CN115309119A - Control method and system of workshop inspection robot, computer equipment and medium - Google Patents
Control method and system of workshop inspection robot, computer equipment and medium Download PDFInfo
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- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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Abstract
The application discloses a control method, a system, computer equipment and a medium for a workshop inspection robot, wherein the control method for the workshop inspection robot comprises the following steps executed by an inspection machine end: if the working mode instruction is in an automatic inspection mode, determining the current inspection position of an inspection machine end based on a workshop panoramic map and a visual camera, and determining a corresponding inspection route based on the current inspection position; carrying out workshop inspection on a workshop through a plurality of environment sensors to obtain a plurality of environment detection parameters; and transmitting the environment detection parameters to a production workshop control end in real time through a wireless transmission network so that the production workshop control end can analyze the environment safety, evaluate the equipment state and formulate a maintenance strategy according to the plurality of environment detection parameters. The method can adaptively realize intelligent detection of the running state of the equipment and the environmental safety monitoring of the production workshop, and improve the automatic and timely early warning capability of the equipment and the environment.
Description
Technical Field
The invention relates to the technical field of automation control, in particular to a control method, a control system, computer equipment and a control medium for a workshop inspection robot.
Background
The production equipment of the lithium battery intelligent factory is various in types, the production process is complex, and the materials and the types of the chemical materials are various, so that equipment faults in a production workshop exist, and the problems of the running state of the equipment and the environmental safety need to be highly valued.
And lithium battery factory workshop mainly relies on the manual work to carry out tasks such as equipment state detection and safety monitoring, and there is following problem in the artifical patrolling and examining of lithium battery factory workshop: 1) The inspection quality level is not high, and the problems of inspection omission, inspection replacement, inspection failure according to regulations and the like exist; 2) The method mainly depends on the consciousness of inspection personnel, the execution randomness is high, and the inspection is easy to flow in the form; 3) Extensive routing inspection is difficult to monitor and evaluate; 4) The method mainly depends on paper for recording, information feedback is delayed, the inspection result is difficult to feed back in time, and the predictive maintenance guiding significance of equipment is not great; 5) The software management system has incomplete functions, is difficult to use or modify, and cannot deal with complex real-time conditions.
Meanwhile, the automation degree of the lithium battery industry is high, the workshop environment is required to be clean, an unmanned workshop is realized, and the number of people entering and exiting the workshop is properly reduced, so that the product quality can be effectively improved. The inspection robot can well solve various problems and meet the requirements of workshop inspection.
At present, inspection robots are mostly applied to the field of electric power, such as power transmission line inspection, power distribution station inspection, substation inspection, tunnel inspection and the like. In the manufacturing field, the differences of equipment, environments, scenes and the like between different manufacturing factories and workshops are large. In the manufacturing field, especially lithium battery factory workshop, how to require to patrol and examine the robot and carry out system and control design to different conditions for with the equipment in lithium battery factory workshop and the high integration of system, the purpose of the state detection and the safety monitoring of various production facility in the realization lithium battery factory becomes the problem that awaits the solution urgently.
Disclosure of Invention
The embodiment of the invention provides a control method, a control system, computer equipment and a medium for a workshop inspection robot, and aims to solve the problems that how to carry out system and control design on the inspection robot according to different requirements in a lithium battery factory workshop, the system is highly integrated with equipment and systems in the lithium battery factory workshop, and the purpose of state detection and safety monitoring of various production equipment in a lithium battery factory is realized.
A control method of a workshop inspection robot comprises the following steps executed by an inspection machine end:
acquiring a working mode instruction sent by a production workshop control end;
if the working mode instruction is in an automatic inspection mode, determining the current inspection position of an inspection machine end based on a workshop panoramic map and a visual camera, and determining a corresponding inspection route based on the current inspection position;
based on default machine starting parameters and an inspection route, performing workshop inspection on a workshop through a plurality of environment sensors to obtain a plurality of environment detection parameters;
and transmitting the environment detection parameters to a production workshop control end in real time through a wireless transmission network so that the production workshop control end can analyze the environment safety, evaluate the equipment state and formulate a maintenance strategy according to the plurality of environment detection parameters.
