CN111267111B - Robot control method, device and system - Google Patents
Robot control method, device and system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The application discloses a robot control method, a device and a system, wherein the method is applied to a robot and comprises the following steps: receiving and caching the robot control parameters sent by the programmable logic controller through the Ethernet port; reading a receiving cache area by using a background program to obtain the robot control parameters; and determining a corresponding control signal based on the robot control parameter, and executing corresponding robot control operation according to the control signal. According to the method, the robot receives the robot control parameters sent by the programmable logic controller, the cache region is read by the background program of the robot, and the robot is controlled according to the read robot control parameters, namely, the programmable logic controller is communicated with the robot, development of an upper computer is not needed, development workload is remarkably reduced, data reading is achieved by the background program of the robot, the robot is separated from a foreground motion track program, and the beat time is not influenced.
Description
Technical Field
The present application relates to the field of automation control technologies, and in particular, to a robot control method, device and system.
Background
In recent years, robots have been used more and more widely with the degree of automation. Generally, a robot on a production line can meet the requirement of automation control by realizing signal control through I/O wiring, but in the occasions requiring complex control, for example, the robot integrated into high-end equipment, relevant parameters or data are required to be transmitted to the robot. When data is transmitted to the robot, a developed upper computer is generally adopted, and signal interaction with the robot is realized by using an I/Q wiring mode. However, the development difficulty of the upper computer is high, the period is long, a large amount of development work of the upper computer and cumbersome work of I/O wiring are required, and the transmission and reception may affect the tact time of the robot action program.
Therefore, how to solve the above technical problems is a great concern for those skilled in the art.
Disclosure of Invention
The application aims to provide a robot control method, device and system, which can remarkably reduce development workload and simultaneously do not influence beat time.
In order to achieve the above object, the present application provides a robot control method applied to a robot, the method including:
receiving and caching the robot control parameters sent by the programmable logic controller through the Ethernet port;
reading a receiving cache area by using a background program to obtain the robot control parameters;
and determining a corresponding control signal based on the robot control parameter, and executing corresponding robot control operation according to the control signal.
Optionally, the reading, by using a background program, the receiving buffer area to obtain the robot control parameter includes:
and accessing the receiving cache region in real time by using a data receiving function in a background program, and reading the cached robot control parameters.
Optionally, after the reading the receiving buffer by using the background program to obtain the robot control parameter, the method further includes:
determining a parameter type corresponding to the robot control parameter;
and storing the robot control parameters into corresponding registers according to the parameter types.
Optionally, the determining the corresponding control signal based on the robot control parameter includes:
acquiring a mapping relation between a parameter value corresponding to a current register and a signal;
and converting the robot control parameters into corresponding control signals based on the mapping relation.
Optionally, the robot control parameter is a String format character String or a Char character.
Optionally, after the reading the receiving buffer by using the background program to obtain the robot control parameter, the method further includes:
and if the robot control parameter is successfully read, returning first prompt information of successful parameter receiving to the programmable logic controller.
Optionally, after the corresponding robot control operation is executed according to the control signal, the method further includes:
and if the operation is successfully executed, returning second prompt information for controlling the completion of the execution of the operation to the programmable logic controller.
In order to achieve the above object, the present application provides a robot control method applied to a programmable logic controller, the method including:
receiving robot control parameters by using a visual interface;
and sending the robot control parameters to a receiving cache region of the robot through an Ethernet port, so that the robot reads the receiving cache region by using a background program to obtain the robot control parameters, determines corresponding control signals based on the robot control parameters, and executes corresponding robot control operation according to the control signals.
To achieve the above object, the present application provides a robot control apparatus applied to a robot, the apparatus including:
the parameter receiving module is used for receiving and caching the robot control parameters sent by the programmable logic controller through the Ethernet port;
the parameter reading module is used for reading the receiving cache area by using a background program so as to obtain the robot control parameters;
and the component control module is used for determining a corresponding control signal based on the robot control parameter and executing corresponding robot control operation according to the control signal.
To achieve the above object, the present application provides a robot control system including: a robot, a programmable logic controller;
the programmable logic controller is used for receiving robot control parameters by using a visual interface and sending the robot control parameters to a receiving cache region of the robot through an Ethernet port;
the robot is used for reading the receiving cache area by using a background program to obtain the robot control parameters, determining corresponding control signals based on the robot control parameters, and executing corresponding robot control operation according to the control signals.
