Report generation method, device, robot and readable storage medium

Abstract

The present invention provides a report generation method, device, robot and readable storage medium. The report generation method comprises: obtaining predetermined information of the robot; determining the collision detection information and posture verification information of the robot according to the predetermined information; generating a detection report according to the collision detection information and posture verification information. The user can make targeted modifications and optimizations to the robot's predetermined information based on the problem nodes and causes of the problem displayed in the detection report. The user is saved from the complicated steps of repeatedly performing simulation operations on the simulation software, saving the time and energy spent by the user in repeatedly observing the simulation animation, thereby solving the technical problems of complex robot verification operations, low verification efficiency and poor user experience. Thus, the technical effect of improving verification efficiency and accuracy and providing convenient conditions for users is achieved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a report generating method, device, robot and readable storage medium. Background Art

[0002] In the related art, the process of simulating and verifying the robot program is a relatively repetitive process, which requires simulating the entire robot program, discovering program problems during the simulation, repairing the program, and re-simulating until the entire robot program can successfully complete the simulation without any errors or problems. However, this is a very time-consuming process, and users need to repeatedly observe the simulation animation to discover and fix problems, resulting in technical problems such as complex robot verification operations, low verification efficiency, and poor user experience.

[0003] Therefore, how to design a report generation method that can solve the above technical problems has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] To this end, a first aspect of the present invention proposes a report generating method.

[0006] A second aspect of the present invention provides a report generating device.

[0007] A third aspect of the present invention provides a robot.

[0008] A fourth aspect of the present invention provides a robot.

[0009] A fifth aspect of the present invention provides a readable storage medium.

[0010] In view of this, the first aspect of the present invention provides a report generation method, which includes: obtaining predetermined information of the robot; determining the collision detection information and posture verification information of the robot according to the predetermined information; and generating a detection report according to the collision detection information and posture verification information.

[0011] In the report generation method defined in the present invention, the report generation method is applied in the field of robot intelligence, and is used to generate a report for users to understand the status of the robot during the offline design of the robot and the robot simulation process. Specifically, the steps of the report generation method are as follows: the first step is to obtain predetermined information; the predetermined information is the predetermined working information of the robot to be verified, and the predetermined working information can reflect the state of the robot to be verified during the processing. The second step is to obtain the posture verification information and collision detection information of the robot to be verified through the predetermined information. Among them, the collision detection information can reflect whether the robot to be verified has a structural collision during the processing, and the structural collision includes the interference of the robot's own structure, the collision between the robot and the workpiece, and the collision between the tooling equipment clamped by the robot and the robot. The posture verification information is the verification result of the posture of the robot to be verified during the working process, which can reflect whether the robot posture exceeds the joint limit, whether the action point can be reached during the actual processing process, and whether there is a singular point. The third step is to generate a test report based on the posture verification information and the collision detection information. Among them, the test report can show whether the robot to be verified has a collision and the specific collision situation, and can also show whether the robot to be verified will have a posture that cannot be made and a processing point that cannot be reached during the working process. This allows users to intuitively obtain robot verification results through the generated test report.

[0012] In this regard, the present application defines this report generation method so that users can directly obtain a complete test report for the robot to be verified and its corresponding working process with the help of the report generation method. Users can make targeted modifications and optimizations to the robot's scheduled information based on the problem nodes and causes of the problem displayed in the test report. It eliminates the complicated steps of users repeatedly performing simulation operations on the simulation software, and saves the time and energy spent by users repeatedly observing the simulation animation process, thereby solving the technical problems of complex robot verification operations, low verification efficiency, and poor user experience. This achieves the technical effect of optimizing the report generation method, reducing the degree of human participation in the robot's scheduled information verification process, improving verification efficiency and accuracy, and providing convenient conditions for users.

[0013] In addition, the report generation method provided by the present invention may also have the following additional technical features:

[0014] In the above technical solution, the predetermined information includes the path of the robot and the status information corresponding to the path. The steps of determining the collision detection information and posture verification information of the robot according to the predetermined information specifically include: determining multiple path points on the path according to the path interpolation method; determining the collision detection information and posture verification information according to the status information corresponding to the path points.

[0015] In this technical solution, the types of information contained in the predetermined information are first limited. Specifically, the predetermined information includes the path information of the robot during the working process. The path information is used to reflect the movement trajectory of the end of the robot during the processing. When the robot is equipped with a tooling device, the path information is the movement trajectory of the working part of the tooling device, so as to reflect the complete robot processing action through the trajectory. The predetermined information also includes the state information corresponding to the path information. The state information refers to the working condition information corresponding to each path node during the working process of the robot, such as the posture information of the robot at the middle node of the trajectory, the endpoint position information, etc.

[0016] On this basis, the steps of how to obtain the posture verification information and collision detection information of the robot to be verified through predetermined information are described in detail. Specifically: In the first step, multiple path points are selected on the path, wherein the path points need to be determined according to the robot path interpolation rules during the selection process, and the resolution separation rules can also be used to assist in selecting multiple path points on the path. In the second step, according to the state information under each path point, the posture verification information and collision detection information corresponding to each path point are confirmed. After completing these two steps, multiple information groups can be obtained, each of which contains one-to-one corresponding path point information, posture verification information and collision detection information. Among them, in the process of executing the first step, the total number of intercepted path points on the path can be adjusted according to the actual needs of the user. Increasing the number of path points can enhance the accuracy of trajectory verification. Conversely, reducing the number of path points can speed up the verification efficiency on the basis of meeting the verification requirements of high-risk path segments. In addition, the distribution of path points on the path can also be further adjusted according to the needs of the user. For example, the user can increase the number of path points in the trajectory segment with a large robot motion amplitude to improve the precision of verification. By limiting the above steps, the processor can reduce the total verification workload on the basis of meeting the path verification requirements, thereby speeding up the verification efficiency of the predetermined information and reducing the amount of data processing in the verification process, thereby achieving the technical effect of optimizing the report generation method, increasing the report generation rate, and reducing the system processing burden.

