present invention
The terminal of the embodiment of the invention can be a PC, or can be a mobile terminal device with a display function, such as a smart phone, a tablet personal computer, an electronic book reader, an MP3 (Moving Picture Experts Group Audio Layer III, dynamic image expert compression standard audio layer 3) player, an MP4 (Moving Picture Experts Group Audio Layer IV, dynamic image expert compression standard audio layer 3) player, a portable computer and the like.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the terminal structure shown in fig. 1 is not limiting of the terminal and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a process action determination application may be included in the memory 1005, which is one type of computer storage medium.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call a process action determination application stored in the memory 1005 and perform the following operations:
Acquiring the running speed of each joint of the industrial robot;
Generating a motion schedule of each joint of the industrial robot according to the running speed of each joint and a time axis;
And judging whether the motion of each joint belongs to a process action or not based on the motion schedule of each joint of the industrial robot.
Referring to fig. 2, fig. 2 is a flow chart of an embodiment of a process action determining method according to the present invention, and a first embodiment of the process action determining method according to the present invention provides a process action determining method, which includes:
step S10, acquiring the running speed of each joint of the industrial robot;
step S20, generating a motion schedule of each joint of the industrial robot according to the running speed of each joint and a time axis;
and step S30, judging whether the motion of each joint belongs to a process action or not based on the motion schedule of each joint of the industrial robot.
Specifically, in this embodiment, the operation speed of each joint of the industrial robot in the workpiece production process is collected, and according to the operation speed of each joint of the industrial robot in the workpiece processing process on a time axis, that is, the operation speed and the operation time period corresponding to each joint of the industrial robot are counted, a motion schedule corresponding to the industrial robot is generated based on the operation speed and the operation time corresponding to each joint of the industrial robot is obtained based on the motion schedule, so that which actions of the robot belong to process actions and which actions belong to non-process actions can be determined according to the operation speed and the operation time of each joint and the overlapping operation time between other joints. Therefore, the operation speed and the operation time period of each joint of the industrial robot are monitored to judge which actions of the industrial robot belong to the process action time and which actions belong to the non-process action time, and further, an action optimization scheme can be provided for the industrial robot through analysis of the non-process action operation time of the industrial robot, so that the generation efficiency of workpieces is further improved, and the industrial cost is reduced.
In the present embodiment, by acquiring each joint operation speed of the industrial robot; generating a motion schedule of each joint of the industrial robot according to the running speed of each joint and a time axis; and judging whether the motion of each joint belongs to a process action or not based on the motion schedule of each joint of the industrial robot. Therefore, the operation speed and the operation time period of each joint of the industrial robot are monitored to judge which actions of the industrial robot belong to the process actions and which actions belong to the non-process actions, and further, an action optimization scheme can be provided for the industrial robot through analysis of the non-process actions of the industrial robot, so that the generation efficiency of workpieces is further improved, and the industrial cost is reduced.
Further, referring to fig. 3, fig. 3 is a schematic diagram of a refinement flow chart of step S10 in fig. 2, and based on the foregoing embodiment, in one embodiment provided by a process action determining method of the present invention, the step S10 further includes:
step S101, acquiring a programming program of the industrial robot;
step S102, acquiring a motion trail of the industrial robot according to the programming program;
Step S103, acquiring the running speed of each joint of the industrial robot according to the motion trail.
Specifically, in the present embodiment, the motion trajectory of the industrial robot is determined by acquiring a control programming program of the industrial robot. Illustratively, an action code library is included in the industrial control system to split and code the operation actions of the robot in each process operation, for example: the method comprises the steps that actions of robots can be classified, and inherent attributes, action parameters and additional attributes are set according to each operation action, wherein the inherent attributes record basic characteristic information and technical project point information application description information of the actions; the action parameter records parameter information set in each specific execution environment of the action, and the additional attribute at least comprises: the industrial and qualification requirements and the technological resource requirements, wherein the technological resource comprises a tool type, an equipment type and a technological process type; personnel in the personnel library have attribute information of work types and qualification, and the process resource library has attribute information of tool types, equipment types and process flow types. And acquiring the running speed of each joint of the industrial robot according to the motion trail of the industrial robot, wherein the programming program corresponding to the industrial robot is acquired according to the process requirement, and then the running speed corresponding to each joint of the robot is acquired. Therefore, the running speed of each joint of the robot is found by searching a programming program corresponding to the industrial robot under the production line process in the control system, so that the increase of signal acquisition points on the PLC is reduced, the reaction time of the system is prevented from being prolonged, and the originally very compact working beat is influenced.
