WO2023125082A1 - 一种工艺动作判断方法、***、设备及存储介质 - Google Patents

一种工艺动作判断方法、***、设备及存储介质 Download PDF

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Publication number
WO2023125082A1
WO2023125082A1 PCT/CN2022/139683 CN2022139683W WO2023125082A1 WO 2023125082 A1 WO2023125082 A1 WO 2023125082A1 CN 2022139683 W CN2022139683 W CN 2022139683W WO 2023125082 A1 WO2023125082 A1 WO 2023125082A1
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Prior art keywords
joint
industrial robot
motion
action
effective
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PCT/CN2022/139683
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English (en)
French (fr)
Inventor
贺毅
左志军
廖元远
陈旻琪
莫沅文
冯子远
Original Assignee
广州明珞装备股份有限公司
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Publication of WO2023125082A1 publication Critical patent/WO2023125082A1/zh

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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
    • 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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  • the invention relates to the field of process manufacturing, in particular to a process action judging method, system, equipment and storage medium.
  • the present invention provides a process action judgment method, system, equipment and storage medium to solve the problem in the prior art that it is difficult to judge the process action and easily leads to longer beats.
  • One of the embodiments of the present invention provides a process action judgment method, including:
  • the acquisition of the operating speed of each joint of the industrial robot includes:
  • the running speed of each joint of the industrial robot is acquired according to the motion trajectory.
  • the acquisition of the programming program of the industrial robot includes:
  • the programming program of the industrial robot is determined according to the process flow card.
  • the process action judgment method also includes:
  • the generating the motion schedule of each joint of the industrial robot according to the operating speed of each joint combined with the time axis includes:
  • a motion schedule of each joint of the industrial robot is generated in combination with the motion speed of each joint, the ID of each joint, and the time axis.
  • said generating the identity ID of each joint includes:
  • the effective joint includes an application axis when performing a process, wherein the application axis includes: an axis that enables the industrial robot to turn itself over or turn around.
  • the judging whether the motion of each joint belongs to a process action based on the motion schedule of each joint of the industrial robot includes:
  • the determining whether the movement of the effective joint belongs to a technological action according to the movement data includes:
  • the detecting whether the movement speed of the effective joint shows regular changes includes:
  • the process action judgment method also includes:
  • the time proportion of the process action is calculated based on the duration of the process action
  • the time proportion of the non-process action is calculated based on the duration of the non-process action.
  • One of the embodiments of the present invention provides a process action judgment system, including:
  • the acquisition module is used to acquire the operating speed of each joint of the industrial robot
  • a generating module configured to generate a motion schedule of each joint of the industrial robot according to the running speed of each joint and a time axis;
  • a judging module configured to judge whether the motion of each joint of the industrial robot belongs to a process action based on a motion schedule of each joint of the industrial robot.
  • One embodiment of the present invention provides an electronic device, including:
  • a memory connected in communication with the at least one processor; wherein, 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 During execution, the steps of the method for judging process action described in any one of the above-mentioned embodiments can be realized.
  • One embodiment of the present invention provides a computer storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method for judging a technological action as described in any one of the above embodiments are implemented .
  • the identification ID of each joint by generating the identification ID of each joint; combining the movement speed of each joint, the identification ID and the time axis to generate the motion schedule of each joint of the industrial robot. Combining the different identification IDs corresponding to each joint with different functions, the running speed of the joint, the duration of the exercise, and the exercise time period to generate a corresponding exercise schedule and display it on the operator terminal or the mobile terminal of the corresponding operator.
  • the operator can observe the movement of each joint of the industrial robot through the motion schedule, and the ID helps the operator to judge the process action and non-process action of the robot, as well as the time period of the process action and non-process action.
  • Fig. 1 is a schematic diagram of a terminal/device structure of a hardware operating environment related to an embodiment of the present invention
  • FIG. 2 is a schematic flow diagram of a method for judging a process action provided by an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a refinement process of step S10 in FIG. 2;
  • FIG. 4 is a schematic diagram of a refinement process of step S101 in FIG. 3;
  • Fig. 5 is the motion schedule of the industrial robot in one of the embodiments of the present invention.
  • Fig. 6 is a schematic flow chart of a process action judging method provided by another embodiment of the present invention.
  • Fig. 7 is a schematic structural diagram of an industrial robot involved in one embodiment of the present invention.
  • FIG. 8 is a schematic diagram of a refinement process of step S30 in FIG. 2;
  • FIG. 9 is a schematic diagram of a detailed flow chart of step S303 in FIG. 8;
  • FIG. 10 is a schematic diagram of a detailed flow chart of step S3031 in FIG. 9;
  • Fig. 11 is a schematic flow chart of a process action judging method provided by another embodiment of the present invention.
  • Fig. 12 is a schematic diagram of modules of a process action judging system provided by an embodiment of the present invention.
  • the main solution of the embodiment of the present invention is to: obtain the running speed of each joint of the industrial robot; generate the motion schedule of each joint of the industrial robot according to the running speed of each joint combined with the time axis; The movement schedule of each joint judges whether the movement of each joint belongs to a craft action.
  • a method to distinguish process/non-process actions is by adding signal points between process and non-process actions, and the programmable logic controller (Programmable Logic Controller, PLC) calculates the process by judging the time difference between the signal point and the signal point and non-craft time.
  • PLC Programmable Logic Controller
  • the invention provides a solution to accurately judge the process time and non-process time of the robot without adding any signal points at the PLC end and the robot end. Not only is the solution simple and easy to implement, but the accuracy of judging the process time is further improved.
  • FIG. 1 is a schematic structural diagram of a terminal ⁇ device in a hardware operating environment related to an embodiment of the present invention.
  • the terminal of the embodiment of the present invention can be a PC, and can also be a smart phone, a tablet computer, an e-book reader, an MP3 (Moving Picture Experts Group Audio Layer III, moving picture expert compression standard audio level 3) player, an MP4 (Moving Picture Experts Group Audio Layer IV, dynamic image expert compression standard audio layer 4) Players, portable computers and other mobile terminal devices with display functions.
  • an MP3 Moving Picture Experts Group Audio Layer III, moving picture expert compression standard audio level 3
  • MP4 Moving Picture Experts Group Audio Layer IV, dynamic image expert compression standard audio layer
  • the terminal may include: a processor 1001 , such as a CPU; a network interface 1004 , a user interface 1003 ; a memory 1005 and a communication bus 1002 .
  • the communication bus 1002 is used to realize connection and communication between these components.
  • the user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard).
  • the user interface 1003 may also include a standard wired interface or a wireless interface.
  • the network interface 1004 may include a standard wired interface and a wireless interface (such as a WI-FI interface).
  • the memory 1005 can be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory.
  • the memory 1005 may also be a storage device independent of the aforementioned processor 1001 .
  • the terminal structure shown in FIG. 1 does not constitute a limitation on the terminal, and the terminal in the embodiment of the present invention may include more or less components than those shown in the figure, or may combine certain components, Alternatively, a different arrangement of components than in FIG. 1 may be used.
  • the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an application program for judging technological actions.
  • the network interface 1004 is mainly used to connect to the background server and perform data communication with the background server;
  • the user interface 1003 is mainly used to connect to the client (client) and perform data communication with the client;
  • the processor 1001 can be used to call the technological action judgment application program stored in the memory 1005, and perform the following operations:
  • FIG. 2 is a schematic flowchart of a method for judging a process action provided by an embodiment of the present invention.