[0017] In any of the above technical solutions, the step of generating a detection report based on the collision detection information and posture verification information specifically includes: associating and storing the identification of the path points and the collision detection information and posture verification information corresponding to the path points; and sorting the identification, collision detection information and posture verification information according to the extension direction of the path to obtain the detection report.

[0018] In this technical solution, it can be known from the above technical solution that after confirming the posture verification information and collision detection information corresponding to each path point one by one according to the status information under each path point, multiple information groups can be obtained, wherein each information group contains one-to-one corresponding path point information, posture verification information and collision detection information. On this basis, how to generate a test report based on posture verification information and collision detection information is described in detail. Specifically: the first step is to associate and store posture verification information, identification information that can reflect the position or serial number of the path point, and collision detection information. The second step is to sort and organize the associated stored posture verification information, path identification and collision detection information based on the direction of travel of the robot on the path to generate a test report. By limiting the above-mentioned associated storage step and sorting generation step, the processor can obtain a test report corresponding to the order of movement of the robot after determining the posture verification information, trajectory identification and collision detection information required for the test report, so that the user can intuitively confirm the approximate position of the problem path point on the total path according to the sorting of the information on the test report, thereby providing convenient conditions for the user to quickly locate the fault path point and repair the fault. This can optimize the report generation method, improve the practicality and reliability of the test report, and enhance the user experience.

[0019] In any of the above technical solutions, the state information includes the robot's posture information, tooling information, first position information and first structure information, and also includes the workpiece's second position information and second structure information. The step of determining the collision detection information and posture verification information based on the state information corresponding to the path point specifically includes: determining the collision detection information and posture verification information based on the posture information, tooling information, first position information, first structure information, second position information and second structure information corresponding to the path point.

[0020] In this technical solution, the information categories contained in the status information are described in detail. Specifically, the status information includes the second structural information and the second position information corresponding to the workpiece to be processed, and also includes the posture information corresponding to the robot to be verified at each path point, and the first structural information and the first position information corresponding to the robot to be verified. It also includes the tooling information of the tooling equipment clamped by the robot to be verified. Among them, the first position information and the second position information can be used to determine the relative position of the robot to be verified and the workpiece to be processed. The first structural information is used to reflect the specific structure of the robot, such as the number of axes, the length of each arm, the rotation angle range, etc. The second structural information is the initial shape information and the target shape information of the workpiece to be processed, which is used to plan the processing path of the robot and verify whether the robot structure will collide with the workpiece.

[0021] On this basis, taking the direction of the robot on the path as a reference, it is explained how to confirm the posture verification information and collision detection information corresponding to each path point one by one according to the state information under each path point. Specifically, the second structure information, second position information, posture information, first structure information, tooling information and first position information corresponding to each path point are processed respectively to obtain the posture verification information and collision detection information corresponding to each path point. By introducing the second structure information, second position information, posture information, first structure information, tooling information and first position information corresponding to each path point in the information processing process, the processor can accurately determine whether the robot will collide with the workpiece and whether the predetermined posture of the robot at each path point exceeds the movement range limit of the robot itself with the help of the above information. Thereby improving the accuracy and reliability of the determined posture verification information and collision detection information. Then, the technical effect of optimizing the report generation method and improving the practicality and reliability of the robot detection report is achieved.

[0022] In any of the above technical solutions, the tooling information includes tooling type information and tooling status information.

[0023] In this technical solution, the tooling information is described in detail. Specifically, the robot is equipped with tooling equipment, so that the corresponding process is completed by moving the tooling equipment. In this regard, the tooling information includes tooling type information and tooling state information. The tooling type information corresponds to the type of tooling equipment. For example, the tooling type information can be a welding gun and the model of the welding gun, a spray gun and the corresponding model, etc. On this basis, the tooling information also includes tooling state information corresponding to the tooling type information, such as whether the welding gun is currently in an open state or a closed state, and the pressure angle of the welding head of the welding gun, the nozzle currently selected by the spray gun, etc. Among them, the tooling state information is compensation information based on the tooling type information. For some tooling equipment that will not move relative to the robot during the processing process, the tooling state information can be set to a threshold that does not affect the judgment result. In this regard, by introducing the tooling type information, the processor can obtain accurate and reliable collision detection information and posture verification information according to the tooling shape state corresponding to the tooling type information. On this basis, further introducing the tooling state information corresponding to the tooling equipment can further enhance the accuracy and reliability of the final report. This will achieve the technical effect of optimizing the report generation method, improving the practicality and reliability of the detection report, and reducing the robot's working failure rate.

[0024] In any of the above technical solutions, the step of determining the robot's collision detection information and posture verification information based on predetermined information specifically includes: obtaining a robot simulation program; determining event information based on the robot simulation program and predetermined information; and determining corresponding collision detection information and posture verification information based on the event information.

