CN115781663B - Method, device and robot for automatically identifying alarm events of robot additional equipment - Google Patents
Method, device and robot for automatically identifying alarm events of robot additional equipmentInfo
- Publication number
- CN115781663B CN115781663B CN202211274722.7A CN202211274722A CN115781663B CN 115781663 B CN115781663 B CN 115781663B CN 202211274722 A CN202211274722 A CN 202211274722A CN 115781663 B CN115781663 B CN 115781663B
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- alarm event
- alarm
- robot
- event list
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides a method and a device for automatically identifying an alarm event of additional equipment of a robot, and the robot, wherein the method comprises the steps of obtaining a manufacturer alarm event list of the additional equipment, and mapping the content in the manufacturer alarm event list into a operation control alarm event list of an operation control system of the robot; and opening the operation control alarm event list to search according to the error reporting information uploaded by the additional equipment, and pushing the operation control alarm event list to the display terminal after the operation control alarm event list is matched with the corresponding alarm content. The invention can realize that no matter which manufacturer's additional equipment is used, when an additional equipment alarm event occurs in the use process, detailed alarm information can be checked at the display terminal at the first time, and the user does not need to manually search for the additional equipment to search for corresponding alarm information by using a manual, thereby providing great convenience for the user.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a device for automatically identifying an alarm event of additional equipment of a robot and the robot.
Background
Along with the wide application of industrial robots in the technical field of intelligent manufacturing, the requirement on the degree of automation of the application scene of the conventional six-axis industrial robot is higher and higher, and even the six-axis linkage of the body and external equipment is required. At this time, additional equipment needs to be added to the six-axis industrial robot, so that the cooperative cooperation between the six axes of the body and the external additional equipment is realized.
For the application of adding additional equipment to the six-axis industrial robot, most manufacturers customize according to actual user demands, however, the alarm event information of the additional equipment of different manufacturers is inconsistent, and the processing modes are inconsistent, so that the customized additional equipment functions are caused, and the alarm event of the additional equipment of different manufacturers cannot be met at the same time. At present, the processing mode of many manufacturers is to directly push and display the error reporting information uploaded by the additional equipment, for example KEBA, and directly push and display the error code of the additional shaft when the additional shaft alarms, and then users search the user manual of the additional equipment manufacturers by themselves according to the error code to determine the specific content and the solution of the additional shaft alarm. The alarm event processing mode is inconvenient for a user to use, and the alarm information of the additional equipment cannot be directly and intuitively checked.
Disclosure of Invention
The invention aims to provide a method and a device for automatically identifying an alarm event of additional equipment of a robot and the robot, and aims to solve the problem that the existing function of pushing the alarm event of the operation control of the robot cannot be compatible with the automatic identification of the alarm event of the additional equipment of different manufacturers.
To achieve the above object, according to one aspect of the present invention, there is provided a robot add-on alarm event automatic recognition method, comprising:
Acquiring a manufacturer alarm event list of additional equipment, and mapping the content in the manufacturer alarm event list into a operation control alarm event list of a robot operation control system;
and opening the operation control alarm event list to search according to the error reporting information uploaded by the additional equipment, and pushing the operation control alarm event list to the display terminal after the operation control alarm event list is matched with the corresponding alarm content.
Further, mapping the content in the manufacturer alarm event list to the operation control alarm event list includes:
opening the manufacturer alarm event list, and adding a corresponding mapping mark in the corresponding content in the manufacturer alarm event list according to the content in the operation control alarm event list;
Naming the manufacturer alarm event list added with the mapping mark by using an additional equipment unique identifier to obtain an additional equipment alarm event list, and storing the additional equipment alarm event list in an xml format into a robot operation control system;
and in the initialization stage, the robot operation control system determines additional equipment of the robot, opens a corresponding additional equipment alarm event list according to the unique identifier of the additional equipment, and maps the content with the mapping mark in the additional equipment alarm event list to the operation control alarm event list.
Further, the contents in the operation control alarm event list comprise serial numbers, alarm codes, alarm contents, alarm reasons, solutions and alarm reset.
Further, the add-on device is uniquely identified as the product ID of the add-on device.
Further, according to the error reporting information uploaded by the additional equipment, the operation control alarm event list is opened for searching, and when the corresponding alarm content is not matched, the error reporting information uploaded by the additional equipment is directly pushed to the display terminal.
Further, the additional device is an additional shaft.
Further, the display terminal is a demonstrator or a PC.
According to another aspect of the present invention, there is provided a computer readable storage medium storing a computer program which, when executed by a processor, implements a robot add-on alarm event automatic identification method as described above.
According to another aspect of the present invention, there is provided an automatic recognition apparatus for an alarm event of a robot add-on device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the automatic recognition method for an alarm event of a robot add-on device according to any one of claims 1 to 7 when executing the computer program.