The utility model provides a control system of robot is patrolled and examined in workshop, is patrolled and examined the machine end including patrolling and examining the machine end:
the work mode acquisition module is used for acquiring a work mode instruction sent by a control end of the production workshop;
the routing inspection determining module is used for determining the current routing inspection position of the routing inspection machine end based on the workshop panoramic map and the visual camera if the working mode instruction is in the automatic routing inspection mode, and determining a corresponding routing inspection route based on the current routing inspection position;
the system comprises an environment parameter acquisition module, a machine starting module and a plurality of environment sensors, wherein the environment parameter acquisition module is used for carrying out workshop inspection on a workshop through the plurality of environment sensors based on default machine starting parameters and an inspection route to acquire a plurality of environment detection parameters;
and the transmission environment parameter module is used for transmitting the environment detection parameters to the production workshop control end in real time through a wireless transmission network so that the production workshop control end can analyze the environment safety, evaluate the equipment state and formulate a maintenance strategy according to the plurality of environment detection parameters.
A computer device comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, and when the processor executes the computer program, the control method of the workshop inspection robot is realized.
A computer-readable medium storing a computer program which, when executed by a processor, implements the method of controlling a shop inspection robot.
A control method of a workshop inspection robot comprises the following steps executed by a production workshop control end:
sending a working mode instruction to an inspection machine end, wherein the working mode instruction comprises an automatic inspection mode so that the inspection machine end inspects workshops and acquires a plurality of environment detection parameters;
and responding to a plurality of environment detection parameters returned by the inspection machine end, and performing environment safety analysis, equipment state evaluation and maintenance strategy formulation on the plurality of environment detection parameters by combining with a workshop manufacturing execution system.
The utility model provides a control system of robot is patrolled and examined in workshop, includes the workshop control end, and the workshop control end includes:
the system comprises a work mode sending module, a work mode judging module and a work mode judging module, wherein the work mode sending module is used for sending work mode instructions to an inspection machine end, and the work mode instructions comprise an automatic inspection mode so that the inspection machine end can inspect a workshop and acquire a plurality of environment detection parameters;
and the safety analysis module is used for responding to a plurality of environment detection parameters returned by the inspection machine end, and performing environment safety analysis, equipment state evaluation and maintenance strategy formulation on the plurality of environment detection parameters by combining the workshop manufacturing execution system.
A computer device comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, and when the processor executes the computer program, the control method of the workshop inspection robot is realized.
A computer-readable medium storing a computer program which, when executed by a processor, implements the above-described method of controlling a plant inspection robot.
According to the control method, the system, the computer equipment and the medium of the workshop inspection robot, an interaction method between an inspection machine end and a production workshop control end is developed and inspected through adaptability, the inspection machine end can perform workshop inspection on a workshop through various environment sensors according to guidance of a workshop panoramic map and an inspection route, a plurality of environment detection parameters are obtained, the environment detection parameters are analyzed through the production workshop control end, environment safety analysis can be obtained, equipment state evaluation and maintenance strategy formulation are achieved, equipment state detection and safety monitoring depending on manual work are changed, intelligent detection of equipment running state and production workshop environment safety monitoring are achieved, and automatic and timely early warning capability and informatization level of equipment and environment are improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic diagram illustrating an application environment of a method for controlling a workshop inspection robot according to an embodiment of the invention;
fig. 2 is a schematic diagram illustrating a system configuration of an inspection robot system in the method for controlling a workshop inspection robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a system configuration of a workshop control system in the method for controlling a workshop inspection robot according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a method for controlling a shop inspection robot according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating interaction between two working modes corresponding to the inspection robot and a production shop control system in the method for controlling the shop inspection robot according to the embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a remote interactive system of a robot according to an embodiment of the present invention;
FIG. 7 is a diagram illustrating a computer device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The control method of the workshop inspection robot provided by the embodiment of the invention can be applied to an application environment as shown in fig. 1, the control method of the workshop inspection robot is applied to a workshop inspection robot control system, the workshop inspection robot control system comprises an inspection robot system and a production workshop control system, the embodiment takes a lithium battery production workshop control system in the production workshop control system as an example for explanation, wherein the inspection robot system corresponds to an inspection robot end, the production workshop control system corresponds to a production workshop control end, and the inspection robot end (the inspection robot) communicates with the production workshop control end of a workshop through a wireless network. The workshop control end can be realized by an independent workshop control end or a workshop control end cluster consisting of a plurality of workshop control ends.