[0025] In this technical solution, another method for generating posture verification information and collision detection information is proposed, and the specific steps are as follows: the first step is to call the robot simulation program from the robot offline programming program. The robot simulation program can simulate the robot action according to the predetermined data, and the robot simulation data can output the robot simulation working parameters and the robot simulation animation, so that the user can intuitively obtain the robot working condition. The second step is to enter the predetermined information into the robot simulation program to determine the event information in the simulation process through the robot simulation program. This step is to enter the predetermined information into the robot simulation program so as to directly obtain the simulation result through the robot simulation program. The third step is to process the event information to obtain the collision detection information and posture verification information corresponding to the event information. The event information corresponds to the error events and high-risk events that occur during the simulation process, which covers collision events and posture overtravel events. The present application can obtain the posture verification information and collision detection information used to generate the detection report by processing the event information. By calling the robot simulation program to process event information, the simulation animation follow-up simulation process can be abolished to generate event information that can reflect all problems in the entire simulation process, eliminating the need for users to perform multiple repairs and repeated simulations, saving the time and energy spent on repeatedly observing the simulation animation, thereby solving the technical problems of complex robot verification operations, low verification efficiency, and poor user experience. This has achieved the technical effect of optimizing the report generation method, reducing the degree of human participation in the robot's predetermined information verification process, improving verification efficiency and accuracy, and providing convenient conditions for users.

[0026] In any of the above technical solutions, the event information includes the time information of the event occurrence, and the step of generating a detection report based on the collision detection information and the posture verification information specifically includes: associating and storing the time information of the event information, and the collision detection information and posture verification information corresponding to the event information; and sorting the event information, collision detection information and posture verification information according to the sequence of the time information to obtain a detection report.

[0027] In this technical solution, the event information includes event information of a certain event, which is used to identify the time node of the corresponding event. On this basis, the step of generating a test report based on posture verification information and collision detection information is described in detail. Specifically: the first step is to associate and store posture verification information, time information that can reflect the time point of event occurrence, and collision detection information. The second step is to sort and organize the associated stored posture verification information, event information, and collision detection information according to the order of event occurrence based on the time axis of the simulation process to generate a test report. By limiting the above-mentioned associated storage step and sorting generation step, the processor can obtain a test report corresponding to the order of robot movement after determining the posture verification information, trajectory identification, and collision detection information required for the test report, so that the user can intuitively confirm the approximate position of the problem path point on the total path according to the order of information on the test report, thereby providing convenient conditions for users to quickly locate the fault path point and repair the fault. Then, the report generation method is optimized, the practicality and reliability of the test report are improved, and the technical effect of improving the user experience is achieved.

[0028] In any of the above technical solutions, the step of generating a detection report based on collision detection information and posture verification information specifically includes: determining graphic information corresponding to event information through a robot simulation program; and generating a detection report based on the graphic information, collision detection information and posture verification information.

[0029] In this technical solution, the step of generating a test report based on posture verification information and collision detection information is described in detail. Specifically: In the first step, robot simulation graphic information corresponding to the event information is obtained according to the robot simulation program. The graphic information can show the posture and position of the robot, as well as the position and shape of the workpiece at the event point where the corresponding event occurs. In the second step, the posture verification information, graphic information and collision detection information are processed to obtain a test report. By introducing graphic information into the generation process of the test report, the user can observe the simulated image under each fault event in the test report. Thereby, the user can intuitively judge the location and cause of the fault based on the image, and provide convenient conditions for the user to modify the predetermined information according to the fault. Thereby, the technical effect of optimizing the report generation method, improving the practicality and reliability of the test report, and improving the user experience is achieved.

[0030] In any of the above technical solutions, the report generation method also includes: generating a simulation animation according to the robot simulation program and predetermined information; and playing the simulation animation.

[0031] In this technical solution, after generating the detection report, the processor determines the simulation animation corresponding to the predetermined information according to the predetermined information and the robot simulation program. Thereafter, the simulation animation is played so that the user can intuitively understand the entire simulation process by watching the simulation animation. Among them, the simulation animation can show the actions of the robot during the working process, and can also show the shape changes of the workpiece during the processing process. By calling the robot simulation program to generate the simulation animation and displaying the simulation animation, the user can match the detection report with the simulation animation to accurately grasp the faults that occur during the robot simulation process, and quickly determine the corresponding fault solution from the action. Then, the technical effect of optimizing the report generation method, improving the practicality of the report generation method, and providing convenient conditions for users is achieved.

[0032] In any of the above technical solutions, the step of obtaining the predetermined information of the robot specifically includes: obtaining a detection instruction, and obtaining the predetermined information of the robot based on the detection instruction.

[0033] In this technical solution, the steps of obtaining the predetermined information are described in detail. Specifically, the detection instruction of the robot to be verified is first obtained according to the user operation, and then the predetermined information of the corresponding robot is obtained according to the detection instruction. For example, when multiple robots are set in the workspace, the processor can use the robot selected by the user as the robot to be verified and extract the predetermined information of the robot to be verified. Thereafter, a detection report corresponding to the robot can be generated by processing the obtained predetermined information. Thereby, the technical effect of optimizing the report generation method and providing convenient conditions for users is achieved.