According to another aspect of the present invention, there is provided a robot including the robot add-on alarm event automatic recognition apparatus as above.
By the technical scheme, the contents of the alarm event list provided by different additional equipment manufacturers are mapped into the operation control alarm event list of the robot operation control system, so that detailed alarm information can be displayed on the display terminal when an additional equipment alarm event occurs no matter which additional equipment manufacturer is used, and users do not need to manually search for the additional shaft equipment to search for corresponding alarm information by using a manual, thereby providing great convenience for the users.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.
Fig. 1 is a schematic flow chart of a method for automatically identifying an alarm event of an additional device of a robot.
FIG. 2 is a flow chart of adding a map flag to a manufacturer alarm event list of an add-on device.
FIG. 3 is a flow chart of an add-on device alert event automatic identification push display.
Fig. 4 shows alarm information displayed by the display terminal.
Detailed Description
The present application will be described in detail below with reference to the drawings and embodiments, and it should be noted that the embodiments of the present application and features of the embodiments may be combined with each other without conflict.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
At present, the application of adding additional equipment by a six-axis industrial robot is mainly customized according to actual user demands, however, the types of the additional equipment are various, the definition of each manufacturer for alarming is inconsistent, and each additional equipment added by one manufacturer needs to modify the controller and the demonstrator program to match the alarming event of the additional equipment, so that the workload is very large, and unified maintenance of the system cannot be realized. Therefore, the processing mode of many manufacturers is to directly push and display the error reporting information uploaded by the additional equipment, for example KEBA, when the additional shaft alarms, the error code of the additional shaft is directly pushed and displayed, and then a user searches a user manual of the additional shaft manufacturer by himself according to the error code to determine the specific content and the solution of the additional shaft alarm.
The alarm event processing mode is inconvenient for a user to use, and the alarm information of the additional equipment cannot be directly and intuitively checked.
Therefore, the application provides a method and a device for automatically identifying the alarm event of the additional equipment of the robot and the robot, so as to solve one or more of the problems, further realize that detailed alarm information can be displayed on a display terminal no matter which manufacturer of additional equipment is used, and provide great convenience for users.
As shown in fig. 1, one embodiment of the present invention provides a method for automatically identifying an alarm event of a robot add-on device, comprising:
Acquiring a manufacturer alarm event list of additional equipment, and mapping the content in the manufacturer alarm event list into a operation control alarm event list of a robot operation control system;
and opening the operation control alarm event list to search according to the error reporting information uploaded by the additional equipment, and pushing the operation control alarm event list to the display terminal after the operation control alarm event list is matched with the corresponding alarm content.
Therefore, the contents of the alarm event list provided by different additional equipment manufacturers are mapped into the operation control alarm event list of the robot operation control system, and the operation control alarm event list can be identified by the robot operation control system without changing the programs of the robot operation control system and the display terminal, so that detailed alarm information can be displayed on the display terminal, the detailed alarm information can be checked on the display terminal at the first time when the additional equipment alarm event occurs no matter which additional equipment of the manufacturer is used, and corresponding alarm information can be found by manually turning over the additional shaft equipment by using a manual, thereby providing great convenience for users.
An exemplary method for automatically recognizing an alarm event of the robot attachment according to the present embodiment will be described with reference to fig. 2 to 4.
In this embodiment, the additional device is illustrated by an additional axis, and the display terminal is illustrated by a demonstrator or a PC, it is easy to understand that the present invention may be applied to any type of additional device by changing the content of the identified alarm event, and meanwhile, the list of the operation alarm events is stored in the form of a file in the robot operation control system (abbreviated as operation control), so that the display terminal is not limited to the demonstrator the PC, but may be displayed on other display devices.
Specifically, the operation and control alarm event list is shown in table 1, and is a template formulated by the robot operation and control system and capable of storing all alarm events.
TABLE 1 operation control alarm event list
| Sequence number | Alarm code | Alarm content | Alarm reason | Solution scheme | Alarm reset |
| 0 | |||||
| 1 | |||||
| 2 | |||||
| ... | |||||
| 997 | |||||
| 998 | |||||
| 999 |
The operation and control alarm event list may store 10000 alarm events and classify different types of alarm events, where the alarm events of the body axis and the additional axis are stored in serial numbers of 0-999 (where 0-499 stores the body axis alarm event and 500-999 stores the additional axis alarm event, where classification may be adjusted according to actual use needs of a user), and other types of alarm events may continue to select different serial number spaces for classification according to actual needs, and in this embodiment, the main purpose is the additional axis alarm event.