In this embodiment, by acquiring a programming program of the industrial robot; acquiring a motion trail of the industrial robot according to the programming program; and acquiring the running speed of each joint of the industrial robot according to the motion trail. Therefore, the running speed of each joint of the robot is found by searching a programming program corresponding to the industrial robot under the production line process in the control system, so that the increase of signal acquisition points on the PLC is reduced, the reaction time of the system is prevented from being prolonged, and the originally very compact working beat is influenced.
Further, referring to fig. 4, fig. 4 is a schematic diagram of a refinement flow of step S101 in fig. 3, and based on the above embodiment, in one embodiment provided by a process determining method of the present invention, the step S101 further includes:
step S1011, acquiring order information of a current workpiece to be processed;
Step S1012, determining a process flow card of the workpiece to be processed according to the order information;
Step S1013, determining programming information of the industrial robot according to the process card.
Specifically, in this embodiment, the processing information of the workpiece to be processed on the current generating line is obtained, for example, different requirements may be generated by different production plans of the workpiece to be processed according to different production plans, including but not limited to material requirements, fixture requirements, tool requirements, and industrial robots, according to the processing information of the workpiece to be processed, where the processing information may obtain order information of the workpiece to be processed from the enterprise EPR system, where the order information includes: the method comprises the steps of directly generating processing information of a workpiece to be processed according to order information of the workpiece to be processed, wherein the processing information of the workpiece to be processed comprises, but is not limited to, workpiece drawing numbers, processing characteristics, processing steps, processing machine tools, cutters, industrial robots and the like of the workpiece to be processed, obtaining working procedures of the workpiece to be processed according to the processing information, and matching corresponding industrial robots according to working procedure requirements, such as: the drawing numbers of the workpieces and the matched industrial robot numbers in the industrial robot library can be mapped one by one in advance, required workpiece data, drawing documents, program documents, bill of materials, process documents and other information can be acquired from a PDM (product data management) system according to the content of order information, machining information of the workpieces to be machined is generated according to the information acquired from the PDM system, the workpiece machining information and state information of a machining station are sent to a dispatching device so that the dispatching device can dispatch the workpieces to the machining station, the machining station acquires corresponding workpiece machining information from a production information management center, a corresponding robot programming program is acquired according to the workpiece machining information on a production line aiming at the action requirement of the industrial robot, and the running speed of each joint of the robot and the running time of each joint of the robot are acquired according to the programming program aiming at the robot. When the process flow card includes a workpiece to be processed to execute a spot welding process, a programming program corresponding to the operation of the process robot for transmitting the workpiece to be processed to a corresponding welding position and pointing to a welding gun to be aligned with a welding spot for welding is obtained, and the operation time and the operation speed corresponding to each joint of the industrial machine are obtained from the programming program. Therefore, the requirements of the robot action are different according to the different processes for processing the workpiece, and the programming information aiming at the robot action is acquired according to the process flow transfer card of the workpiece to be processed, so that the running speed of each joint of the robot is accurately and effectively acquired, the programming of the robot can be further optimized, the production efficiency is improved, and the enterprise resources are saved.
In the embodiment, order information of a workpiece to be processed is obtained; determining a process flow card of the workpiece to be processed according to the order information; and determining programming information of the industrial robot according to the process flow card. In this embodiment, the requirements for the robot motion are different according to the difference of the processed workpiece, so that the programming information for the robot motion is obtained, so as to obtain the running speed of each joint of the robot, so that the running speed of each joint of the robot can be accurately and effectively obtained, and further, the programming of the robot can be further optimized, so that the production efficiency is improved, and the enterprise resources are saved.