[0034] In any of the above technical solutions, the report generating method further includes: displaying the test report, and uploading the test report to a server.

[0035] In this technical solution, after generating a test report based on the posture verification information and the collision detection information, the test report is uploaded to the server and displayed. This allows the user to intuitively obtain the information contained in the test report through observation, and facilitates the user to correct the robot's predetermined information according to the test report to solve the problems existing in the predetermined information. Uploading the test report to the server can facilitate the user to call the generated display report in the subsequent work process, and provide a reference for the user to edit the robot's predetermined information in the subsequent work process. This achieves the technical effect of optimizing the report generation method and improving the user experience.

[0036] The second aspect of the present invention provides a report generating device, which includes: an acquisition unit for acquiring predetermined information of a robot; a determination unit for determining the collision detection information and posture verification information of the robot based on the predetermined information; and a generation unit for generating a detection report based on the collision detection information and posture verification information.

[0037] In the technical solution, the report generating device is applied in the field of robot intelligence, and is used to generate a report for users to understand the status of the robot. Specifically, the report generating device includes: an acquisition unit, which is used to acquire predetermined information; the predetermined information is the predetermined working information of the robot to be verified, and the predetermined working information can reflect the status of the robot to be verified during the processing. A determination unit, which is used to obtain the posture verification information and collision detection information of the robot to be verified through the predetermined information. Among them, the collision detection information can reflect whether the robot to be verified has a structural collision during the processing, and the structural collision includes the interference of the robot's own structure, the collision between the robot and the workpiece, and the collision between the tooling equipment clamped by the robot and the robot. The posture verification information is the verification result of the posture of the robot to be verified during the working process, which can reflect whether the robot posture exceeds the joint limit, whether the action point can be reached during the actual processing process, and whether there is a singular point. A generation unit, which is used to generate a detection report based on the posture verification information and the collision detection information. Among them, the detection report can show whether the robot to be verified has a collision and the specific collision situation, and can also show whether the robot to be verified has a posture that cannot be made and a processing point that cannot be reached during the working process. This allows users to intuitively obtain robot verification results through the generated test report.

[0038] In this regard, the present application defines this report generating device so that users can directly obtain a complete test report for the robot to be verified and its corresponding working process with the help of the report generating device. Users can make targeted modifications and optimizations to the robot's predetermined information based on the problem nodes and causes of the problem displayed in the test report. It eliminates the complicated steps of users repeatedly performing simulation operations on the simulation software, and saves the time and energy spent by users repeatedly observing the simulation animation process, thereby solving the technical problems of complex robot verification operations, low verification efficiency, and poor user experience. This achieves the technical effect of optimizing the report generating device, reducing the degree of human participation in the robot's predetermined information verification process, improving verification efficiency and accuracy, and providing convenient conditions for users.

[0039] A third aspect of the present invention provides a robot, comprising: the report generating device in the above technical solution.

[0040] In this technical solution, a robot provided with the report generating device in the above technical solution is provided. Before controlling the robot to process a workpiece, the user can verify the predetermined information of the robot on the report generating device to obtain a detection report including the robot collision detection result and the robot posture verification result. Thus, the error information in the predetermined information can be corrected in advance before controlling the robot to perform processing, so as to avoid malfunction of the robot during the actual processing process.

[0041] Furthermore, by setting up this report generation device in the robot, the application saves the user from the complicated steps of repeatedly performing simulation operations on the simulation software, and saves the user's time and energy spent on repeatedly observing the simulation animation, thereby solving the technical problems of complex robot verification operations, low verification efficiency, and poor user experience. This has achieved the technical effect of optimizing the robot structure, reducing the degree of human involvement in the robot's predetermined information verification process, improving verification efficiency and accuracy, and providing convenient conditions for users.

[0042] A fourth aspect of the present invention provides a robot, comprising: a memory on which programs or instructions are stored; and a processor configured to implement the steps of the report generation method in any of the above technical solutions when executing the programs or instructions.

[0043] In this technical solution, a robot is defined, and a processor and a memory are provided on the robot, and the memory is used to store programs or instructions. The processor is connected to the memory, and is used to call and execute the program or instructions stored in the memory to implement the steps of the report generation method defined in any of the above technical solutions. Therefore, the robot has all the advantages of the report generation method in any of the above technical solutions, and can achieve the technical effects achieved by the report generation method in any of the above technical solutions. To avoid repetition, it will not be repeated here.

[0044] A fifth aspect of the present invention provides a readable storage medium having a program or instruction stored thereon, which, when executed by a processor, implements the steps of the report generation method in any of the above technical solutions.

[0045] In this technical solution, a readable storage medium is defined, on which a processor and a memory are provided, and the memory is used to store programs or instructions. The processor is connected to the memory, and is used to call and execute the program or instructions stored in the memory to implement the steps of the report generation method defined in any of the above technical solutions. Therefore, the readable storage medium has all the advantages of the report generation method in any of the above technical solutions, and can achieve the technical effects achieved by the report generation method in any of the above technical solutions. To avoid repetition, it will not be repeated here.