According to the scheme, the robot control method provided by the application is applied to the robot, and comprises the following steps: receiving and caching the robot control parameters sent by the programmable logic controller through the Ethernet port; reading a receiving cache area by using a background program to obtain the robot control parameters; and determining a corresponding control signal based on the robot control parameter, and executing corresponding robot control operation according to the control signal. According to the method, the robot receives the robot control parameters sent by the programmable logic controller, the buffer area is read by the background program of the robot, the robot is controlled according to the read robot control parameters, namely, the programmable logic controller is communicated with the robot, development of an upper computer is not needed, development workload is reduced remarkably, meanwhile, unnecessary complicated work of I/O wiring is omitted, data reading is achieved by the background program of the robot, the robot is separated from a foreground motion track program, and the beat time of a robot action program is not influenced.
The application also discloses a robot control device and a system, and the technical effects can be achieved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a robot control method disclosed in an embodiment of the present application;
fig. 2 is a flowchart of another robot control method disclosed in an embodiment of the present application;
fig. 3 is a structural diagram of a robot control device disclosed in an embodiment of the present application;
fig. 4 is a block diagram of a robot control system disclosed in an embodiment of the present application;
fig. 5 is a schematic flowchart of a specific robot control method according to an embodiment of the present disclosure;
fig. 6 is a structural diagram of a robot disclosed in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. 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 application.
In the prior art, when data is transmitted to a robot, a developed upper computer is generally adopted, and signal interaction with the robot is realized by using an I/Q connection mode. However, the development difficulty of the upper computer is high, the period is long, a large amount of development work of the upper computer and cumbersome work of I/O wiring are required, and the transmission and reception may affect the tact time of the robot action program.
Therefore, the embodiment of the application discloses a robot control method which can remarkably reduce development workload and does not influence beat time.
Referring to fig. 1, an embodiment of the present application discloses a robot control method applied to a robot, where the method includes:
s101: receiving and caching the robot control parameters sent by the programmable logic controller through the Ethernet port;
in the embodiment of the present application, an ethernet port may be used for communication between a robot and a Programmable Logic Controller (PLC), and the PLC may send robot control parameters to the robot through the ethernet port, and write the robot control parameters into a receiving buffer. Specifically, the robot control parameter may be a String format String or Char character, so that a plurality of data and parameters may form a String and be sent at a time, thereby improving communication efficiency.
S102: reading a receiving cache area by using a background program to obtain the robot control parameters;
it should be noted that, in the embodiment of the present application, a corresponding data receiving function is written in a background program of the robot in advance, and the receiving buffer of the robot can be read in real time or periodically to obtain the robot control parameters therein.
Further, after the robot control parameter is obtained, the parameter type corresponding to the robot control parameter may be determined, and the robot control parameter is stored in the corresponding register according to the current parameter type.
It can be understood that, in the embodiment of the application, after the background program is used to read the receiving cache area to obtain the robot control parameter, if the robot control parameter is successfully read, the first prompt information that the parameter is successfully received may be further returned to the programmable logic controller to prompt that the control parameter corresponding to the programmable logic controller is successfully sent.
S103: and determining a corresponding control signal based on the robot control parameter, and executing corresponding robot control operation according to the control signal.
In this step, a corresponding control signal may be determined based on the robot control parameter and output, so as to control the robot to perform a corresponding operation using the control signal. The process of determining the corresponding control signal based on the robot control parameter may specifically include: acquiring a mapping relation between a parameter value corresponding to a current register and a signal; and converting the robot control parameters into corresponding control signals based on the mapping relation. For example, if the control signal corresponding to the parameter value 0 is a robot shutdown signal, the control signal corresponding to the parameter value 1 is a robot startup signal, and the control signal corresponding to the parameter value 2 is a robot motion pause signal in the current register, the control parameter value may be converted into a corresponding control signal based on the mapping relationship, and the robot may be controlled to perform operations such as startup and shutdown.
It can be understood that, after the corresponding robot control operation is executed according to the control signal, if the operation is successfully executed, a second prompt message indicating that the execution of the control operation is completed may be further returned to the programmable logic controller to feed back the execution state.