Specifically, the inspection robot system mainly includes: the system comprises an upper layer module, a node software platform module and a bottom layer hardware module.
As shown in fig. 2, the inspection robot system, especially the upper module of the inspection robot system in the lithium battery production workshop, is mainly in a display and man-machine interaction mode of the inspection robot system. Because the main control chip carried by the inspection robot is limited in computing power, a Linux operating system can be installed on a fixed PC end through a vmware virtual machine and serves as a developed system environment for compiling all programs.
Installing vmware tool in a Linux operating system, completing file resource sharing between an embedded system of the inspection robot and a local system, establishing a cross compiling environment, compiling and installing a Linux kernel to enable a compiling program to accord with the inspection robot system, and finally connecting the program compiled in the Linux environment of a PC (personal computer) end to the inspection robot system through a serial port. In addition, in order to realize that the control personnel directly control the inspection robot, a PC end or an intelligent terminal can be used as a control end to realize the control of the inspection robot.
In an intelligent terminal control mode, intelligent terminal Android software is developed, a router carried by an inspection robot is connected through an intelligent terminal to acquire a WIFI signal, WIFI is used as an information carrier, communication is carried out through a TCP (transmission control protocol) protocol of a socket, an instruction is sent to the router of the inspection robot, the main control of the inspection robot analyzes the instruction sent by the related intelligent terminal, and a corresponding control IO (input/output) port is arranged to realize the corresponding function of the inspection robot system. In the PC control mode, an upper computer is developed and installed on a PC, and is communicated with the inspection robot through a TCP protocol to realize the control of the inspection robot.
For the node software platform module of the lithium battery production workshop inspection Robot, ROS2 (Robot Operating System) is mainly used as a program framework for software development of the inspection Robot. The ROS2 working space is established in a Linux system, is similar to a sub-operating system of the Linux system, can provide services such as hardware equipment control, interprocess message and data packet management, can be directly used by a general equipment driver and the like, does not need repeated development, and can improve the development efficiency.
To patrolling and examining robot bottom hardware module in lithium cell workshop, the main module includes: the system comprises a power supply module, a motor driving module, a visual camera, a holder module, a communication module, various sensors and the like. The various sensor modules are used for detecting temperature and humidity information in a workshop. The visual camera and the holder module are used for collecting real-time video images. The information such as data and video images collected by the wireless sensor network is transmitted to a production workshop control system through a WIFI wireless module to store, analyze, count and share corresponding data.
Specifically, as shown in fig. 3, the control end of the production plant includes: the system comprises a presentation layer, a service management layer, a data layer and a monitoring layer, wherein:
1. a presentation layer: the system is directly oriented to an operator, various useful information in the system is displayed through an upper computer and intelligent terminal software, and the operator can quickly and effectively know the running state and early warning information of the system;
2. and a service management layer: based on modular design, the system mainly comprises a lithium battery MES system, video management, error reporting detection, intelligent terminal software, a PC upper computer and a safety monitoring and danger early warning module;
3. and (3) a data layer: the method has the functions of storing, analyzing, counting and sharing the original data;
4. monitoring layer: and the system is responsible for acquiring and preprocessing the acquired original data from the bottom module hardware system, and sending corresponding control signals to the presentation layer to finish the transmission and output of the data.
The control method of the workshop inspection robot comprises the following steps executed by an inspection machine end:
and acquiring a working mode instruction sent by a control end of the production workshop.
And if the working mode instruction is in an automatic inspection mode, determining the current inspection position of the inspection machine end based on the workshop panoramic map and the visual camera, and determining a corresponding inspection route based on the current inspection position.
Based on default machine starting parameters and a routing inspection route, the workshop is inspected through a plurality of environment sensors, and a plurality of environment detection parameters are obtained.
And transmitting the environment detection parameters to a production workshop control end in real time through a wireless transmission network so that the production workshop control end can analyze the environment safety, evaluate the equipment state and formulate a maintenance strategy according to the plurality of environment detection parameters.
The control method of the workshop inspection robot further comprises the following steps executed by the production workshop control end:
and sending a working mode instruction to the inspection machine end, wherein the working mode instruction comprises an automatic inspection mode so that the inspection machine end inspects the workshop and acquires a plurality of environment detection parameters.