[0046] Additional aspects and advantages of the present invention will become apparent from the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0048] Figure 1One of the flowcharts of the report generating method according to one embodiment of the present invention is shown;

[0049] Figure 2 A second flow chart of a report generating method according to an embodiment of the present invention is shown;

[0050] Figure 3 A third flowchart of a report generating method according to an embodiment of the present invention is shown;

[0051] Figure 4 A fourth flowchart of a report generating method according to an embodiment of the present invention is shown;

[0052] Figure 5 A fifth flowchart of a report generating method according to an embodiment of the present invention is shown;

[0053] Figure 6 A sixth flowchart of a report generating method according to an embodiment of the present invention is shown;

[0054] Figure 7 FIG7 shows a flow chart of a report generating method according to an embodiment of the present invention;

[0055] Figure 8 A structural block diagram of a report generating device according to an embodiment of the present invention is shown;

[0056] Fig. 9 A structural block diagram of a robot according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0057] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0058] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0059] Refer to the following Figures 1 to 9 A report generating method, apparatus, robot and readable storage medium according to some embodiments of the present invention are described.

[0060] Embodiment 1

[0061] like Figure 1As shown, in a first aspect of the present invention, an embodiment provides a report generation method, the report generation method comprising:

[0062] Step 102, obtaining reservation information;

[0063] Step 104, obtaining the posture verification information and collision detection information of the robot to be verified through the predetermined information;

[0064] Step 106: Generate a detection report based on the posture verification information and the collision detection information.

[0065] In this embodiment, the report generation method is applied in the field of robot intelligence, and is used to generate a report for users to understand the status of the robot during the offline design of the robot and the robot simulation process. Specifically, the steps of the report generation method are as follows: the first step is to obtain predetermined information; the predetermined information is the predetermined working information of the robot to be verified, and the predetermined working information can reflect the state of the robot to be verified during the processing. The second step is to obtain the posture verification information and collision detection information of the robot to be verified through the predetermined information. Among them, the collision detection information can reflect whether the robot to be verified has a structural collision during the processing, and the structural collision includes the interference of the robot's own structure, the collision between the robot and the workpiece, and the collision between the tooling equipment and the robot. The posture verification information is the verification result of the posture of the robot to be verified during the working process, which can reflect whether the robot posture exceeds the joint limit, whether the action point can be reached during the actual processing process, and whether there is a singular point. The third step is to generate a test report based on the posture verification information and the collision detection information. Among them, the test report can show whether the robot to be verified has a collision and the specific collision situation, and can also show whether the robot to be verified will have a posture that cannot be made and a processing point that cannot be reached during the working process. This allows users to intuitively obtain robot verification results through the generated test report.

[0066] In this regard, the present application defines this report generation method so that users can directly obtain a complete test report for the robot to be verified and its corresponding working process with the help of the report generation method. Users can make targeted modifications and optimizations to the robot's scheduled information based on the problem nodes and causes of the problem displayed in the test report. It eliminates the complicated steps of users repeatedly performing simulation operations on the simulation software, and saves the time and energy spent by users repeatedly observing the simulation animation process, thereby solving the technical problems of complex robot verification operations, low verification efficiency, and poor user experience. This achieves the technical effect of optimizing the report generation method, reducing the degree of human participation in the robot's scheduled information verification process, improving verification efficiency and accuracy, and providing convenient conditions for users.

[0067] Embodiment 2

[0068] like Figure 2 As shown, in the embodiment of the second aspect of the present invention, the predetermined information includes the path information of the robot during the working process, and the steps of obtaining the posture verification information and the collision detection information of the robot to be verified through the predetermined information specifically include:

[0069] Step 202, selecting a plurality of path points on the path;

[0070] Step 204, based on the status information of each path point, confirm the posture verification information and collision detection information corresponding to each path point one by one.

[0071] In this embodiment, the information type included in the predetermined information is first limited. Specifically, the predetermined information includes the path information of the robot during the working process. The path information is used to reflect the movement trajectory of the end of the robot during the processing. When the robot is equipped with a tooling device, the path information is the movement trajectory of the working part of the tooling device, so as to reflect the complete robot processing action through the trajectory. The predetermined information also includes the state information corresponding to the path information. The state information refers to the working condition information corresponding to each path node during the working process of the robot, such as the posture information of the robot at the middle node of the trajectory, the endpoint position information, etc.

[0072] On this basis, the steps of how to obtain the posture verification information and collision detection information of the robot to be verified through predetermined information are described in detail. Specifically: In the first step, multiple path points are selected on the path, wherein the path points need to be determined according to the robot path interpolation rules during the selection process, and the resolution separation rules can also be used to assist in selecting multiple path points on the path. In the second step, according to the state information under each path point, the posture verification information and collision detection information corresponding to each path point are confirmed. After completing these two steps, multiple information groups can be obtained, each of which contains one-to-one corresponding path point information, posture verification information and collision detection information. Among them, in the process of executing the first step, the total number of intercepted path points on the path can be adjusted according to the actual needs of the user. Increasing the number of path points can enhance the accuracy of trajectory verification. Conversely, reducing the number of path points can speed up the verification efficiency on the basis of meeting the verification requirements of high-risk path segments. In addition, the distribution of path points on the path can also be further adjusted according to the needs of the user. For example, the user can increase the number of path points in the trajectory segment with a large robot motion amplitude to improve the precision of verification. By limiting the above steps, the processor can reduce the total verification workload on the basis of meeting the path verification requirements, thereby speeding up the verification efficiency of the predetermined information and reducing the amount of data processing in the verification process, thereby achieving the technical effect of optimizing the report generation method, increasing the report generation rate, and reducing the system processing burden.