According to the scheme, the robot control method provided by the application is applied to the robot, and comprises the following steps: receiving and caching the robot control parameters sent by the programmable logic controller through the Ethernet port; reading a receiving cache area by using a background program to obtain the robot control parameters; and determining a corresponding control signal based on the robot control parameter, and executing corresponding robot control operation according to the control signal. According to the method, the robot receives the robot control parameters sent by the programmable logic controller, the buffer area is read by the background program of the robot, the robot is controlled according to the read robot control parameters, namely, the programmable logic controller is communicated with the robot, development of an upper computer is not needed, development workload is reduced remarkably, meanwhile, unnecessary complicated work of I/O wiring is omitted, data reading is achieved by the background program of the robot, the robot is separated from a foreground motion track program, and the beat time of a robot action program is not influenced.
Referring to fig. 2, an embodiment of the present application discloses a robot control method applied to a programmable logic controller, where the method includes:
s201: receiving robot control parameters by using a visual interface;
s202: and sending the robot control parameters to a receiving cache region of the robot through an Ethernet port, so that the robot reads the receiving cache region by using a background program to obtain the robot control parameters, determines corresponding control signals based on the robot control parameters, and executes corresponding robot control operation according to the control signals.
In the embodiment of the application, the programmable logic controller can receive the robot control parameters issued by the user based on the visual interface, and send the robot control parameters to the receiving cache region of the robot through the ethernet port. The robot can further read the robot control parameters by using a background program, and execute corresponding robot control operation after determining the corresponding control signal.
A robot control device provided in an embodiment of the present application is described below, and a robot control device described below and a robot control method described above may be referred to each other.
Referring to fig. 3, an embodiment of the present application provides a robot control apparatus applied to a robot, where the apparatus includes:
the parameter receiving module 301 is configured to receive and cache the robot control parameters sent by the programmable logic controller through the ethernet port;
a parameter reading module 302, configured to read a receiving buffer by using a background program to obtain the robot control parameter;
and the component control module 303 is configured to determine a corresponding control signal based on the robot control parameter, and execute a corresponding robot control operation according to the control signal.
For the specific implementation process of the modules 301 to 303, reference may be made to the corresponding content disclosed in the foregoing embodiments, and details are not repeated here.
In the following, a robot control system provided by an embodiment of the present application is described, as shown in fig. 4, the system includes a robot, and a programmable logic controller PLC; the programmable logic controller is used for receiving robot control parameters by using a visual interface and sending the robot control parameters to a receiving cache region of the robot through an Ethernet port; the robot is used for reading the receiving cache area by using a background program to obtain the robot control parameters, determining corresponding control signals based on the robot control parameters, and executing corresponding robot control operation according to the control signals.
According to the embodiment of the application, the String format character String or Char character is sent or received by the PLC terminal, the PLC terminal can provide the touch screen to receive parameters input by a user, and information sent by the robot terminal can be visually displayed based on the touch screen. The robot end compiles a character string receiving and sending function group capable of running in the background in advance. A plurality of data and parameters can form a character string, and one-time transmission completion can be realized, so that the communication efficiency is high. The background receiving or sending program of the robot runs stably, is not influenced by the motion state and the shutdown of the robot, does not influence the execution of the foreground motion track program, and does not influence the beat time. In addition, the embodiment does not need to develop an upper computer, and has small programming quantity and simple debugging.
In specific implementation, as shown in fig. 5, parameters or data to be set may be directly input into the PLC register through the touch screen, and stored in the form of String character strings or Char characters, and then may be sent to the robot cache through the ethernet port. The background of the robot writes function groups in advance, wherein the function groups comprise functions of network connection, data receiving and sending and the like. The function group runs in the background, namely runs when the robot is started, and is not influenced by the running state of the robot or sudden stop and the like, so that data transmission or data receiving is stable. The robot stores the data read in the buffer area in the corresponding register, so that the corresponding parameters are obtained, and the foreground action program can be controlled. In addition, according to the values in different registers, the states of the robot image I/O registers can be respectively updated through functions by the transmitted parameters, so that the updating and the control of the I/O control signals are completed. After the robot executes the parameter modification, the corresponding String character String or Char character can be fed back to the sending buffer area, and the PLC receives the character String or character String through the Ethernet port, so as to judge whether the sending or the execution is completed.
The present application further provides a robot, and referring to fig. 6, an electronic device provided in an embodiment of the present application includes:
a memory 100 for storing a computer program;
the processor 200, when executing the computer program, may implement the steps provided by the above embodiments.
Specifically, the memory 100 includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer-readable instructions, and the internal memory provides an environment for the operating system and the computer-readable instructions in the non-volatile storage medium to run. The processor 200 may be a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor or other data Processing chip in some embodiments, and provides computing and controlling capability for the electronic device, and when executing the computer program stored in the memory 100, the steps of the robot control method disclosed in any of the foregoing embodiments may be implemented.