And responding to a plurality of environment detection parameters returned by the inspection machine end, and performing environment safety analysis, equipment state evaluation and maintenance strategy formulation on the plurality of environment detection parameters by combining with a workshop manufacturing execution system.
In an embodiment, as shown in fig. 2, a method for controlling a workshop inspection robot is provided, which is described by taking the inspection robot and a workshop control end in fig. 4 as an example, and specifically includes the following steps:
and S21, the production workshop control end sends a working mode instruction to the inspection machine end, wherein the working mode instruction comprises an automatic inspection mode, so that the inspection machine end inspects workshops and acquires a plurality of environment detection parameters.
Wherein the plurality of environmental detection parameters include: air cleanliness level, static pressure difference control, plant temperature, plant humidity, gas concentration, noise level, illumination intensity and the like, which are not specifically limited herein, are set according to specific application environments.
Specifically, under the synergistic effect of the inspection robot system and the lithium battery production workshop control system, the inspection robot can realize various functions and complete various tasks in the lithium battery production workshop, and the specific implementation mode can be divided into a manual control mode and an automatic inspection mode.
S11, the inspection machine end obtains a working mode instruction sent by the production workshop control end.
And S12, if the working mode instruction is in the automatic inspection mode, determining the current inspection position of the inspection machine end based on the workshop panoramic map and the visual camera by the inspection machine end, and determining the corresponding inspection route based on the current inspection position.
The panoramic workshop map integrates all display images of a workshop, including lines and equipment, and is used for the inspection robot to timely acquire the equipment state and judge an inspection route in the environment.
And S13, the inspection machine end inspects the workshop through a plurality of environment sensors based on default machine starting parameters and inspection routes, and acquires a plurality of environment detection parameters.
And S14, the inspection machine end transmits the environment detection parameters to the production workshop control end in real time through a wireless transmission network, so that the production workshop control end analyzes the environment safety, evaluates the equipment state and formulates an inspection strategy according to the environment detection parameters.
In this embodiment, data transmission of a wireless network can be realized by adopting the WIFI module.
The overhaul strategy is a strategy for repairing error-reported equipment or maintaining a dangerous production environment.
And S22, the production workshop control end responds to the plurality of environment detection parameters returned by the inspection machine end, and the workshop manufacturing execution system is combined to analyze the environment safety of the plurality of environment detection parameters, evaluate the equipment state and formulate an inspection strategy.
Specifically, the MES (Manufacturing Execution Systems) shop floor Manufacturing Execution system is a production information management system oriented to a Manufacturing enterprise shop floor Execution layer. The system dynamically records the running state of the equipment through information such as operation acquisition, equipment control and the like, reasonably arranges production, and timely dispatches and ensures that the production equipment is in the best state. The MES system can control and manage the production and manufacture process of the factory, monitor, diagnose and control the production process in real time, and complete the unit integration and system optimization.
The control method of the workshop inspection robot provided by the embodiment is characterized in that an interaction method between an inspection machine end and a production workshop control end is developed and inspected through adaptability, the inspection machine end can perform workshop inspection on a workshop through various environment sensors according to guidance of a workshop panoramic map and an inspection route, a plurality of environment detection parameters are obtained, the environment detection parameters are analyzed through the production workshop control end, environment safety analysis can be obtained, equipment state is evaluated, an overhaul strategy is formulated, equipment state detection and safety monitoring depending on manual work are changed, intelligent detection of equipment running states and production workshop environment safety monitoring are achieved, and automatic and timely early warning capacity and information level of equipment and environment are improved.
In an embodiment, after step S14, that is, after the environment detection parameter is transmitted to the control end of the production shop through the wireless transmission network, the method further includes the following steps:
and responding to the inspection task instruction returned by the control end of the production workshop, stopping the workshop inspection and executing the inspection task instruction.
Specifically, when the inspection robot acquires an inspection task instruction returned by a production workshop control end, the inspection robot can stop the current automatic inspection state, track video image acquisition according to specific task conditions, transmit video data to a production workshop control system through WIFI, complete the functions of data storage, analysis, statistics and sharing, display processed videos, data and the like to control personnel through a presentation layer of the system, and assist the control personnel in carrying out accident handling.