  • the method for judging a process action includes the following contents.
  • 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.
  • Step S30 judging whether the movement of each joint of the industrial robot belongs to a process action based on the movement timetable of each joint of the industrial robot.
  • the motion moment of each joint is generated Table, that is, count the running speed and running time period corresponding to each joint of the industrial robot, and generate the corresponding motion schedule of the industrial robot based on this.
  • the corresponding running speed and running time of each joint of the industrial robot can be obtained, so that the robot can be judged according to the running speed, running time of each joint, and the overlapping running time with other joints. Which actions belong to craft actions and which actions belong to non-craft actions.
  • FIG. 3 is a schematic diagram of the detailed flow chart of step S10 in FIG. 2 above.
  • the step S10 includes the following content .
  • Step S101 acquiring the programming program of the industrial robot.
  • Step S102 acquiring the motion track 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 track.
  • the motion trajectory of the industrial robot is determined by acquiring the programming program of the industrial robot.
  • an action coding library is included in the industrial control system, which splits and codes the action of the robot in each process operation, for example: the actions of the robot can be classified, and each action is set with Intrinsic attributes, action parameters, and attached attributes.
  • the inherent attributes record the basic characteristic information, technical point information and application description information of the action;
  • the action parameters record the parameter information set in each specific execution environment of the action;
  • the additional attributes include at least: type of work and Qualification requirements, process resource requirements.
  • the process resources include tool type, tooling type, equipment type and process flow type; the personnel in the personnel database have attribute information of work type and qualification, and the process resource library has attribute information of tool type, tool type, equipment type and process flow type .
  • the running speed of each joint is obtained according to the motion trajectory of the industrial robot, wherein the programming program corresponding to the industrial robot is obtained according to the requirements of the process, and then the running speed corresponding to each joint of the robot is obtained.
  • the programming program of the industrial robot is obtained; the motion track of the industrial robot is obtained according to the programming program; and the running speed of each joint of the industrial robot is obtained according to the motion track.
  • FIG. 4 is a schematic diagram of the detailed flow chart of step S101 in FIG. 3 above.
  • the step S101 includes the following content .
  • Step S1011 acquiring order information of the current workpiece to be processed.
  • Step S1012 determining the process flow card of the workpiece to be processed according to the order information.
  • Step S1013 determining the programming program of the industrial robot according to the process flow card.
  • the processing information of workpieces to be processed on the current production line is acquired.
  • the production plans of different workpieces to be processed may be different, and different requirements may be generated according to the production plans of different workpieces to be processed, including but not limited to material requirements, fixture requirements, tool requirements, and industrial robots.
  • the order information of the workpiece to be processed can be obtained from the enterprise EPR system, wherein the order information includes: type information and quantity information of the workpiece to be processed. According to the order information of the workpiece to be processed, the processing information of the workpiece to be processed is directly generated.
  • the processing information of the workpiece to be processed includes but is not limited to the workpiece drawing number, processing characteristics, processing steps, processing machine tools, cutting tools, and industrial robots of the workpiece to be processed. wait.
  • a process flow card can be obtained, and the content of the process flow card can include the processing procedures corresponding to the entire processing process, that is, multiple procedures can constitute a process flow card.
  • the process of the workpiece to be processed is obtained according to the processing information, and the corresponding industrial robot is matched according to the process requirements.
  • the drawing number of the workpiece can be mapped one by one with the matching industrial robot number in the industrial robot library in advance, and the required workpiece data, drawing documents, Program documents, bill of materials, process documents and other information, according to the information obtained from the PDM system, generate the processing information of the workpiece to be processed, and send the workpiece processing information and status information of the processing station to the scheduling equipment so that the scheduling equipment can schedule the workpiece
  • the processing station obtains the corresponding workpiece processing information from the production information management center, calls the corresponding robot programming program according to the action requirements of the industrial robot according to the workpiece processing information on the production line, and obtains the robot's various parts according to the programming program for the robot.
  • the running speed of the joints and the running time of each joint of the robot can be mapped one by one with the matching industrial robot number in the industrial robot library in advance, and the required workpiece data, drawing documents, Program documents, bill of materials, process documents and other information, according to the information obtained from the PDM system, generate the processing information of the workpiece to be processed,
  • operation 1 transfer the workpiece to be processed to the corresponding welding position
  • operation 2 align the welding torch to the welding spot
  • the programming program corresponding to the operation process of welding and obtain the running time and running speed corresponding to each joint of the industrial robot from the programming program, wherein, operation one points to operation two. Therefore, according to the different processes of the workpiece to be processed, the requirements for robot motion are also different. Therefore, the programming program for the robot motion is obtained according to the process card of the workpiece to be processed, so as to accurately and effectively obtain the operating speed of each joint of the robot. It can be further optimized for robot programming, thereby improving production efficiency and saving enterprise resources.
  • the order information of the current workpiece to be processed is obtained; the process flow card of the workpiece to be processed is determined according to the order information; and the programming program of the industrial robot is determined according to the process flow card.
  • the requirements for robot actions are different according to the different workpieces to be processed. Therefore, the programming program for robot actions is obtained, so as to accurately and effectively obtain the running speed of each joint of the robot, which can be further optimized for robot programming, so that Improve production efficiency and save enterprise resources.
  • Fig. 5 is the motion timetable of the industrial robot in one embodiment of the present invention
  • Fig. 6 is the flow chart of the method for judging the process action provided by another embodiment of the present invention schematic diagram.
  • the embodiment in FIG. 6 is an example of the embodiment in FIG. 2 , and the similarities will not be repeated here.
  • the embodiment in FIG. 6 further includes step S15, and step S20 includes step S201.
  • the process action judging method shown in FIG. 6 includes the following contents.
  • Step S10 acquiring the running speed of each joint of the industrial robot.
  • Step S15 generating the ID of each joint.
  • Step S201 combining the running speed of each joint, the ID of each joint and the time axis to generate a motion schedule of each joint of the industrial robot.
  • Step S30 judging whether the movement of each joint of the industrial robot belongs to a process action based on the movement timetable of each joint of the industrial robot.
  • Step S15 can be performed before or after step S10.
  • an identity ID corresponding to each joint is generated.
  • FIG. 7 is a schematic structural diagram of an industrial robot involved in one embodiment of the present invention, wherein J1, J2, J3, J4, J5, J6 and J7 in FIG. 7 are the joints of different joints of the industrial robot, respectively.
  • Identity ID a schematic structural diagram of an industrial robot involved in one embodiment of the present invention, wherein J1, J2, J3, J4, J5, J6 and J7 in FIG. 7 are the joints of different joints of the industrial robot, respectively.
  • the corresponding motion schedule of each joint 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 easily understand the operating time period, operating speed and operating duration of each joint during the operation of the robot.
  • the identification ID of each joint is generated; and the movement time table of each joint of the industrial robot is generated in combination with the movement speed of each joint, the identification ID and the time axis.
  • the operator can observe the movement of each joint of the industrial robot through the motion schedule, and the ID helps the operator to judge the process action and non-process action of the robot, as well as the time period of the process action and non-process action.
