Distributed collaborative debugging method and system for industrial robot

Abstract

The invention discloses a distributed collaborative debugging method and system for an industrial robot. The method comprises the steps that collaborative development nodes and industrial robot nodesare interconnected; a debugging agent is run on the collaborative development node, the symbol table information is analyzed, a debugging command and a debugging task are sent to a proxy server, and feedback information is obtained; a collaborative debugging agent operated by the proxy server receives and distributes a debugging command from the collaborative development node, initiates a debugging process, and returns an operation state of the target code on the industrial robot node; and the nodes which do not respond are removed, and the priorities of the remaining nodes are adjusted. According to the method and system, the problems of debugging task suspension, conflict and even interruption caused by resource sharing and mutual exclusion can be solved, differences of bottom software and hardware platforms of the industrial robots and debugging type differences are shielded, unified debugging interface styles and operations are achieved, collaborative debugging in a distributed multi-industrial-robot collaborative scene can be achieved, the application development period is shortened, and the product competitiveness of the robot industry in China is improved.

Description

technical field [0001] The invention belongs to the field of software development collaborative debugging, in particular to a distributed collaborative debugging method and system for industrial robots. Background technique [0002] At present, the application scenarios of distributed industrial robots are becoming more and more complex, and the scale of software is getting larger and larger. In an application scenario, there are industrial robots from multiple manufacturers to complete application tasks together. Therefore, during development and debugging, multiple collaborations are required. The development node performs collaborative debugging of multiple industrial robots at the same time. While multiple collaborative development nodes are concurrently debugged, the collaborative development node robot application needs to access the shared or mutually exclusive resources of the industrial robot controller, which may cause debugging task suspension, conflict or even in...

AI Technical Summary

Problems solved by technology

[0003] The current debugging method can solve the problem of debugging a single development node to a single industrial robot, but this debugging model cannot solve the problem of concurrent debugging of multiple collaborative development nodes; the debugging agent can have certain perception capabilities, such as the access and request of collaborative nodes, etc. , but for the concurrent debugging tasks of multiple collaborative development nodes, the data of different collaborative development nodes cannot be distinguished and processed, and the access to shared resources cannot be arbitrated. At the same time, the debugging agent cannot distinguish between multiple industrial robot resources and collaborative development nodes. Therefore, it is necessary to build a collaborative debugging agent to automatically assign an ID, a unique port number, and set permissions for each collaborative development node, and dynamically adjust it according to the target resource for debugging, so as to realize concurrent debugging of multiple collaborative nodes. Then realize the collaborative debugging function of industrial robots under limited resources

Images