For example, in the lithium battery production drying process, the process has a high requirement on air moisture in a workshop, when the humidity sensor acquires that data exceeds the process requirement range set by the system, the workshop control system can immediately give an alarm, a task instruction is issued to the inspection robot, the inspection robot can continue to acquire humidity data in the lithium battery drying workshop, an operator can perceive the state of the workshop through the system alarm, and can effectively prevent the lithium battery drying process from being influenced by overhigh moisture in the air by deciding to adopt a corresponding strategy through the data of the inspection robot.
In a specific embodiment, before step S11, that is, before the inspection machine acquires the work mode command sent by the workshop control end, the method further includes the following steps:
s1101, the inspection machine end starts to advance from the starting position through the laser radar sensor and the vision camera and respectively collects the distance between the starting position and surrounding objects and workshop equipment, and the distance is used for generating a point cloud picture, environmental information and equipment information.
And S1102, combining the environment information with the SLAM raster map by the inspection machine end to generate an environment sensing module.
And S1103, generating a workshop panoramic map by the inspection machine end in combination with the workshop facility layout map, the environment sensing module and the equipment information.
Specifically, in the automatic inspection mode, if the inspection robot arrives at a new production workshop, the inspection robot needs to have the capability of drawing and navigating in the production workshop.
The embodiment may adopt SLAM (simultaneous localization and mapping, i.e., simultaneous localization and mapping), which is a technology for synchronously localizing and mapping to enable the inspection robot to perform localization and mapping in a strange environment of a workshop, specifically, a motion model and an environment perception model of the inspection robot. In the motion model, a relative change of the pose of the robot is recorded by using an odometer model, and the odometer model can be used for describing the relation between the control quantity and the pose and the position of the robot when the robot moves in the environment.
In the environment perception model, a laser radar sensor is used for measuring the time interval of laser flight to calculate the distance between a laser radar system and a target object, so that a point cloud picture is formed and environment information is acquired. Aiming at noise generated by sundries and moving objects in the process of using the laser radar, an RBPF (Rao-Blackwelled Particle Filters) -SLAM algorithm is adopted to process data collected by the laser radar, environment perception information acquired by the laser radar is placed on a grid map in the SLAM, and an environment perception model is realized.
The workshop panoramic map can be generated by combining a workshop facility layout map in a production workshop control system, issuing maps and spatial information to nodes in the inspection robot system in advance and combining a visual camera real-time image, so that the inspection robot can judge the current position and various devices in the workshop where the inspection robot is located, and then the inspection robot can seek positions and distinguish the devices in the inspection process.
In a specific embodiment, after step S13, that is, after the inspection machine performs the shop inspection on the shop through the plurality of environmental sensors, the method further includes the following steps:
and S1301, the inspection machine end acquires the speed and the acceleration of the robot based on the diameter of the wheel and the photoelectric encoder.
S1302, analyzing the speed and the acceleration of the robot by the inspection machine end by adopting a dynamic window method, and acquiring a local path plan for avoiding suddenly appearing obstacles.
Specifically, this embodiment can adopt photoelectric encoder to inspect the number of turns that each action wheel rotated, combines the pulse that wheel diameter and encoder produced to the signal number, can be accurate and simple realization patrol and examine the speed motion condition of robot self.
After the current inspection position is determined through the workshop panoramic map, the speed and the acceleration of the inspection robot are scored by using a Dynamic Window Approach (DWA) to obtain a safe local path plan, and the purpose of avoiding suddenly appearing obstacles is achieved, so that the inspection robot can realize automatic inspection in a production workshop.
In a specific embodiment, between step S11 and step S14, as shown in fig. 5, that is, between the inspection machine side acquiring the operation mode command sent by the production workshop control side and transmitting the environment detection parameter to the production workshop control side through the wireless transmission network, the method further includes the following steps:
s1141, if the working mode instruction is in a manual control mode and the working mode instruction further comprises manual control parameters, the inspection machine end updates default machine starting parameters according to the manual control parameters to generate manual machine starting parameters.
S1142, the inspection machine end determines the current inspection position of the inspection machine end based on the workshop panoramic map and the visual camera, and determines a corresponding inspection route based on the current inspection position.
S1143, the inspection machine end inspects the workshop through a plurality of environment sensors based on the manual machine starting parameters and the inspection route, and acquires a plurality of environment detection parameters.
Specifically, to the manual control mode, utilize cell-phone and PC end host computer to accomplish the control to patrolling and examining the robot, regard as the information carrier through the WIFI signal, send corresponding instruction and give patrolling and examining the robot, control hardware such as motor and the steering wheel of patrolling and examining the robot, realize patrolling and examining the motion of robot, control such as vision and light.