The robot receives the robot control parameter that programmable logic controler sent in this application, and then utilize the background program of robot to read the buffer memory, and control the robot according to the robot control parameter who reads, that is, this application adopts programmable logic controler and robot to communicate, need not to carry out the development of host computer, the development work load has been showing and has been reduced, the loaded down with trivial details work of unnecessary IO wiring has been saved simultaneously, and utilize the background program of robot to realize data reading, with proscenium movement track program separation, do not influence the takt time of robot action procedure.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (8)
1. A robot control method, applied to a robot, the method comprising:
receiving and caching the robot control parameters sent by the programmable logic controller through the Ethernet port;
reading a receiving cache area by using a background program to obtain the robot control parameters;
determining a parameter type corresponding to the robot control parameter;
storing the robot control parameters into corresponding registers according to the parameter types;
acquiring a mapping relation between a parameter value corresponding to a current register and a signal;
and converting the robot control parameters into corresponding control signals based on the mapping relation, and executing corresponding robot control operation according to the control signals.
2. The robot control method of claim 1, wherein reading a receive buffer with a daemon to obtain the robot control parameters comprises:
and accessing the receiving cache region in real time by using a data receiving function in a background program, and reading the cached robot control parameters.
3. A robot control method according to claim 1, characterized in that the robot control parameters are String format strings or Char characters.
4. A robot control method according to any of claims 1 to 3, wherein after reading the receiving buffer by the daemon to obtain the robot control parameters, the method further comprises:
and if the robot control parameter is successfully read, returning first prompt information of successful parameter receiving to the programmable logic controller.
5. The robot control method according to claim 4, further comprising, after the performing the respective robot control operation according to the control signal:
and if the operation is successfully executed, returning second prompt information for controlling the completion of the execution of the operation to the programmable logic controller.
6. A robot control method is applied to a programmable logic controller, and the method comprises the following steps:
receiving robot control parameters by using a visual interface;
sending the robot control parameters to a receiving cache region of the robot through an Ethernet port, so that the robot reads the receiving cache region by using a background program to obtain the robot control parameters, and determining the parameter type corresponding to the robot control parameters; storing the robot control parameters into corresponding registers according to the parameter types; acquiring a mapping relation between a parameter value corresponding to a current register and a signal; and converting the robot control parameters into corresponding control signals based on the mapping relation, and executing corresponding robot control operation according to the control signals.
7. A robot control apparatus, applied to a robot, the apparatus comprising:
the parameter receiving module is used for receiving and caching the robot control parameters sent by the programmable logic controller through the Ethernet port;
the parameter reading module is used for reading the receiving cache area by using a background program so as to obtain the robot control parameters;
the component control module is used for determining the parameter type corresponding to the robot control parameter; storing the robot control parameters into corresponding registers according to the parameter types; acquiring a mapping relation between a parameter value corresponding to a current register and a signal; and converting the robot control parameters into corresponding control signals based on the mapping relation, and executing corresponding robot control operation according to the control signals.
8. A robotic control system, comprising: a robot, a programmable logic controller;
the programmable logic controller is used for receiving robot control parameters by using a visual interface and sending the robot control parameters to a receiving cache region of the robot through an Ethernet port;
the robot is used for reading a receiving cache area by using a background program to obtain the robot control parameters and determine the parameter types corresponding to the robot control parameters; storing the robot control parameters into corresponding registers according to the parameter types; acquiring a mapping relation between a parameter value corresponding to a current register and a signal; and converting the robot control parameters into corresponding control signals based on the mapping relation, and executing corresponding robot control operation according to the control signals.
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| CN114578720B (en) * | 2020-12-01 | 2023-11-07 | 合肥欣奕华智能机器股份有限公司 | Control method and control system |
| CN112777058B (en) * | 2020-12-22 | 2023-07-14 | 珠海格力智能装备有限公司 | Control method, system, device, storage medium and processor of robot |
| CN112720488A (en) * | 2020-12-24 | 2021-04-30 | 珠海格力智能装备有限公司 | Robot-based seventh axis control method and device |
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Application publication date: 20200612 Assignee: INFIRAY TECHNOLOGIES CO.,LTD. Assignor: Yantai Airui Photo-Electric Technology Co.,Ltd. Contract record no.: X2024980006380 Denomination of invention: A robot control method, device, and system Granted publication date: 20211001 License type: Common License Record date: 20240530 |