Further, referring to fig. 5, fig. 5 is a motion schedule of an industrial robot according to one embodiment of the present invention, referring to fig. 6, fig. 6 is a detailed flow chart of step S20 in fig. 2, and based on the embodiment, in one embodiment provided by a process action determining method according to the present invention, the step S20 further includes:
step S201, generating the identity ID of each joint;
step S202, a motion schedule of each joint of the industrial robot is generated by combining the motion speed, the identification ID and the time axis of each joint.
Specifically, in this embodiment, the ID corresponding to each joint of the industrial robot is generated for the position, the acting action, and the like of each joint of the industrial robot and the different factors related to the implementation of the process action, for example, please refer to fig. 7, where fig. 7 is a schematic structural diagram of the industrial robot related to one embodiment of the present invention, and J1, J2, J3, J4, J5, J6, and J7 in fig. 7 are the ID of each joint of the industrial robot, respectively, and according to the ID of each joint of the industrial robot and the running speed and the acting time thereof, the corresponding motion schedule of each shutdown of the robot is generated, and the motion schedule of each joint of the robot can be displayed on the terminal of the corresponding operator, so that the operator can conveniently understand the running time period, the running speed, and the running duration of each joint in the running process of the robot, and the corresponding motion schedule of each joint are combined with different ID values, the running speed, the running duration, and the motion time period of each joint, and the corresponding motion time period are generated, and the operator can observe that the motion schedule of each joint is not in the running time of the industrial robot or the operation terminal of the industrial robot.
In this embodiment, an identity ID of each joint is generated; and generating a motion schedule of each joint of the industrial robot by combining the motion speed, the identification ID and the time axis of each joint. The corresponding motion timetable is generated by combining different corresponding identity ID values of the actions of each joint, the running speed, the motion duration and the motion time period of the joint and is displayed on an operation terminal or a mobile terminal of a corresponding operator, the operator can observe the motion condition of each joint of the industrial robot through the motion timetable, and the judgment of the time periods of the technological action and the non-technological action of the robot and the technological action and the non-technological action of the robot is facilitated by the identity ID values.
Further, based on the above embodiment, in one embodiment provided by the process action determining method of the present invention, the step S201 further includes:
And step 2011, determining effective joints in all joints of the industrial robot according to the motion characteristics of the industrial robot, wherein the effective joints comprise joints related to the process of the process flow.
Specifically, in this embodiment, according to the structural characteristics of the industrial robot during the process task execution, the effective joints in each joint of the robot are determined according to the structural characteristics of the robot, for example, the shaft for turning and revolving the workpiece to be processed or the fixture or the application shaft capable of turning or revolving the robot itself during the process is realized, such as a revolving table, a overturning table, etc. of the industrial robot, for example, J7 in fig. 7, that is, the motion data of the effective joints of the industrial robot are determined by detecting the motion data of the effective joints, that is, the process action and the non-process action of the industrial robot are determined, that is, the corresponding motion schedule is generated according to the ID value, the motion speed, and the duration time period of each joint of the industrial robot, and the corresponding process action and non-process action are determined according to the relevant factors such as the duration time length, the motion speed, etc. of the effective joints in the motion schedule, so as to optimize the non-process action, so as to improve the industrial production efficiency and further save the investment for enterprises.
In this embodiment, the effective joint includes an application axis when performing a process, wherein the application axis includes: a shaft capable of turning or rotating itself. . The motion data of the effective joints of the industrial robot are determined by detecting the motion data of the effective joints, so that the process action and the non-process action of the industrial robot are determined, and the process action and the non-process action are optimized, so that the industrial production efficiency is improved, and the cost investment is further saved for enterprises.
Further, referring to fig. 8, fig. 8 is a detailed flow chart of step S30 in fig. 2, based on the above embodiment, in one embodiment provided by a process determining method of the present invention, the step S30 further includes:
Step S301, determining whether each joint of the industrial robot is a valid joint according to the ID value of the joint;
step S302, if the joint is an effective joint, extracting motion data of the effective joint from the motion schedule;
step S303, determining whether the motion of the effective joint belongs to a process action according to the motion data.