Furthermore, the chassis of the inspection robot can adopt a power platform suspension device, and the inspection robot has good ground adaptability. Specifically, for example, in a lithium battery factory, the floor is a flat indoor clean floor, and the chassis and the wheel-matching motor can have general passing capability.
In a specific embodiment, in step S22, that is, the production plant control end performs environmental safety analysis, equipment state evaluation, and maintenance strategy formulation on a plurality of environmental detection parameters in combination with the plant manufacturing execution system, the method specifically includes the following steps:
and S221, the production workshop control end acquires real-time production data based on a workshop manufacturing execution system.
And S222, filtering the real-time production data by the control end of the production workshop to obtain the production data to be analyzed.
And S223, comparing and analyzing the production data to be analyzed and the plurality of environment detection parameters based on the normal production data range by the production workshop control end to generate an environment safety analysis result, an equipment state evaluation result and an overhaul strategy result.
And S224, the production workshop control end acquires data to be presented for display of the presentation end and matches a first execution task based on the environmental safety analysis result, the equipment state evaluation result and the maintenance strategy result.
And S225, the production workshop control end acquires a second execution task returned by the user side based on the data to be presented, and is used for generating an inspection task instruction by combining the first execution task and sending the inspection task instruction to the inspection machine end.
Specifically, in this embodiment, different overhaul strategy results may be pre-formulated to correspond to different first execution tasks, specifically, preset tasks.
The second execution task is a dynamic execution task manually specified by the operator through the user terminal.
The inspection robot acquires data through various sensors in the automatic inspection process, such as temperature, humidity, smoke concentration and the like, sends the data to a production workshop control system through a WIFI information carrier, sets the safety range of the data in the system in advance, can immediately alarm and process if the data exceed the safety range, sends a corresponding inspection task instruction to the inspection robot, and executes the inspection task instruction by the inspection robot.
According to the control method of the workshop inspection robot, an interaction method between an inspection machine end and a production workshop control end is developed and inspected through adaptability, the inspection machine end can inspect workshops through various environment sensors according to a workshop panoramic map and inspection route guidance, a plurality of environment detection parameters are obtained, the environment detection parameters are analyzed through the production workshop control end, environment safety analysis can be obtained, equipment states are evaluated, an overhaul strategy is formulated, equipment state detection and safety monitoring depending on manual work are changed, intelligent detection of equipment running states and production workshop environment safety monitoring are achieved, and automatic and timely early warning capacity and informatization level of equipment and environments are improved.
The embodiment provides the inspection robot with high pertinence and strong applicability, has the diagnostic analysis capability based on technical indexes such as sound, pictures, videos and the like for a control system of a production workshop, particularly a lithium battery production workshop, can further analyze the defect development trend, and controls the inspection robot to carry out a special inspection task and a tracking and recording function under the condition of abnormal equipment state; the method can provide information data reference for evaluating the state of the equipment and formulating a further maintenance strategy, and ensures the safe and stable operation of the equipment in the lithium battery production workshop. The robot that patrols and examines is patrolled and examined in lithium cell factory's workshop automation, monitors the safety of environment, if there is a danger source in the discovery, for example, dangerous liquid gas leakage etc. in time sends out the police dispatch newspaper and sends information to lithium cell workshop control system. The polling machine end can receive the instructions of the workshop control system to perform specific tasks, and sends the collected multiple environment detection parameters and the diagnosed equipment error information to the lithium battery workshop control system.
Furthermore, the production workshop control system can detect the running state of the inspection robot in the factory in real time, acquire and detect data, and analyze and early warn. The production workshop control system can also be accessed to a production MES manufacturing execution system to acquire valuable information generated in the field production processes such as real-time production, equipment state and the like, perform centralized filtering analysis processing, and finally output an instruction to dispatch a corresponding task to the inspection robot, so that the inspection robot is controlled to perform a special inspection task and tracking record under the condition of abnormal equipment state in a lithium battery workshop. The inspection robot can evaluate the state of the equipment on the control system according to the acquired information, and further maintenance strategies are formulated to provide information data reference, so that the safe and stable operation of the production workshop equipment is ensured.