  • the step S15 includes: determining the effective joints among the joints of the industrial robot according to the structural characteristics of the industrial robot, Wherein the valid joints include joints that complete the technological process in the technological process; and an ID of the valid joint is generated.
  • the effective joints of each joint of the robot are determined according to the structural characteristics of the robot, for example, during the process, the workpiece or fixture to be processed can be flipped and turned.
  • the 7 is to determine the process action and non-process action of the industrial robot by detecting the motion data of the effective joints, that is, to generate the corresponding Sports timetable, according to the duration of effective joints in the sports timetable, movement speed and other related factors to determine the corresponding process actions and non-process actions, optimize the non-process actions to improve industrial production efficiency and further save cost investment for enterprises .
  • the effective joint includes an application axis when performing a process, wherein the application axis includes: an axis that enables the industrial robot to turn itself over or turn around. That is, by detecting the motion data of effective joints, the process action and non-process action of the industrial robot are determined, and the process action and non-process action are optimized to improve industrial production efficiency and further save cost investment for the enterprise.
  • FIG. 8 is a schematic flowchart of step S30 in FIG. 2 .
  • the step S30 includes the following content.
  • Step S301 according to the identification ID of each joint of the industrial robot, determine whether the joint is a valid joint.
  • Step S302 if the joint is a valid joint, extract the motion data of the valid joint from the motion time table.
  • Step S303 determining whether the movement of the effective joint belongs to a technological action according to the movement data.
  • corresponding identification IDs are generated for each joint of the industrial robot.
  • distinguishable identification IDs can be used for joints with different functions and different effects.
  • Valid joints and invalid joints on the robot are distinguished during the process.
  • the joint is detected as an invalid joint according to the identity ID, it is directly judged that the motion of the joint is a non-technical action;
  • the motion data of the valid joint is extracted, such as judging Whether the motion data of the effective joint changes regularly, if the motion data of the effective joint changes regularly, it indicates that the motion of the effective joint is a craft action; if the motion data of the effective joint does not change regularly, it indicates The movement of this valid joint is also a non-technical movement.
  • the joint is a valid joint according to the identification ID of each joint of the industrial robot; if the joint is a valid joint, extract the information of the valid joint from the motion schedule motion data; determining whether the motion of the effective joint belongs to a technological action according to the motion data.
  • the movement of each joint of the robot can be analyzed as process action or non-process action through simple identification ID and motion data judgment, so that it is convenient and simple to judge the effective action or invalid action of the industrial robot, that is, to judge the industrial
  • the process action and non-process work of the robot saves enterprise resources.
  • FIG. 9 is a schematic diagram of a refinement process of step S303 in FIG. 8
  • FIG. 10 is a schematic diagram of a refinement process of step S3031 in FIG. 9
  • the step S303 includes the following content.
  • Step S3031 detecting whether the movement speed of the effective joint shows regular changes.
  • Step S3032 if the movement speed of the effective joints changes regularly, then it is determined that the movement of the effective joints belongs to a technological action.
  • the step S3031 includes the following content.
  • Step S30311 detecting whether the movement speed of the effective joint decreases from the maximum value to zero within a preset time range.
  • Step S30312 if the movement speed of the effective joint decreases from the maximum value to zero, then it is determined that the movement speed of the effective joint presents a regular change.
  • it is detected whether the movement of the effective joint is a regular movement within a certain preset time range for example: judging whether the speed of the effective joint has dropped from the maximum value to zero within the preset time range, if If it exists, it indicates that the movement speed of the effective joint presents a regular change, and the movement of the effective joint is a meaningful action, which is a craft action; if there is no movement speed of the effective joint within the preset time range from the maximum value to zero , it indicates that the movement speed of the effective joint does not show regular changes, and the movement of the effective joint may be a meaningless movement and a non-technical movement. In this way, it is judged whether the movement of the effective joint is a technological action by monitoring the movement speed of the effective joint.
  • the movement speed of the effective joints changes regularly; if the movement speed of the effective joints changes regularly, it is determined that the movement of the effective joints belongs to a process action. Further, by detecting whether the speed of the effective joint decreases from the maximum value to zero within the preset time range; if it exists, the movement speed of the effective joint presents a regular change, and the movement of the effective joint is craft action. In this way, not only the judging scheme of the process action is simplified, but also the scheme is simple and easy to implement, thereby improving industrial production efficiency and saving enterprise resources.
  • FIG. 11 is a schematic flow chart of a process action judgment method provided by another embodiment of the present invention. Based on the above embodiment, in the process action judgment method provided by another embodiment of the present invention, the process The action judging method also includes the following content.
  • Step S40 acquiring the duration of the process action and the duration of the non-process action.
  • Step S50 calculating the proportion of the time of the process action based on the duration of the process action, and calculating the proportion of the time of the non-process action based on the duration of the non-process action.
  • the programming program of the current industrial robot is obtained, and the motion trajectory of the industrial robot and the operating programming codes for each joint of the industrial robot are obtained with the programming program, and obtained according to the operating programming codes of each joint.
  • the motion data of each joint of the industrial robot is analyzed for the motion data of valid joints and invalid joints, so as to judge the process action and non-process action during the motion process of the industrial robot.
  • the technological action refers to the regular movement of the effective joint within the preset time range
  • the non-technical action refers to the movement of the invalid joint and the irregular movement of the effective joint within the preset time range.
  • the operational programming code may be generated based on the exercise schedule.
  • the time proportion of the process action and the proportion of the time of the non-process action can be proposed.
  • the action optimization scheme of industrial robots further improves industrial production efficiency and saves enterprise production resources.
  • FIG. 12 is a block diagram of a process action judging system 300 provided by an embodiment of the present invention.
  • the process action judging system 300 includes: an acquisition module 310 , a generation module 320 and a judgment module 330 .
  • An acquisition module 310 configured to acquire the operating speed of each joint of the industrial robot
  • a generation module 320 configured to generate a motion schedule of each joint of the industrial robot according to the running speed of each joint and the time axis;
  • the judging module 330 is configured to judge whether the motion of each joint of the industrial robot belongs to a process action based on the motion schedule of each joint of the industrial robot.
  • the obtaining module 310 is used to: obtain the programming program of the industrial robot; obtain the motion trajectory of the industrial robot according to the programming program; obtain the running speed of each joint of the industrial robot according to the motion trajectory.
  • the acquiring module 310 is used to: acquire the order information of the current workpiece to be processed; determine the process flow card of the workpiece to be processed according to the order information; determine the programming program of the industrial robot according to the process flow card.
  • the generating module 320 is further configured to: generate an ID of each joint.
  • the generating module 320 is used to generate a motion schedule of each joint of the industrial robot in combination with the running speed of each joint, the ID of each joint and the time axis.
  • the generation module 320 is used to determine the effective joints among the joints of the industrial robot according to the structural characteristics of the industrial robot, wherein the effective joints include the joints that complete the process in the process flow; and generate the ID of the effective joints.
  • the effective joint includes an application axis when performing a process, wherein the application axis includes: an axis that enables the industrial robot to turn itself over or turn around.
  • the judging module 330 is used to: determine whether the joint is a valid joint according to the identification ID of each joint of the industrial robot; if the joint is a valid joint, extract the motion data of the valid joint from the motion schedule; The data determines whether the movement of the active joint is a craft action.