[0073] Embodiment 3

[0074] like Figure 3 As shown, in an embodiment of the third aspect of the present invention, the step of generating a detection report based on posture verification information and collision detection information specifically includes:

[0075] Step 302, associating and storing the posture verification information, the identification information that can reflect the location or serial number of the waypoint, and the collision detection information;

[0076] Step 304, based on the direction of travel of the robot on the path, the associated stored posture verification information, path identification and collision detection information are sorted and organized to generate a detection report.

[0077] In this embodiment, it can be seen from the above embodiments that after confirming the posture verification information and collision detection information corresponding to each path point one by one according to the status information under each path point, multiple information groups can be obtained, wherein each information group contains one-to-one corresponding path point information, posture verification information and collision detection information. On this basis, how to generate a test report based on posture verification information and collision detection information is described in detail. Specifically: the first step is to associate and store posture verification information, identification information that can reflect the position or serial number of the path point, and collision detection information. The second step is to sort and organize the associated stored posture verification information, path identification and collision detection information based on the direction of travel of the robot on the path to generate a test report. By limiting the above-mentioned associated storage step and sorting generation step, the processor can obtain a test report corresponding to the order of movement of the robot after determining the posture verification information, trajectory identification and collision detection information required for the test report, so that the user can intuitively confirm the approximate position of the problem path point on the total path according to the sorting of the information on the test report, thereby providing convenient conditions for the user to quickly locate the fault path point and repair the fault. This can optimize the report generation method, improve the practicality and reliability of the test report, and enhance the user experience.

[0078] Embodiment 4

[0079] In the fourth aspect of the present invention, the state information includes the second structural information and the second position information corresponding to the workpiece to be processed, and also includes the posture information corresponding to the robot to be verified at each path point, and the first structural information and the first position information corresponding to the robot to be verified. It also includes the tooling information clamped by the robot to be verified. According to the state information under each path point, the steps of confirming the posture verification information and collision detection information corresponding to each path point one by one specifically include:

[0080] The second structure information, second position information, posture information, first structure information, tooling information and first position information corresponding to each path point are processed respectively to obtain posture verification information and collision detection information corresponding to each path point.

[0081] In this embodiment, the information categories contained in the status information are described in detail. Specifically, the status information includes the second structural information and the second position information corresponding to the workpiece to be processed, and also includes the posture information corresponding to the robot to be verified at each path point, and the first structural information and the first position information corresponding to the robot to be verified. It also includes the tooling information clamped by the robot to be verified. Among them, the first position information and the second position information can be used to determine the relative position of the robot to be verified and the workpiece to be processed. The first structural information is used to reflect the specific structure of the robot, such as the number of axes, the length of each arm, the rotation angle range, etc. The second structural information is the initial shape information and the target shape information of the workpiece to be processed, which is used to plan the processing path of the robot and verify whether the robot structure will collide with the workpiece.

[0082] On this basis, taking the direction of the robot on the path as a reference, it is explained how to confirm the posture verification information and collision detection information corresponding to each path point one by one according to the state information under each path point. Specifically, the second structure information, second position information, posture information, first structure information, tooling information and first position information corresponding to each path point are processed respectively to obtain the posture verification information and collision detection information corresponding to each path point. By introducing the second structure information, second position information, posture information, first structure information, tooling information and first position information corresponding to each path point in the information processing process, the processor can accurately determine whether the robot will collide with the workpiece and whether the predetermined posture of the robot at each path point exceeds the movement range limit of the robot itself with the help of the above information. Thereby improving the accuracy and reliability of the determined posture verification information and collision detection information. Then, the technical effect of optimizing the report generation method and improving the practicality and reliability of the robot detection report is achieved.

[0083] Embodiment 5

[0084] In an embodiment of the fifth aspect of the present invention, the tooling information includes tooling type information and tooling status information.

[0085] In this embodiment, the tooling information is described in detail. Specifically, the robot is equipped with a tooling device, so that the corresponding process is completed by moving the tooling device. In this regard, the tooling information includes tooling type information and tooling state information. The tooling type information corresponds to the type of tooling equipment. For example, the tooling type information can be a welding gun and the model of the welding gun, a spray gun and the corresponding model, etc. On this basis, the tooling information also includes tooling state information corresponding to the tooling type information, such as whether the welding gun is currently in an open state or a closed state, and the pressure angle of the welding head of the welding gun, the nozzle currently selected by the spray gun, etc. Among them, the tooling state information is compensation information based on the tooling type information. For some tooling equipment that will not move relative to the robot during the processing process, the tooling state information can be set to a threshold that does not affect the judgment result. In this regard, by introducing the tooling type information, the processor can obtain accurate and reliable collision detection information and posture verification information according to the tooling shape state corresponding to the tooling type information. On this basis, further introducing the tooling state information corresponding to the tooling equipment can further enhance the accuracy and reliability of the final report. This will achieve the technical effect of optimizing the report generation method, improving the practicality and reliability of the detection report, and reducing the robot's working failure rate.

[0086] Embodiment 6

[0087] like Figure 4 As shown, in the sixth embodiment of the present invention, the step of obtaining the posture verification information and collision detection information of the robot to be verified through predetermined information specifically includes:

[0088] Step 402, calling the robot simulation program from the robot offline programming program;

[0089] Step 404, inputting the predetermined information into the robot simulation program, so as to determine the event information in the simulation process through the robot simulation program;

[0090] Step 406: Process the event information to obtain collision detection information and posture verification information corresponding to the event information.