In one embodiment, the control system of the workshop inspection robot corresponds to the control method of the workshop inspection robot in one-to-one mode. As shown in fig. 6, the inspection machine end 10 in the control system of the workshop inspection robot comprises an acquisition working mode module 11, a routing determination module 12, an acquisition environmental parameter module 13 and a transmission environmental parameter module 14. The functional modules are explained in detail as follows:
and the working mode obtaining module 11 is used for obtaining a working mode instruction sent by a control end of the production workshop.
And the routing inspection determining module 12 is used for determining the current routing inspection position of the routing inspection machine end based on the workshop panoramic map and the visual camera if the working mode instruction is in the automatic routing inspection mode, and determining the corresponding routing inspection route based on the current routing inspection position.
And the environment parameter acquisition module 13 is used for carrying out workshop patrol inspection on the workshop through a plurality of environment sensors based on default machine starting parameters and patrol inspection routes to acquire a plurality of environment detection parameters.
And the transmission environment parameter module 14 is configured to transmit the environment detection parameters to the production workshop control end in real time through the wireless transmission network, so that the production workshop control end performs environment safety analysis, evaluates the equipment state, and formulates an overhaul strategy according to the plurality of environment detection parameters.
In one embodiment, a control system of the workshop inspection robot is provided, and the control system of the workshop inspection robot corresponds to the control method of the workshop inspection robot in the embodiment one to one. The workshop control end 20 in the control system of the workshop inspection robot comprises a sending work mode module 21 and a safety analysis module 22. The detailed description of each functional module is as follows:
and the work mode sending module 21 is used for sending a work mode instruction to the inspection machine end, wherein the work mode instruction comprises an automatic inspection mode so that the inspection machine end can inspect a workshop in the workshop and acquire a plurality of environment detection parameters.
And the safety analysis module 22 is used for responding to a plurality of environment detection parameters returned by the inspection machine end, and performing environment safety analysis, equipment state evaluation and maintenance strategy formulation on the plurality of environment detection parameters by combining a workshop manufacturing execution system.
The specific limitations of the control system of the workshop inspection robot can be referred to the limitations of the control method of the workshop inspection robot, and the details are not repeated here. All or part of each module in the control system of the workshop inspection robot can be realized through software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a control end of a production shop, and the internal structure thereof may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile medium, an internal memory. The non-volatile medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile media. The database of the computer equipment is used for storing data to be stored in the control method of the workshop inspection robot. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of controlling a shop inspection robot.
In one embodiment, a computer device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method for controlling the shop inspection robot according to the above embodiments is implemented, for example, in steps S11 to S22 shown in fig. 4. Alternatively, the processor, when executing the computer program, implements the functions of the respective modules/units of the control system of the plant inspection robot in the above-described embodiment, for example, the functions of the modules 11 to 22 shown in fig. 4. To avoid repetition, the description is omitted here.
In an embodiment, a computer readable medium is provided, on which a computer program is stored, which when executed by a processor implements the method for controlling the plant inspection robot of the above-described embodiments, or which when executed by a processor implements the functions of the modules/units in the control system of the plant inspection robot of the above-described system embodiments. To avoid repetition, further description is omitted here.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the system is divided into different functional units or modules to perform all or part of the above-mentioned functions.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a control method of robot is patrolled and examined in workshop, is applied to and patrols and examines the machine end, its characterized in that includes:
acquiring a working mode instruction sent by a control end of a production workshop;
if the working mode instruction is in an automatic inspection mode, determining the current inspection position of the inspection machine end based on a workshop panoramic map and a visual camera, and determining a corresponding inspection route based on the current inspection position;
based on default machine starting parameters and the routing inspection route, performing workshop inspection on a workshop through a plurality of environment sensors to obtain a plurality of environment detection parameters;
and transmitting the environment detection parameters to the production workshop control end in real time through a wireless transmission network, so that the production workshop control end analyzes the environment safety, evaluates the equipment state and formulates an overhaul strategy according to a plurality of environment detection parameters.
2. The method for controlling the shop inspection robot according to claim 1, wherein after the transmitting the environmental sensing parameters to the shop control end through the wireless transmission network, the method further comprises:
and responding to the inspection task instruction returned by the production workshop control end, stopping workshop inspection and executing the inspection task instruction.