  • the judging module 330 is configured to: detect whether the movement speed of the effective joints changes regularly; if the movement speed of the effective joints changes regularly, it is determined that the movement of the effective joints belongs to a technological action.
  • the judging module 330 is used to: detect whether the movement speed of the effective joint decreases from the maximum value to zero within the preset time range; if the movement speed of the effective joint decreases from the maximum value to zero, then It is determined that the movement speed of the effective joints presents regular changes.
  • the acquisition module 310 is also used to: acquire the duration of the process action and the duration of the non-process action; calculate the proportion of the time of the process action based on the duration of the process action, and Calculate the proportion of time spent on non-craft actions.
  • One embodiment of the present invention provides an electronic device, including: at least one processor; and a memory connected to the at least one processor in communication; wherein, the memory stores information that can be executed by the at least one processor Instructions, the instructions are executed by the at least one processor, so that the at least one processor can implement the steps of the method for judging technological actions as described in any one of the above embodiments when executed.
  • One embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the process action described in any one of the above embodiments is realized. steps in the judgment method.
  • the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation.
  • the technical solution of the present invention can be embodied in the form of a software product in essence or in other words, the part that contributes to the prior art, and the computer software product is stored in a storage medium (such as ROM/RAM) as described above. , magnetic disk, optical disk), including several instructions to enable a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of the present invention.
  • a terminal device which may be a mobile phone, computer, server, air conditioner, or network device, etc.

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Abstract

本发明公开了一种工艺动作判断方法、***、设备及存储介质，其中，所述方法包括：获取工业机器人的各关节的运行速度；根据所述各关节的运行速度结合时间轴生成所述工业机器人的各关节的运动时刻表；基于所述工业机器人的各关节的运动时刻表判断所述各关节的运动是否属于工艺动作。本发明实施例可以判断工业机器人的哪些动作属于工艺动作、哪些动作属于非工艺动作，如此便于对该工业机器人的非工艺动作进行进一步的分析，进而可以针对该工业机器人提出动作优化方案，进一步提高工件的生成效率并减少工业成本。

Description

一种工艺动作判断方法、***、设备及存储介质 技术领域
本发明涉及工艺制造领域，尤其涉及一种工艺动作判断方法、***、设备及存储介质。
发明背景
在目前的工业制造中机器人应用越来越广泛的背景下，出于使用成本考虑，大家越来越关注机器人的运行过程中，哪些是有意义的工艺动作，哪些是无意义的非工艺动作，要做到这点，首当其冲的是要分清楚哪些动作是工艺动作，哪些动作是非工艺动作。现有区分工艺/非工艺动作的方法工作量较大、对***的稳定性以及工作节拍有影响。因此如何判断工艺动作和非工艺动作又不增加***故障率是目前亟待解决的技术问题。
发明内容
为了克服现有技术的不足，本发明提供了一种工艺动作判断方法、***、设备及存储介质，以解决现有技术中对工艺动作的判断困难且容易造成节拍加长的问题。
本发明其中一个实施例提供了一种工艺动作判断方法，包括：
获取工业机器人的各关节的运行速度；
根据所述各关节的运行速度结合时间轴生成所述工业机器人的各关节的运动时刻表；
基于所述工业机器人的各关节的运动时刻表判断所述各关节的运动是否属于工艺动作。
在其中一个实施例中，所述获取工业机器人的各关节的运行速度，包括：
获取所述工业机器人的编程程序；
根据所述编程程序获取所述工业机器人的运动轨迹；
根据所述运动轨迹获取所述工业机器人的各关节的运行速度。
在其中一个实施例中，所述获取所述工业机器人的编程程序，包括：
获取当前待加工工件的订单信息；
根据所述订单信息确定待加工工件的工艺流程卡；
根据所述工艺流程卡确定所述工业机器人的编程程序。
在其中一个实施例中，该工艺动作判断方法还包括：
生成所述各关节的身份标识ID，其中，
所述根据所述各关节的运行速度结合时间轴生成所述工业机器人的各关节的运动时刻表，包括：
结合所述各关节的运动速度、各关节的身份标识ID及时间轴生成所述工业机器人的各关节的运动时刻表。
在其中一个实施例中，所述生成所述各关节的身份标识ID，包括：
根据所述工业机器人的结构特性确定所述工业机器人的各关节中的有效关节，其中所述有效关节包括工艺流程中完成工艺过程的关节；