Specifically, in this embodiment, corresponding ID values are generated for each joint of the industrial robot, distinguishable ID values can be adopted for joints achieving different effects according to different functions, the effective joint and the ineffective joint in the process are distinguished on the robot, when the joint is detected to be the ineffective joint, the motion of the joint is directly judged to be an non-process motion, in addition, the motion data of the effective joint is extracted according to the ID values, whether the motion data of the effective joint is regularly changed is judged, and if the motion data of the effective joint is regularly changed, the motion of the effective joint is indicated to be a process motion; if the motion data of the effective joints does not show regular change, the motion of the effective joints is indicated to be a non-technical motion, so that whether the motion of each joint of the robot is a technical motion or a non-technical work can be analyzed through the judgment of simple identity ID values and the motion data, and the effective motion or the ineffective motion of the industrial robot can be conveniently and simply judged, namely the technical motion and the non-technical motion of the industrial robot are judged, and enterprise resources are saved.
In the embodiment, whether the joints are valid joints or not is determined according to the ID value of each joint of the industrial robot; if the joint is an effective joint, extracting motion data of the effective joint from the motion schedule; and determining whether the motion of the effective joint belongs to a process action according to the motion data. Therefore, the motion of each joint of the robot can be analyzed to be a technological motion or a non-technological motion through the simple identification ID value and the motion data judgment, so that the effective motion or the ineffective motion of the industrial robot can be conveniently and simply judged, namely the technological motion and the non-technological work of the industrial robot can be judged, and the enterprise resources are saved.
Further, referring to fig. 9 to 10, fig. 9 is a schematic diagram of the refinement flow of step S303 in fig. 8, and fig. 10 is a schematic diagram of the refinement flow of step S3031 in fig. 9, based on the above embodiment, in one embodiment provided by a process action determination method of the present invention, step S303 further includes:
step S3031, detecting whether the motion speed of the effective joint shows regular change;
step S3032, if the motion speed of the effective joint shows a regular change, the motion of the effective joint belongs to a process action.
Step S30311, detecting whether the speed of the effective joint is reduced from the maximum value to zero in a preset time range;
step S30312, if present, the motion of the active joint is a process motion.
Specifically, in the present embodiment, whether or not the motion performed by the effective joint is a process motion is determined by determining whether or not the motion of the effective joint is a regular motion. Illustratively, whether the motion of the active joint belongs to regular motion within a certain preset time frame, for example: judging whether the speed of the effective joint is suddenly reduced from a maximum value to zero in a preset time range, if so, indicating that the motion of the effective joint is a meaningful motion and is a process motion; if there is no sudden decrease from the maximum value of the motion speed of the effective joint to zero within the preset time range, the motion of the effective joint is possibly nonsensical motion and is non-craft motion. Therefore, whether the motion of the effective joint is a process motion is judged by monitoring the motion speed of the effective joint, so that the judgment scheme of the process motion is simple and easy to realize, the industrial production efficiency is improved, and the enterprise resources are saved.
In this embodiment, by detecting whether the movement speed of the effective joint exhibits a regular change; if the motion speed of the effective joint shows regular change, the motion of the effective joint belongs to the process action. Detecting whether the maximum speed of the effective joint is reduced to zero in a preset time range; if present, the motion of the active joint is a process action. Therefore, the method not only simplifies the judgment scheme of the process action, but also is simple and easy to realize, thereby improving the industrial production efficiency and saving the enterprise resources.
Further, referring to fig. 11, fig. 11 is a schematic flow chart of another embodiment of the present invention, based on the above embodiment, in one embodiment of the present invention provided by a process action determining method, the method further includes:
step S40, the duration time of the process action and the duration time of the non-process action are acquired;
And S50, respectively calculating the duty ratio of the process action time and the non-process action time.