In Table 1, the alarm event list with serial numbers of 0-999 is in the same format, and the contents of each row comprise serial numbers, alarm codes, alarm contents, alarm reasons, solutions and alarm reset. The alarm code represents an alarm code or error code fed back by a main shaft or an additional shaft (such as 181, shown as decimal data), alarm content is alarm information (such as motor stall) corresponding to the alarm code, alarm reasons are possible factors for generating the alarm (such as a difference value between a motor speed instruction and an actual rotating speed is larger than a set value, stall protection is triggered, and a control parameter is unsuitable), a solution is to remove measures of the alarm (such as adjusting the control parameter), options corresponding to alarm reset are YES and NO, YES represents whether the alarm can be cleared by an upper signal or not, NO represents that the alarm signal must be restarted to reset, and the alarm can be reset.
In the process of mapping the content in the manufacturer alarm event list of the additional axis to the operation alarm event list of the robot as shown in fig. 2, first, the robot operation control system opens the manufacturer alarm event list of the additional axis as shown in table 2:
TABLE 2 manufacturer alarm event list
In the table 2 of the description of the present invention, content not corresponding to Table 1 the expression "omitted. The contents of table 1 are then compared to each other before the error codes of table 2 to correspond to the alarm codes of table 1, to correspond to the alarm contents of table 1 before the alarm names of table 2, to correspond to the alarm reasons of table 1 before the alarm contents of table 2, to correspond to the solutions of table 1 before the inspection and processing of table 2, to correspond to the alarm reset of table 1 before the alarm reset/alarm reset of table 2. The "x", etc. represent different mapping marks, and specific contents may be set according to the robot control system, so long as the contents in the table can be distinguished.
Then, the table 2 added with the mapping mark is named by an additional shaft unique identifier (such as a product ID), so that the subsequent identification is facilitated, the additional shaft alarm event list is obtained by storing the additional shaft alarm event list as shown in the table 3 in a file of a robot operation control system.
TABLE 3 additional Axis alarm event List
The mapping mark adding step is completed, and the main purpose of the step is to unify the identification format, because the writing modes of the manufacturer alarm event list of each additional shaft are different, the alarm events of each additional shaft can be unified according to the report, operation and control alarm event list formulated by the robot by adding the mapping mark.
As shown in fig. 3, the robot operation control system is powered on, in an initialization stage, the topology is automatically scanned through a bus, the body shaft and the additional shaft model are determined, then a corresponding additional shaft alarm event list is opened according to the unique identification of the additional shaft, namely, in table 3, according to different mapping marks, the marked contents in the additional shaft alarm event list are mapped to the corresponding positions of the operation control alarm event list one by one, and after the mapping work is completed, the operation control initialization stage is ended. In this embodiment, the contents with the mapping marks in table 3 are mapped to the 501-700 serial number space in table 1, so that the robot alarm information and the additional axis alarm information are respectively stored in different areas in the table, when an alarm occurs, the robot operation control system can firstly judge whether the robot is an additional axis alarm or not, then find alarm event information in the corresponding area, and avoid that whether the robot is in fault or in fault of the additional axis can not be distinguished when the error code of the additional axis is the same as the alarm code of the robot.
Finally, in the normal operation process of the robot operation control system, according to the error codes uploaded by the additional shaft, an operation control alarm event list is opened for searching, after the operation control alarm event list is matched with the corresponding alarm codes, the alarm event is pushed in the mode of 'additional shaft + shaft number, alarm content, alarm reason, solution, alarm reset' (such as the stalling of a motor of the accessory shaft 1.181), and all corresponding detailed information is pushed to a demonstrator or a PC end for detailed checking, as shown in fig. 4. Meanwhile, the alarm reset information is extracted to the operation control program, so that the operation control program can judge whether the alarm can be cleared without power off. If the corresponding alarm codes are not matched in the operation control alarm event list, the additional shaft number plus error codes are directly pushed to the demonstrator or the PC.
Therefore, when the additional shafts are replaced, the remote control alarm event table only needs to be updated, and detailed alarm information can be displayed on the demonstrator or the PC end without changing operation control and demonstrator programs, so that great convenience is provided for users to use.
According to an embodiment of the present invention, there is also provided a computer-readable storage medium corresponding to the robot add-on alarm event automatic recognition method, the computer-readable storage medium storing a computer program which, when executed by a processor, implements the robot add-on alarm event automatic recognition method as described above.
Since the processes and functions implemented by the computer readable storage medium of the present embodiment basically correspond to the embodiments, principles and examples of the methods shown in fig. 1 to 4, the description of the present embodiment is not exhaustive, and reference may be made to the related descriptions in the foregoing embodiments, which are not repeated herein.
According to the embodiment of the present invention, there is further provided an apparatus for automatically identifying an alarm event of an additional device of a robot and a robot having the same, and similarly, since the processes and functions implemented by the apparatus substantially correspond to the embodiments, principles and examples of the methods shown in fig. 1 to fig. 4, the description of the present embodiment is not exhaustive, and reference may be made to the related descriptions of the foregoing embodiments, which are not repeated herein.