生成有效关节的身份标识ID。
在其中一个实施例中，所述有效关节包括执行工艺时的应用轴，其中所述应用轴包括：使得所述工业机器人实现自身翻转或回转的轴。
在其中一个实施例中，所述基于所述工业机器人的各关节的运动时刻表判断所述各关节的运动是否属于工艺动作，包括：
根据所述工业机器人的各关节的身份标识ID确定所述关节是否为有效关节；
若所述关节是有效关节，则从所述运动时刻表中提取所述有效关节的运动数据；
根据所述运动数据确定所述有效关节的运动是否属于工艺动作。
在其中一个实施例中，所述根据所述运动数据确定所述有效关节的运动是否属于工艺动作，包括：
检测所述有效关节的运动速度是否呈现规律性变化；
若所述有效关节的运动速度呈现规律性变化，则确定所述有效关节的运动属于工艺动作。
在其中一个实施例中，所述检测所述有效关节的运动速度是否呈现规律性变化，包括：
检测在预设时间范围内所述有效关节的运动速度是否由最大值减小到零；
若所述有效关节的运动速度由最大值减小到零，则确定所述有效关节的运动速度呈现规律性变化。
在其中一个实施例中，该工艺动作判断方法还包括：
获取所述工艺动作的持续时间和非工艺动作的持续时间；
基于工艺动作的持续时间计算工艺动作的时间的占比，并基于非工艺动作的持续时间计算非工艺动作的时间的占比。
本发明其中一个实施例提供了一种工艺动作判断***，包括：
获取模块，用于获取工业机器人的各关节的运行速度；
生成模块，用于根据所述各关节的运行速度结合时间轴生成所述工业机器人的各关节的运动时刻表；
判断模块，用于基于所述工业机器人的各关节的运动时刻表判断所述各关节的运动是否属于工艺动作。
本发明其中一个实施例提供了一种电子设备，包括：
至少一个处理器；以及，
与所述至少一个处理器通信连接的存储器；其中，所述存储器上存储有可被至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器在执行时能够实现上述任意一实施例所述的工艺动作判断方法的步骤。
本发明其中一个实施例提供了一种计算机存储介质，所述计算机存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如上述任意一实施例所述的工艺动作判断方法的步骤。
本发明以上实施例所提供的工艺动作判断方法和工艺动作判断***具有以下有益效果：
1、通过获取工业机器人的各关节的运行速度；根据所述各关节的运行速度结合时间轴生成所述工业机器人的各关节的运动时刻表；基于所述工业机器人的各关节的运动时刻表判断所述各关节的运动是否属于工艺动作。这样，通过对工业机器人的各个关节的运行速度、运行时间段的监测判断工业机器人的哪些动作属于工艺动作、哪些动作属于非工艺动作，如此便于对该工业机器人的非工艺动作进行进一步的分析，进而可以针对该工业机器人提出动作优化方案，进一步提高工件的生成效率并减少工业成本。
2、在其中一个实施例中，通过获取当前待加工工件的订单信息；根据所述订单信息确定待加工工件的工艺流程卡；根据所述工艺流程卡确定所述工业机器人的编程程序。这样，通过在控制***中寻找该生产线工艺下工业机器人对应的编程程序并基于编程程序找到机器人各个关节的运行速度，从而减少了对PLC上增加采集信号点，避免造成***的反应时间变长，影响本来就非常紧凑的工作节拍。
3、在其中一个实施例中，通过生成所述各关节的身份标识ID；结合所述各关节的运动速度、身份标识ID及时间轴生成所述工业机器人的各关节的运动时刻表。结合作用不同的各个关节对应的不同的身份标识ID、关节的运行速度、运动持续时长、及运动时间段生成对应的运动时刻表并在操作终端或者对应操作人员的移动终端上显示。操作人员可以通过运动时刻表观察工业机器人的各关节的运动情况，通过身份标识ID有助于操作人员对机器人工艺动作和非工艺动作、以及工艺动作和非工艺动作所处的时间段的判断。
4、在其中一个实施例中，根据所述机器人各关节的身份标识ID确定所述关节是否为有效关节；若所述关节是有效关节，则从所述运动时刻表中提取所述有效关节的运动数据；根据所述运动数据确定所述有效关节的运动是否属于工艺动作。即，根据该工业机器人的各个关节的身份标识ID、运动速度及持续时间段生成对应的运动时刻表，根据运动时刻表中有效关节的持续时间长度、运动速度等相关因素确定对应的工艺动作时间和非工艺动作时间，针对非工艺动作进行优化，以提高工业生产效率进一步地为企业节约成本投入。
5、在其中一个实施例中，通过检测所述有效关节的运动速度是否呈现规律性变化；若所述有效关节的运动速度呈现规律性变化，则确定所述有效关节的运动属于工艺动作。进一步地，通过检测在预设时间范围内是否存在所述有效关节的速度由最大值减小到速度为零；若存在，则有效关节的运动速度呈现规律性变化，所述有效关节的运动为工艺动作。这样通过对有效关节的运动速度的监测判断该有效关节的运动是否为工艺动作，不仅简便了工艺动作的判断方案，而且该方案简单易实现，从而提高了工业生产效率，节约企业资源。
附图简要说明
图1是本发明一实施例涉及的硬件运行环境的终端\装置结构示意图；
图2为本发明一实施例提供的工艺动作判断方法的流程示意图；
图3为图2中步骤S10的细化流程示意图；
图4为图3中步骤S101的细化流程示意图；
图5为本发明其中一个实施例中的工业机器人的运动时刻表；
图6为本发明另一实施例提供的工艺动作判断方法的流程示意图；
图7为本发明其中一个实施例涉及的工业机器人的结构示意图；
图8为图2中步骤S30的细化流程示意图；
图9为图8中步骤S303的细化流程示意图；
图10为图9中步骤S3031的细化流程示意图；
图11为本发明另一实施例提供的工艺动作判断方法的流程示意图；
图12为本发明一实施例提供的工艺动作判断***的模块示意图。
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
实施本发明的方式
应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
本发明实施例的主要解决方案是：获取工业机器人的各关节的运行速度；根据所述各关节的运行速度结合时间轴生成所述工业机器人的各关节的运动时刻表；基于所述工业机器人的各关节的运动时刻表判断所述各关节的运动是否属于工艺动作。
由于目前的工业制造中机器人的应用越来越广泛，出于使用成本考虑，大家越来越关注机器人的运行过程中，哪些是有意义的动作，哪些是无意义的动作，要做到这点，首当其冲的是要分清楚哪些动作是有意义的动作，哪些动作是无意义的动作。一种区分工艺/非工艺动作的方法是通过在工艺和非工艺动作之间增加信号点，可编程逻辑控制器(Programmable Logic Controller，PLC)通过判断信号点与信号点之间的时间差来计算工艺和非工艺时间。这种方法的缺点很明显：一是增加信号点意味着更改机器人和PLC的程序，这样增加了两者的工作量；二是，增加的信号点给***的稳定性带来隐患，增加了***的故障概率；三是，由于增加了信号点，***的反应时间变长，影响了本来非常紧凑的工作节拍。因此如何判断工艺动作和非工艺动作又不增加***故障率是目前亟待解决的技术问题。
本发明提供一种解决方案使得不需要在PLC端和机器人端增加任何信号点即可准确地判断机器人的工艺时间和非工艺时间。不仅方案简单，容易实现，且进一步地提高了对工艺时间的判断准确性。
如图1所示，图1是本发明一实施例涉及的硬件运行环境的终端\装置结构示意图。
本发明实施例的终端可以是PC，也可以是智能手机、平板电脑、电子书阅读器、MP3(Moving Picture Experts Group Audio Layer III，动态影像专家压缩标准音频层面3)播放器、MP4(Moving Picture Experts Group Audio Layer IV，动态影像专家压缩标准音频层面4)播放器、便携计算机等具有显示功能的可移动式终端设备。