3. The method for controlling the workshop inspection robot according to claim 1, wherein before the step of obtaining the work mode command sent by the workshop control end, the method further includes:
the method comprises the steps that a laser radar sensor and a visual camera are used for moving from an initial position, the distance between the initial position and a surrounding object and workshop equipment are collected respectively, and a point cloud picture, environmental information and equipment information are generated;
combining the environment information with an SLAM grid map to generate an environment perception module;
and generating the panoramic workshop map by combining a workshop facility layout map, the environment perception module and the equipment information.
4. The method for controlling a shop inspection robot according to claim 1, further comprising, after the shop inspection of the shop by the plurality of environmental sensors:
acquiring the speed and the acceleration of the robot based on the diameter of the wheel and the photoelectric encoder;
and analyzing the speed and the acceleration of the robot by adopting a dynamic window method to obtain a local path plan for avoiding suddenly appearing obstacles.
5. A control method of a workshop inspection robot is applied to a production workshop control end and is characterized by comprising the following steps:
sending a working mode instruction to an inspection machine end, wherein the working mode instruction comprises an automatic inspection mode so that the inspection machine end can inspect a workshop and obtain a plurality of environment detection parameters;
and responding to a plurality of environment detection parameters returned by the inspection machine end, and performing environment safety analysis, equipment state evaluation and maintenance strategy formulation on the plurality of environment detection parameters by combining a workshop manufacturing execution system.
6. The method for controlling the shop inspection robot according to claim 5, wherein the analyzing environmental security, evaluating equipment status, and developing a repair strategy for the plurality of environmental sensing parameters in conjunction with the shop manufacturing execution system includes:
acquiring real-time production data based on the workshop manufacturing execution system;
filtering the real-time production data to obtain production data to be analyzed;
based on a normal production data range, comparing and analyzing the production data to be analyzed and the plurality of environment detection parameters to generate an environment safety analysis result, an equipment state evaluation result and a maintenance strategy result;
acquiring data to be presented for display of a presentation end and matching a first execution task based on the environmental security analysis result, the equipment state evaluation result and the maintenance strategy result;
and acquiring a second execution task returned by the user side based on the data to be presented, generating an inspection task instruction by combining the first execution task, and sending the inspection task instruction to the inspection machine side.
7. The utility model provides a control system of robot is patrolled and examined in workshop which characterized in that, includes patrols and examines the machine end, it includes to patrol and examine the machine end:
the work mode acquisition module is used for acquiring a work mode instruction sent by a control end of the production workshop;
the routing inspection determining module is used for determining the current routing inspection position of the routing inspection machine end based on a workshop panoramic map and a visual camera if the working mode instruction is in an automatic routing inspection mode, and determining a corresponding routing inspection route based on the current routing inspection position;
the system comprises an environment parameter acquisition module, a route inspection module and a route inspection module, wherein the environment parameter acquisition module is used for carrying out workshop inspection on a workshop through a plurality of environment sensors based on default machine starting parameters and the inspection route to acquire a plurality of environment detection parameters;
and the transmission environment parameter module is used for transmitting the environment detection parameters to the production workshop control end in real time through a wireless transmission network so that the production workshop control end carries out environment safety analysis, equipment state evaluation and maintenance strategy formulation according to a plurality of environment detection parameters.
8. The utility model provides a control system of robot is patrolled and examined in workshop which characterized in that, includes the workshop control end, the workshop control end includes:
the system comprises a work mode sending module, a work mode judging module and a work mode judging module, wherein the work mode sending module is used for sending work mode instructions to an inspection machine end, and the work mode instructions comprise an automatic inspection mode so that the inspection machine end can inspect a workshop and acquire a plurality of environment detection parameters;
and the safety analysis module is used for responding to a plurality of environment detection parameters returned by the routing inspection machine end, and performing environment safety analysis, equipment state evaluation and maintenance strategy formulation on the plurality of environment detection parameters by combining a workshop manufacturing execution system.
9. A computer apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of controlling the plant inspection robot according to any one of claims 1 to 4 when executing the computer program or the processor implements the method of controlling the plant inspection robot according to any one of claims 5 to 6 when executing the computer program.
10. A computer-readable medium, in which a computer program is stored which, when being executed by a processor, carries out a method for controlling a plant inspection robot according to any one of claims 1 to 4, or which, when being executed by a processor, carries out a method for controlling a plant inspection robot according to any one of claims 5 to 6.
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