In the description of the present utility model, it should be understood that the terms "center", "front", "rear", "upper", "lower", "left", "right", "transverse", "vertical", "horizontal", "top", "bottom", etc. generally refer to the orientation or positional relationship shown in the drawings, and are merely for convenience of describing the present utility model and simplifying the description, and these orientation terms do not indicate or imply that the apparatus or elements being referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus should not be construed as limiting the scope of the present utility model, but rather the orientation terms "inside" and "outside" refer to the inside and outside of the outline of each component itself.
In the description of the present utility model, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements. It will be understood by those of ordinary skill in the art that the specific meaning of the terms described above in this application
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present utility model.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The automatic identification method for the alarm event of the robot additional equipment is characterized by comprising the following steps:
Acquiring a manufacturer alarm event list of additional equipment, and mapping the content in the manufacturer alarm event list into a operation control alarm event list of a robot operation control system;
According to the error reporting information uploaded by the additional equipment, the operation control alarm event list is opened for searching, and after the operation control alarm event list is matched with the corresponding alarm content, the operation control alarm event list is pushed to the display terminal;
Mapping the content in the manufacturer alarm event list to the operation control alarm event list comprises the following steps:
opening the manufacturer alarm event list, and adding a corresponding mapping mark in the corresponding content in the manufacturer alarm event list according to the content in the operation control alarm event list;
Naming the manufacturer alarm event list added with the mapping mark by using an additional equipment unique identifier to obtain an additional equipment alarm event list, and storing the additional equipment alarm event list in an xml format into a robot operation control system;
In the initialization stage, the robot operation control system determines the additional equipment of the robot, opens a corresponding additional equipment alarm event list according to the unique identifier of the additional equipment, maps the content with the mapping mark in the additional equipment alarm event list to the operation control alarm event list,
The robot alarm information and the additional axis alarm information are respectively stored in different areas in the alarm event list, when an alarm occurs, the robot operation control system can judge whether the robot or the additional axis alarms firstly, then the alarm event information is searched in the corresponding area,
The robot operation control system is electrified, in an initialization stage, topology is automatically scanned through a bus, a body shaft and an additional shaft model are determined, then a corresponding additional shaft alarm event list is opened according to unique identification of the additional shaft, marked contents in the additional shaft alarm event list are mapped to corresponding positions of the operation control alarm event list one by one according to different mapping marks, and after mapping work is completed, the operation control initialization stage is ended.
2. The method for automatically identifying the alarm event of the robot additional equipment according to claim 1, wherein the contents in the operation control alarm event list comprise a serial number, an alarm code, alarm contents, an alarm reason, a solution and alarm reset.
3. The method for automatically identifying an alarm event of a robotic add-on device according to claim 1, wherein the add-on device is uniquely identified as a product ID of the add-on device.
4. The method for automatically identifying the alarm event of the robot additional equipment according to claim 1, wherein the operation control alarm event list is opened for searching according to the error reporting information uploaded by the additional equipment, and the error reporting information uploaded by the additional equipment is directly pushed to the display terminal when the corresponding alarm content is not matched.
5. The method for automatically recognizing an alarm event of a robot add-on device according to claim 1, wherein the add-on device is an add-on shaft.
6. The method for automatically identifying the alarm event of the robot additional equipment according to claim 1, wherein the display terminal is a demonstrator or a PC.
7. A computer readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the method for automatically identifying an alarm event of a robotic add-on device according to any one of claims 1-6.
8. An automatic recognition device for an alarm event of a robot add-on device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the automatic recognition method for an alarm event of a robot add-on device according to any one of claims 1-6 is realized when the processor executes the computer program.
9. A robot comprising the robot additional equipment alarm event automatic recognition apparatus according to claim 8.
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| CN110376999A (en) * | 2019-07-15 | 2019-10-25 | 珠海格力智能装备有限公司 | Fault diagnosis method and device and demonstrator |
| CN114118453A (en) * | 2020-08-24 | 2022-03-01 | 南京南瑞继保电气有限公司 | Power grid multi-source alarm unified management and control and intelligent analysis method |
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|---|---|---|---|---|
| JPS62118402A (en) * | 1985-11-19 | 1987-05-29 | Fanuc Ltd | Control device for robot having alarm display function |
| US10403126B1 (en) * | 2012-07-31 | 2019-09-03 | Livewatch Security, Llc | Security alarm systems and methods |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110376999A (en) * | 2019-07-15 | 2019-10-25 | 珠海格力智能装备有限公司 | Fault diagnosis method and device and demonstrator |
| CN114118453A (en) * | 2020-08-24 | 2022-03-01 | 南京南瑞继保电气有限公司 | Power grid multi-source alarm unified management and control and intelligent analysis method |
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