如图1所示，该终端可以包括：处理器1001，例如CPU；网络接口1004，用户接口1003；存储器1005以及通信总线1002。其中，通信总线1002用于实现这些组件之间的连接通信。用户接口1003可以包括显示屏(Display)、输入单元比如键盘(Keyboard)，可选地，用户接口1003还可以包括标准的有线接口、无线接口。网络接口1004可选的可以包括标准的有线接口、无线接口(如WI-FI接口)。存储器1005可以是高速RAM存储器，也可以是稳定的存储器(non-volatile memory)，例如磁盘存储器。存储器1005可选的还可以是独立于前述处理器1001的存储装置。
本领域技术人员可以理解，图1中示出的终端结构并不构成对终端的限定，本发明实施例中的终端可以包括比图示更多或更少的部件，或者可以组合某些部件，或者可以采用与图1不同的部件布置。
如图1所示，作为一种计算机存储介质的存储器1005中可以包括操作***、网络通信模块、用户接口模块以及工艺动作判断应用程序。
在图1所示的终端中，网络接口1004主要用于连接后台服务器，与后台服务器进行数据通信；用户接口1003主要用于连接客户端(用户端)，与客户端进行数据通信；而处理器1001可以用于调用存储器1005中存储的工艺动作判断应用程序，并执行以下操作：
获取工业机器人的各关节的运行速度；
根据所述各关节的运行速度结合时间轴生成所述工业机器人的各关节的运动时刻表；
基于所述工业机器人的各关节的运动时刻表判断所述各关节的运动是否属于工艺动作。
参照图2，图2为本发明一实施例提供的工艺动作判断方法的流程示意图，所述工艺动作判断方法包括如下内容。
步骤S10，获取工业机器人的各关节的运行速度。
步骤S20，根据所述各关节的运行速度结合时间轴生成所述工业机器人的各关节的运动时刻表。
步骤S30，基于所述工业机器人的各关节的运动时刻表判断所述各关节的运动是否属于工艺动作。
具体而言，在本实施例中通过采集工业机器人的各个关节在工件生产过程中的运行速度，并根据工业机器人在工件加工过程中的各个关节在时间轴上的运行速度生成各关节的运动时刻表，即，统计下工业机器人各个关节对应的运行速度、运行时间段，并基于此生成该工业机器人对应的运动时刻表。基于该运动时刻表获取该工业机器人的各关节对应的运行速度及运行时刻，由此可以根据各个关节的运行速度、运行时间及和其他关节之间的重合运行时间，以此判断该机器人哪些动作属于工艺动作，哪些动作属于非工艺动作。
在本实施例中，通过对工业机器人的各个关节的运行速度、运行时间段的监测，以此判断工业机器人的哪些动作属于工艺动作时间段、哪些动作属于非工艺动作时间段，如此便于对该工业机器人的非工艺动作运行时间进行进一步的分析，进而可以针对该工业机器人提出动作优化方案，进一步提高工件的生成效率并减少工业成本。
进一步地，请参见图3，图3为上述图2中步骤S10的细化流程示意图，基于上述实施例，在本发明另一实施例提供的工艺动作判断方法中，所述步骤S10包括如下内容。
步骤S101，获取所述工业机器人的编程程序。
步骤S102，根据所述编程程序获取所述工业机器人的运动轨迹。
步骤S103，根据所述运动轨迹获取所述工业机器人的各关节的运行速度。
具体而言，在本实施例中，通过获取该工业机器人的编程程序确定该工业机器人的运动轨迹。示例性地，在工业控制***内包括有动作编码库，对每项工序作业中机器人的作业动作进行拆分，并进行编码，例如：可以将机器人的动作进行分类，并且每个作业动作设置有固有属性、动作参数和附加属性。所述固有属性记载有动作的基本特性信息、技术项点信息以及应用描述信息；所述动作参数记载有该动作各具体执行环境下所设定的参数信息；所述附加属性至少包括：工种及资质要求、工艺资源要求。所述工艺资源包括工具类型、工装类型、设备类型及工艺流程类型；人员库中的人员具有工种和资质的属性信息，工艺资源库具有工具类型、工装类型、设备类型及工艺流程类型的属性信息。根据该工业机器人的运动轨迹获取各个关节的运行速度，其中，根据工艺的需求获取该工业机器人对应的编程程序进而获取该机器人各个关节对应的运行速度。
在本实施例中，通过获取所述工业机器人的编程程序；根据所述编程程序获取所述工业机器人的运动轨迹；根据所述运动轨迹获取所述工业机器人的各关节的运行速度。这样，通过在控制***中寻找该生产线工艺下工业机器人对应的编 程程序并基于编程程序找到机器人各个关节的运行速度，从而减少了对PLC上增加采集信号点，避免造成***的反应时间变长，影响本来就非常紧凑的工作节拍。
进一步地，请参照图4，图4为上述图3中步骤S101的细化流程示意图，基于上述实施例，在本发明另一实施例提供的工艺动作判断方法中，所述步骤S101包括如下内容。
步骤S1011，获取当前待加工工件的订单信息。
步骤S1012，根据所述订单信息确定所述待加工工件的工艺流程卡。
步骤S1013，根据所述工艺流程卡确定所述工业机器人的编程程序。
具体而言，在本实施例中，获取当前生产线上的待加工工件的加工信息。示例性地，不同的待加工工件的生产计划可以不同，可以通过根据不同的待加工工件的生产计划生成不同的需求，需求包括但不限于物料需求、工装夹具需求、刀具需求及工业机器人等。可以从企业EPR***中获取待加工工件的订单信息，其中，订单信息包括：待加工工件类型信息、数量信息。根据待加工工件的订单信息直接生成待加工工件的加工信息，其中，待加工工件的加工信息中包括但不限于待加工工件的工件图号、加工特征、加工步骤、加工机床、刀具、工业机器人等。根据加工信息可获取工艺流程卡，工艺流程卡的内容可包括整个加工过程对应的加工工序，即多个工序可构成一个工艺流程卡。具体地，根据加工信息得到待加工工件的工序，根据工序要求匹配对应的工业机器人。例如：可以预先将工件的图纸编号与工业机器人库中的匹配的工业机器人编号一一映射，且可以根据订单信息的内容从PDM(产品数据管理)***中获取所需的工件数据、图纸文档、程序文档、物料清单、工艺文档等信息，根据从PDM***中获取得到的信息生成该待加工工件的加工信息，将工件加工信息和加工站的状态信息发送至调度设备使得调度设备能够将工件调度到加工站中，加工站从生产信息管理中心获取对应的工件加工信息，根据生产线上工件加工信息针对工业机器人的动作需求调取对应的机器人编程程序，并根据针对机器人的编程程序获取出机器人各关节的运行速度及机器人各关节的运行时刻。示例性地，当在所述工艺流程卡中包括待加工工件执行点焊工艺时，获取针对工业机器人的操作一(将待加工工件传输至对应的焊接位置)及操作二(焊枪对准焊点进行焊接)的操作流程对应的编程程序，并从该编程程序获取该工业机器人各个关节对应的运行时刻及运行速度，其中，操作一指向操作二。由此，根据加工工件的待加工的工艺的不同对机器人动作的需求也不同，因此根据待加工工件的工艺流程卡获取针对机器人动作的编程程序，从而准确有效地获取机器人各关节的运行速度，可以针对机器人编程进行进一步地优化，从而提高生产效率，节约企业资源。
在本实施例中，通过获取当前待加工工件的订单信息；根据所述订单信息确定待加工工件的工艺流程卡；根据所述工艺流程卡确定所述工业机器人的编程程序。在本实施例中，根据加工工件的不同对机器人动作的需求也不同，因此获取针对机器人动作的编程程序，从而准确有效地获取机器人各关节的运行速度，可以针对机器人编程进行进一步地优化，从而提高生产效率，节约企业资源。
进一步地，请参见图5，图5为本发明其中一个实施例中的工业机器人的运动时刻表，请一并参见图6，图6为本发明另一实施例提供的工艺动作判断方法的流程示意图。图6实施例是图2实施例的例子，相同之处不再赘述。具体地，基于图2实施例，图6实施例还包括步骤S15，步骤S20包括步骤S201。图6所示的工艺动作判断方法包括如下内容。
步骤S10，获取工业机器人的各关节的运行速度。
步骤S15，生成所述各关节的身份标识ID。
步骤S201，结合所述各关节的运行速度、各关节的身份标识ID及时间轴生成所述工业机器人的各关节的运动时刻表。
步骤S30，基于所述工业机器人的各关节的运动时刻表判断所述各关节的运动是否属于工艺动作。
步骤S15可以在步骤S10之前或之后执行。