[0091] In this embodiment, another method for generating posture verification information and collision detection information is proposed, and the specific steps are as follows: the first step is to call the robot simulation program from the robot offline programming program. The robot simulation program can simulate the robot action according to the predetermined data, and the robot simulation data can output the robot simulation working parameters and the robot simulation animation, so that the user can intuitively obtain the robot working condition. The second step is to enter the predetermined information into the robot simulation program to determine the event information in the simulation process through the robot simulation program. This step is to enter the predetermined information into the robot simulation program so as to directly obtain the simulation result through the robot simulation program. The third step is to process the event information to obtain the collision detection information and posture verification information corresponding to the event information. The event information corresponds to the error events and high-risk events that occur during the simulation process, which covers collision events and posture overtravel events. The present application can obtain the posture verification information and collision detection information used to generate the detection report by processing the event information. By calling the robot simulation program to process event information, the simulation animation follow-up simulation process can be abolished to generate event information that can reflect all problems in the entire simulation process, eliminating the need for users to perform multiple repairs and repeated simulations, saving the time and energy spent on repeatedly observing the simulation animation, thereby solving the technical problems of complex robot verification operations, low verification efficiency, and poor user experience. This has achieved the technical effect of optimizing the report generation method, reducing the degree of human participation in the robot's predetermined information verification process, improving verification efficiency and accuracy, and providing convenient conditions for users.

[0092] Embodiment 7

[0093] like Figure 5 As shown, in the embodiment of the seventh aspect of the present invention, the step of generating a detection report based on the posture verification information and the collision detection information specifically includes:

[0094] Step 502, associating and storing the posture verification information, the time information that can reflect the time point of the event occurrence, and the collision detection information;

[0095] Step 504, based on the timeline of the simulation process, the associated stored posture verification information, event information and collision detection information are sorted and organized according to the order in which the events occur, so as to generate a detection report.

[0096] In this embodiment, the event information includes event information of a certain event, which is used to identify the time node of the corresponding event. On this basis, the step of generating a test report based on the posture verification information and the collision detection information is described in detail. Specifically: the first step is to associate and store the posture verification information, the time information that can reflect the time point of the event, and the collision detection information. The second step is to sort and organize the associated stored posture verification information, event information, and collision detection information according to the order of the events, based on the time axis of the simulation process, to generate a test report. By limiting the above-mentioned associated storage step and the sorting generation step, the processor can obtain a test report corresponding to the order of the robot's movement after determining the posture verification information, trajectory identification, and collision detection information required for the test report, so that the user can intuitively confirm the approximate position of the problem path point on the total path according to the order of the information on the test report, thereby providing convenient conditions for the user to quickly locate the fault path point and repair the fault. Then, the report generation method is optimized, the practicality and reliability of the test report are improved, and the technical effect of improving the user's experience is achieved.

[0097] Embodiment 8

[0098] like Figure 6 As shown, in an embodiment of the eighth aspect of the present invention, the step of generating a detection report based on the posture verification information and the collision detection information specifically includes:

[0099] Step 602, obtaining robot simulation graphic information corresponding to the event information according to the robot simulation program;

[0100] Step 604, processing the posture verification information, graphic information and collision detection information to obtain a detection report.

[0101] In this embodiment, the step of generating a test report based on posture verification information and collision detection information is described in detail. Specifically: In the first step, robot simulation graphic information corresponding to the event information is obtained according to the robot simulation program. The graphic information can show the posture and position of the robot, as well as the position and shape of the workpiece at the event point where the corresponding event occurs. In the second step, the posture verification information, graphic information and collision detection information are processed to obtain a test report. By introducing graphic information into the generation process of the test report, the user can observe the simulated image under each fault event in the test report. Thereby, the user can intuitively judge the location and cause of the fault according to the image, and provide convenient conditions for the user to modify the predetermined information according to the fault. Thereby, the technical effect of optimizing the report generation method, improving the practicality and reliability of the test report, and improving the user experience is achieved.

[0102] Embodiment 9

[0103] like Figure 7 As shown, in an embodiment of the ninth aspect of the present invention, the report generating method further comprises:

[0104] Step 702, determining a simulation animation corresponding to the predetermined information according to the predetermined information and the robot simulation program;

[0105] Step 704, play the simulation animation.

[0106] In this embodiment, after generating the detection report, the processor determines the simulation animation corresponding to the predetermined information according to the predetermined information and the robot simulation program. Thereafter, the simulation animation is played so that the user can intuitively understand the entire simulation process by watching the simulation animation. Among them, the simulation animation can show the actions of the robot during the working process, and can also show the shape changes of the workpiece during the processing process. By calling the robot simulation program to generate the simulation animation and displaying the simulation animation, the user can match the detection report with the simulation animation to accurately control the faults that occur during the robot simulation process, and quickly determine the corresponding fault solution from the action. Then the technical effect of optimizing the report generation method, improving the practicality of the report generation method, and providing convenient conditions for users is achieved.

[0107] Embodiment 10

[0108] In the tenth aspect of the embodiment of the present invention, the step of obtaining predetermined information specifically includes: obtaining a detection instruction, and obtaining the predetermined information of the robot based on the detection instruction.