Specifically, in this embodiment, a current programming program of an industrial robot is obtained, and a motion track of the industrial robot and operation programming codes for each joint of the industrial robot are obtained together with the programming program, motion data of each joint of the industrial robot is obtained according to the operation programming codes of each joint, and motion data of an effective joint and an ineffective joint are analyzed, so that process motions and non-process motions in a motion process of the industrial robot are determined, wherein the process motions refer to regular motions of the effective joint in a preset time range; the non-technical movements are movements of the inactive joints and irregular movements of the active joints within a preset time frame. In addition, the ratio of the process action time and the time ratio of the non-process action in the whole process time of the industrial robot are calculated, and an action optimization scheme of the industrial robot can be provided according to the ratio of the process action time and the non-process action time, so that the industrial production efficiency is further improved, and the production resources of enterprises are saved.
In the embodiment, the operation optimization scheme of the industrial robot can be provided according to the ratio of the process operation time to the non-process operation time by calculating the ratio of the process operation time to the ratio of the non-process operation time in the whole process time, so that the industrial production efficiency is further improved, and the production resources of enterprises are saved.
In addition, referring to fig. 12, fig. 12 is a schematic block diagram of a process action determining system according to another embodiment of the present invention, and in one embodiment of the present invention, a process action determining system 300 is further provided, where the process action determining system 300 includes:
An acquisition module 310, configured to acquire an operation speed of each joint of the industrial robot;
A generating module 320, configured to generate a motion schedule of each joint of the process robot according to the running speed of each joint and a time axis;
The judging module 330 is configured to judge whether the motion of each joint of the robot belongs to a process action based on the motion schedule of each joint.
One embodiment of the present invention provides an electronic device including: at least one processor; and
A memory communicatively coupled to the at least one processor; wherein the memory has stored thereon instructions executable by at least one processor, the instructions being executable by the at least one processor to cause the at least one processor, when executed, to implement the steps of the process action determining method as described in any one of the above.
One embodiment of the present invention provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the process action determining method according to any one of the embodiments above.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
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.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (11)
1. The technological action judging method is characterized by comprising the following steps:
Acquiring the running speed of each joint of the industrial robot;
Generating a motion schedule of each joint of the industrial robot according to the running speed of each joint and a time axis;
Judging whether the motion of each joint belongs to a process action or not based on the motion schedule of each joint of the industrial robot, wherein the method comprises the following steps: determining whether the joints are effective joints according to the ID values of the joints of the industrial robot; if the joint is an effective joint, extracting motion data of the effective joint from the motion schedule; determining from the motion data whether the motion of the active joint is a process action, comprising: detecting whether the movement speed of the effective joint shows regular change; if the motion speed of the effective joint shows regular change, the motion of the effective joint belongs to the process action.
2. The process action determining method according to claim 1, wherein the step of obtaining the operation speed of each joint of the industrial robot comprises:
Acquiring a programming program of the industrial robot;
Acquiring a motion trail of the industrial robot according to the programming program;
And acquiring the running speed of each joint of the industrial robot according to the motion trail.
3. The process action determining method according to claim 2, wherein the step of acquiring the programming program of the industrial robot includes:
Acquiring order information of a current workpiece to be processed;
Determining a process flow card of the workpiece to be processed according to the order information;
and determining programming information of the industrial robot according to the process flow card.
4. The process action determining method according to claim 1, wherein the step of generating a motion schedule of each joint of the industrial robot based on the each joint operation speed in combination with a time axis comprises:
Generating the identity ID of each joint;
And generating a motion schedule of each joint of the industrial robot by combining the motion speed, the identification ID and the time axis of each joint.
5. The process action determining method according to claim 4, wherein the step of generating the ID of each joint comprises:
and determining effective joints in all joints of the industrial robot according to the motion characteristics of the industrial robot, wherein the effective joints comprise joints related to the process of the process flow.
6. The process action determining method according to claim 5, wherein the determining the effective joints among the joints of the industrial robot according to the motion characteristics of the industrial robot comprises:
The effective joint includes an application axis when performing a process, wherein the application axis includes: a shaft capable of turning or rotating itself.
7. The process action determining method according to claim 1, wherein the step of detecting whether the motion of the active joint exhibits a regular change comprises:
Detecting whether the speed of the effective joint is reduced from a maximum value to zero in a preset time range;
If present, the motion of the active joint is a process action.