具体而言，在本实施例中，针对工业机器人各个关节在与实现工艺动作相关因素方面(位置、所起的作用等)的不同，生成各个关节对应的身份标识ID。例如请参照图7，其中图7为本发明其中一个实施例涉及的工业机器人的结构示意图，其中图7中的J1、J2、J3、J4、J5、J6及J7分别为工业机器人的不同关节的身份标识ID。根据工业机器人各个关节的身份标识ID以及其运行速度、所持续的时间生成对应的机器人各个关节的运动时刻表，并且可以将该机器人各个关节的运动时刻表在相应的作业人员的终端上进行显示，以方便作业人员了解在机器人运行过程中，各个关节的运行时间段、运行速度及运行持续时间。
在本实施例中，生成所述各关节的身份标识ID；结合所述各关节的运动速度、身份标识ID及时间轴生成所述工业机器人的各关节的运动时刻表。结合作用不同的各个关节对应的不同的身份标识ID、关节的运行速度、运动持续时长、及运动时间段生成对应的运动时刻表并在操作终端或者对应操作人员的移动终端上显示。操作人员可以通过运动时刻表观察工业机器人的各关节的运动情况，通过身份标识ID有助于操作人员对机器人工艺动作和非工艺动作、以及工艺动作和非工艺动作所处的时间段的判断。
进一步地，基于上述实施例，在本发明另一实施例提供的工艺动作判断方法中，所述步骤S15包括：根据所述工业机器人的结构特性确定所述工业机器人的 各个关节中的有效关节，其中所述有效关节包括与工艺流程中完成工艺过程的关节；生成有效关节的身份标识ID。
具体而言，在本实施例中，在工业机器人执行工艺任务过程中，根据机器人的结构特性确定机器人各个关节中的有效关节，例如在工艺过程中使得待加工工件或工装夹具实现翻转和回转的轴，或能够使得机器人实现自身翻转或回转的应用轴，如工业机器人的回转台、翻转台等。例如图7中的J7，即通过检测有效关节的运动数据确定该工业机器人的工艺动作和非工艺动作，即，根据该工业机器人的各个关节的身份标识ID、运动速度及持续时间段生成对应的运动时刻表，根据运动时刻表中有效关节的持续时间长度、运动速度等相关因素确定对应的工艺动作和非工艺动作，针对非工艺动作进行优化，以提高工业生产效率进一步地为企业节约成本投入。
在本实施例中，所述有效关节包括执行工艺时的应用轴，其中所述应用轴包括：使得工业机器人实现自身翻转或回转的轴。即通过检测有效关节的运动数据确定该工业机器人的工艺动作和非工艺动作，针对工艺动作和非工艺动作进行优化，以提高工业生产效率进一步地为企业节约成本投入。
进一步地，请参照图8，图8为图2中步骤S30的细化流程示意图，基于上述实施例，在本发明另一实施例提供的工艺动作判断方法中，所述步骤S30包括如下内容。
步骤S301，根据所述工业机器人的各关节的身份标识ID确定所述关节是否为有效关节。
步骤S302，若所述关节是有效关节，则从所述运动时刻表中提取所述有效关节的运动数据。
步骤S303，根据所述运动数据确定所述有效关节的运动是否属于工艺动作。
具体而言，在本实施例中，针对工业机器人的各个关节生成对应的身份标识ID，例如可对具有不同功能且实现不同效果的关节采用可区分的身份标识ID，身份标识ID用于针对工艺过程中机器人上的有效关节和无效关节进行区分。当根据身份标识ID检测到该关节为无效关节时，直接判断该关节的运动为非工艺动作；当根据身份标识ID检测到该关节为有效关节时，则提取该有效关节的运动数据，如判断该有效关节的运动数据是否呈规律性变化，若该有效关节的运动数据呈现规律性变化，则表明该有效关节的运动为工艺动作；若该有效关节的运动数据不呈现规律性变化，则表明该有效关节的运动也为非工艺动作。
在本实施例中，通过根据所述工业机器人的各关节的身份标识ID确定所述关节是否为有效关节；若所述关节是有效关节，则从所述运动时刻表中提取所述有效关节的运动数据；根据所述运动数据确定所述有效关节的运动是否属于工艺 动作。这样，通过简单的身份标识ID以及运动数据的判断即可分析出机器人各关节的运动为工艺动作或非工艺动作，以此可以方便简单地判断工业机器人的有效动作或无效动作即判断出该工业机器人的工艺动作和非工艺工作，节约企业资源。
进一步地，请参照图9-10，其中，图9为上述图8中步骤S303的细化流程示意图，图10为图9中步骤S3031的细化流程示意图，基于上述实施例，在本发明另一实施例提供的工艺动作判断方法中，所述步骤S303包括如下内容。
步骤S3031，检测所述有效关节的运动速度是否呈现规律性变化。
步骤S3032，若所述有效关节的运动速度呈现规律性变化，则确定所述有效关节的运动属于工艺动作。
所述步骤S3031包括如下内容。
步骤S30311，检测在预设时间范围内所述有效关节的运动速度是否由最大值减小到零。
步骤S30312，若所述有效关节的运动速度由最大值减小到零，则确定所述有效关节的运动速度呈现规律性变化。
具体而言，在本实施例中，通过判断该有效关节的动作是否为规律性的运动来确定有效关节所做的动作是否为工艺动作。示例性地，检测在某个预先设置的时间范围内该有效关节的运动是否属于规律性运动，例如：判断在预设时间范围内该有效关节的速度是否存在从最大值骤减到零，若存在，则表明该有效关节的运动速度呈现规律性变化，该有效关节的运动为有意义的动作，为工艺动作；若在预设时间范围内不存在该有效关节的运动速度从最大值到零的骤减，则表明该有效关节的运动速度未呈现规律性变化，该有效关节的运动可能为无意义的动作，为非工艺动作。以此，通过对有效关节的运动速度的监测判断该有效关节的运动是否为工艺动作。
在本实施例中，通过检测所述有效关节的运动速度是否呈现规律性变化；若所述有效关节的运动速度呈现规律性变化，则确定所述有效关节的运动属于工艺动作。进一步地，通过检测在预设时间范围内是否存在所述有效关节的速度由最大值减小到速度为零；若存在，则有效关节的运动速度呈现规律性变化，所述有效关节的运动为工艺动作。以此，不仅简便了工艺动作的判断方案，而且该方案简单易实现，从而提高了工业生产效率，节约企业资源。
进一步地，请参照图11，图11为本发明另一实施例提供的工艺动作判断方法的流程示意图，基于上述实施例，在本发明另一实施例提供的工艺动作判断方法中，所述工艺动作判断方法还包括如下内容。
步骤S40，获取工艺动作的持续时间和非工艺动作的持续时间。
步骤S50，基于工艺动作的持续时间计算工艺动作的时间的占比，并基于非工艺动作的持续时间计算非工艺动作的时间的占比。
具体而言，在本实施例中，获取当前工业机器人的编程程序，并同该编程程序得到该工业机器人的运动轨迹及针对该工业机器人各个关节的运行编程代码，根据各个关节的运行编程代码获取该工业机器人各个关节的运动数据，并针对有效关节和无效关节的运动数据进行分析，以此判断在该工业机器人运动过程中工艺动作和非工艺动作。其中，工艺动作是指有效关节在预设时间范围内的规律性运动；非工艺动作为无效关节的运动及有效关节在预设时间范围内的非规律性运动。运行编程代码可以是基于运动时刻表生成的。
在本实施例中，通过计算出整个工艺时长中工艺动作的时间的占比和非工艺动作的时间的占比，可根据工艺动作的时间的占比和非工艺动作的时间的占比提出该工业机器人的动作优化方案，进一步地提高工业生产效率，节约企业生产资源。
此外，参照图12，图12为本发明一实施例提供的工艺动作判断***300的模块示意图，所述工艺动作判断***300包括：获取模块310、生成模块320以及判断模块330。
获取模块310，用于获取工业机器人的各关节的运行速度；
生成模块320，用于根据所述各关节的运行速度结合时间轴生成所述工业机器人的各关节的运动时刻表；
判断模块330，用于基于所述工业机器人的各关节的运动时刻表判断所述各关节的运动是否属于工艺动作。
在本实施例中，通过对工业机器人的各个关节的运行速度、运行时间段的监测，以此判断工业机器人的哪些动作属于工艺动作时间段、哪些动作属于非工艺动作时间段，如此便于对该工业机器人的非工艺动作运行时间进行进一步的分析，进而可以针对该工业机器人提出动作优化方案，进一步提高工件的生成效率并减少工业成本。
在一实施例中，获取模块310用于：获取工业机器人的编程程序；根据编程程序获取工业机器人的运动轨迹；根据运动轨迹获取工业机器人的各关节的运行速度。