8. The process action determining method according to any one of claims 1 to 7, further comprising:
acquiring duration time of the process action and the non-process action;
and respectively calculating the duty ratio of the process action time and the non-process action time.
9. A process action determination system, comprising:
the acquisition module is used for acquiring the running speed of each joint of the industrial robot;
The generation module is used for generating a motion schedule of each joint of the industrial robot according to the running speed of each joint and a time axis;
The judging module is used for judging whether the motion of each joint belongs to a process action or not based on the motion schedule of each joint of the robot, and comprises the following steps: determining whether the joints are effective joints according to the ID values of the joints of the industrial robot; if the joint is an effective joint, extracting motion data of the effective joint from the motion schedule; determining from the motion data whether the motion of the active joint is a process action, comprising: detecting whether the movement speed of the effective joint shows regular change; if the motion speed of the effective joint shows regular change, the motion of the effective joint belongs to the process action.
10. An electronic device, comprising:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein the memory has stored thereon instructions executable by at least one processor to enable the at least one processor, when executed, to perform the process action determining steps of any one of claims 1-8.
11. A computer storage medium, wherein a program for determining a process action is stored on the computer storage medium, and the process action determining program, when executed by a processor, implements the process action determining steps of any one of claims 1 to 8.
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| CN202111683402.2A CN114393578B (en) | 2021-12-31 | 2021-12-31 | Process action judging method, system, equipment and storage medium |
| PCT/CN2022/139683 WO2023125082A1 (en) | 2021-12-31 | 2022-12-16 | Process action determination method, system, device, and storage medium |
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| US7359801B2 (en) * | 2005-09-13 | 2008-04-15 | Key Energy Services, Inc. | Method and system for evaluating weight data from a service rig |
| CN103345627B (en) * | 2013-07-23 | 2016-03-30 | 清华大学 | Action identification method and device |
| JP2016179527A (en) * | 2015-03-24 | 2016-10-13 | ファナック株式会社 | Robot controller having function of diagnosing abnormality of robot |
| JP6514630B2 (en) * | 2015-12-09 | 2019-05-15 | 株式会社神戸製鋼所 | Schedule creation support apparatus and method |
| JP7237447B2 (en) * | 2017-09-29 | 2023-03-13 | キヤノン株式会社 | Information processing method, program, recording medium, information processing device, robot system, and article manufacturing method |
| CN109977890B (en) * | 2019-03-30 | 2021-08-17 | 绵阳硅基智能科技有限公司 | Action recognition method and recognition system thereof |
| CN110245374B (en) * | 2019-04-26 | 2023-06-16 | 广州明珞汽车装备有限公司 | Process time sequence interval analysis method, system, device and storage medium |
| CN111401693B (en) * | 2020-02-25 | 2023-09-22 | 山东师范大学 | Flexible workshop scheduling optimization method and system with robot transportation |
| CN111681261B (en) * | 2020-04-22 | 2022-12-13 | 广州明珞汽车装备有限公司 | Gantt chart processing method and system based on motion positioning and storage medium |
| CN111737327A (en) * | 2020-05-06 | 2020-10-02 | 广州明珞汽车装备有限公司 | Automobile production action data acquisition method, system, device and storage medium |
| CN112207815B (en) * | 2020-08-21 | 2022-04-12 | 北京卫星制造厂有限公司 | Multi-machine multi-process space-time collaborative planning method and system |
| CN113211424B (en) * | 2020-12-11 | 2022-07-22 | 格创东智(深圳)科技有限公司 | Fault detection and alarm method, device, server and storage medium |
| CN113219921B (en) * | 2021-04-30 | 2022-05-27 | 广州明珞装备股份有限公司 | Station production beat processing method, system and device and storage medium |
| CN114393578B (en) * | 2021-12-31 | 2024-06-14 | 广州明珞装备股份有限公司 | Process action judging method, system, equipment and storage medium |
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| WO2017050895A1 (en) * | 2015-09-23 | 2017-03-30 | Universität Bayreuth | Robot controller |
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