在一实施例中，获取模块310用于：获取当前待加工工件的订单信息；根据订单信息确定待加工工件的工艺流程卡；根据工艺流程卡确定工业机器人的编程程序。
在一实施例中，生成模块320还用于：生成各关节的身份标识ID。生成模块320用于结合各关节的运行速度、各关节的身份标识ID及时间轴生成工业机器人的各关节的运动时刻表。
在一实施例中，生成模块320用于根据工业机器人的结构特性确定工业机器人的各关节中的有效关节，其中有效关节包括工艺流程中完成工艺过程的关节；生成有效关节的身份标识ID。
在一实施例中，有效关节包括执行工艺时的应用轴，其中应用轴包括：使得工业机器人实现自身翻转或回转的轴。
在一实施例中，判断模块330用于：根据工业机器人的各关节的身份标识ID确定关节是否为有效关节；若关节是有效关节，则从运动时刻表中提取有效关节的运动数据；根据运动数据确定有效关节的运动是否属于工艺动作。
在一实施例中，判断模块330用于：检测有效关节的运动速度是否呈现规律性变化；若有效关节的运动速度呈现规律性变化，则确定有效关节的运动属于工艺动作。
在一实施例中，判断模块330用于：检测在预设时间范围内有效关节的运动速度是否由最大值减小到零；若所述有效关节的运动速度由最大值减小到零，则确定有效关节的运动速度呈现规律性变化。
在一实施例中，获取模块310还用于：获取工艺动作的持续时间和非工艺动作的持续时间；基于工艺动作的持续时间计算工艺动作的时间的占比，并基于非工艺动作的持续时间计算非工艺动作的时间的占比。
应当理解，上述实施例中的获取模块310、生成模块320以及判断模块330的操作和功能可以参考上述任一实施例中提供的工艺动作判断方法中的描述，为了避免重复，在此不再赘述。
本发明其中一个实施例提供了一种电子设备，包括：至少一个处理器；以及，与所述至少一个处理器通信连接的存储器；其中，所述存储器上存储有可被至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器在执行时能够实现如上述任意一实施例所述的工艺动作判断方法的步骤。
本发明其中一个实施例提供了一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如以上任意一实施例所述的工艺动作判断方法的步骤。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者***不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者***所固有的要素。在没有更多限制的情况下，由语句 “包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者***中还存在另外的相同要素。
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在如上所述的一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，空调器，或者网络设备等)执行本发明各个实施例所述的方法。
以上仅为本发明的优选实施例，并非因此限制本发明的保护范围，凡是在本发明的发明构思下，利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的保护范围内。

Claims (13)

  1. 一种工艺动作判断方法，其特征在于，包括：
    获取工业机器人的各关节的运行速度；
    根据所述各关节的运行速度结合时间轴生成所述工业机器人的各关节的运动时刻表；
    基于所述工业机器人的各关节的运动时刻表判断所述各关节的运动是否属于工艺动作。
  2. 根据权利要求1所述的工艺动作判断方法，其特征在于，所述获取工业机器人的各关节的运行速度，包括：
    获取所述工业机器人的编程程序；
    根据所述编程程序获取所述工业机器人的运动轨迹；
    根据所述运动轨迹获取所述工业机器人的各关节的运行速度。
  3. 根据权利要求2所述的工艺动作判断方法，其特征在于，所述获取所述工业机器人的编程程序，包括：
    获取当前待加工工件的订单信息；
    根据所述订单信息确定待加工工件的工艺流程卡；
    根据所述工艺流程卡确定所述工业机器人的编程程序。
  4. 根据权利要求1-3任意一项所述的工艺动作判断方法，其特征在于，还包括：
    生成所述各关节的身份标识ID，其中，
    所述根据所述各关节的运行速度结合时间轴生成所述工业机器人的各关节的运动时刻表，包括：
    结合所述各关节的运行速度、所述各关节的身份标识ID及所述时间轴生成所述工业机器人的各关节的运动时刻表。
  5. 根据权利要求4所述的工艺动作判断方法，其特征在于，所述生成所述各关节的身份标识ID，包括：
    根据所述工业机器人的结构特性确定所述工业机器人的各关节中的有效关节，其中所述有效关节包括工艺流程中完成工艺过程的关节；
    生成所述有效关节的身份标识ID。
  6. 根据权利要求5所述的工艺动作判断方法，其特征在于，所述有效关节包括执行工艺时的应用轴，其中所述应用轴包括：使得所述工业机器人实现自身翻转或回转的轴。
  7. 根据权利要求1所述的工艺动作判断方法，其特征在于，所述基于所述工业机器人的各关节的运动时刻表判断所述各关节的运动是否属于工艺动作，包括：
    根据所述工业机器人的各关节的身份标识ID确定所述关节是否为有效关节；
    若所述关节是有效关节，则从所述运动时刻表中提取所述有效关节的运动数据；
    根据所述运动数据确定所述有效关节的运动是否属于工艺动作。
  8. 根据权利要求7所述的工艺动作判断方法，其特征在于，所述根据所述运动数据确定所述有效关节的运动是否属于工艺动作，包括：
    检测所述有效关节的运动速度是否呈现规律性变化；
    若所述有效关节的运动速度呈现规律性变化，则确定所述有效关节的运动属于工艺动作。
  9. 根据权利要求8所述的工艺动作判断方法，其特征在于，所述检测所述有效关节的运动速度是否呈现规律性变化，包括：
    检测在预设时间范围内所述有效关节的运动速度是否由最大值减小到零；
    若所述有效关节的运动速度由最大值减小到零，则确定所述有效关节的运动速度呈现规律性变化。
  10. 根据权利要求1-9任意一项所述的工艺动作判断方法，其特征在于，所述方法还包括：
    获取所述工艺动作的持续时间和非工艺动作的持续时间；
    基于所述工艺动作的持续时间计算所述工艺动作的时间的占比，并基于所述非工艺动作的持续时间计算所述非工艺动作的时间的占比。
  11. 一种工艺动作判断***，其特征在于，包括：
    获取模块，用于获取工业机器人的各关节的运行速度；
    生成模块，用于根据所述各关节的运行速度结合时间轴生成所述工业机器人 的各关节的运动时刻表；
    判断模块，用于基于所述工业机器人的各关节的运动时刻表判断所述各关节的运动是否属于工艺动作。
  12. 一种电子设备，其特征在于，包括：
    至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，所述存储器上存储有可被至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器在执行时能够实现如权利要求1-10任意一项所述的工艺动作判断方法的步骤。
  13. 一种计算机存储介质，其特征在于，所述计算机存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求1-10任意一项所述的工艺动作判断方法的步骤。
PCT/CN2022/139683 2021-12-31 2022-12-16 一种工艺动作判断方法、***、设备及存储介质 WO2023125082A1 (zh)

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