[0109] In this embodiment, the steps of obtaining the predetermined information are described in detail. Specifically, the detection instruction of the robot to be verified is first obtained according to the user operation, and then the predetermined information of the corresponding robot is obtained according to the detection instruction. For example, when multiple robots are set in the workspace, the processor can use the robot selected by the user as the robot to be verified and extract the predetermined information of the robot to be verified. Thereafter, a detection report corresponding to the robot can be generated by processing the obtained predetermined information. Thereby, the technical effect of optimizing the report generation method and providing convenient conditions for users is achieved.

[0110] Embodiment 11

[0111] In an eleventh embodiment of the present invention, the report generating method further includes: uploading the detection report to a server and displaying the detection report.

[0112] In this embodiment, after generating a test report based on the posture verification information and the collision detection information, the test report is uploaded to the server and displayed. This allows the user to intuitively obtain the information contained in the test report through observation, and facilitates the user to modify the robot's predetermined information according to the test report to solve the problems existing in the predetermined information. Uploading the test report to the server can facilitate the user to call the generated display report in the subsequent work process, and provide a reference for the user to edit the robot's predetermined information in the subsequent work process. This achieves the technical effect of optimizing the report generation method and improving the user experience.

[0113] Embodiment 12

[0114] like Figure 8 As shown, the twelfth embodiment of the present invention provides a report generating device 800, and the report generating device 800 includes: an acquiring unit 802, used to acquire predetermined information; a determining unit 804, used to obtain the posture verification information and collision detection information of the robot to be verified through the predetermined information; a generating unit 806, used to generate a detection report based on the posture verification information and the collision detection information.

[0115] In this embodiment, the report generating device 800 is applied in the field of robot intelligence, and is used to generate a report for users to understand the status of the robot. Specifically, the report generating device 800 includes: an acquisition unit 802, the acquisition unit 802 is used to acquire predetermined information; the predetermined information is the predetermined working information of the robot to be verified, and the predetermined working information can reflect the state of the robot to be verified during the processing. A determination unit 804, the determination unit 804 is used to obtain the posture verification information and collision detection information of the robot to be verified through the predetermined information. Among them, the collision detection information can reflect whether the robot to be verified has a structural collision during the processing, and the structural collision includes the interference of the robot's own structure, the collision between the robot and the workpiece, and the collision between the tooling equipment and the robot. The posture verification information is the verification result of the posture of the robot to be verified during the working process, which can reflect whether the robot posture exceeds the joint limit, whether the action point can be reached during the actual processing process, and whether there is a singularity. A generation unit 806, the generation unit 806 is used to generate a detection report based on the posture verification information and the collision detection information. The test report can show whether the robot to be verified has collided and the specific collision situation, and whether the robot to be verified has any postures that cannot be made and processing points that cannot be reached during the working process. Thus, users can intuitively obtain the robot verification results through the generated test report.

[0116] In this regard, the present application limits this report generating device 800 so that the user can directly obtain a complete test report for the robot to be verified and its corresponding working process with the help of the report generating device 800. The user can make targeted modifications and optimizations to the robot's predetermined information based on the problem nodes and causes of the problem displayed in the test report. It eliminates the complicated steps of users repeatedly performing simulation operations on the simulation software, and saves the time and energy spent by users repeatedly observing the simulation animation process, thereby solving the technical problems of complex robot verification operations, low verification efficiency, and poor user experience. This achieves the technical effect of optimizing the report generating device 800, reducing the degree of human participation in the process of verifying the robot's predetermined information, improving verification efficiency and accuracy, and providing convenient conditions for users.

[0117] Embodiment 13

[0118] A thirteenth aspect of the present invention provides a robot, the robot comprising: the report generating device in the above embodiment.

[0119] In this embodiment, a robot provided with the report generating device in the above embodiment is provided. Before controlling the robot to process a workpiece, the user can verify the predetermined information of the robot on the report generating device to obtain a detection report including the robot collision detection result and the robot posture verification result. Thus, the error information in the predetermined information can be corrected in advance before controlling the robot to perform processing, so as to avoid malfunction of the robot during the actual processing process.

[0120] Furthermore, by setting up this report generation device in the robot, the application saves the user from the complicated steps of repeatedly performing simulation operations on the simulation software, and saves the user's time and energy spent on repeatedly observing the simulation animation, thereby solving the technical problems of complex robot verification operations, low verification efficiency, and poor user experience. This has achieved the technical effect of optimizing the robot structure, reducing the degree of human involvement in the robot's predetermined information verification process, improving verification efficiency and accuracy, and providing convenient conditions for users.

[0121] Embodiment 14

[0122] like Fig. 9 As shown, the fourteenth embodiment of the present invention provides a robot 900, which includes: a memory 902 on which programs or instructions are stored; a processor 904, which is configured to implement the steps of the report generation method in any of the above embodiments when executing the programs or instructions.

[0123] In this embodiment, a robot 900 is defined, and a processor 904 and a memory 902 are provided on the robot 900, and the memory 902 is used to store programs or instructions. The processor 904 is connected to the memory 902, and is used to call and execute the program or instructions stored in the memory 902 to implement the steps of the report generation method defined in any of the above embodiments. Therefore, the robot 900 has all the advantages of the report generation method in any of the above embodiments, and can achieve the technical effects achieved by the report generation method in any of the above embodiments. To avoid repetition, it will not be repeated here.

[0124] Embodiment 15

[0125] A fifteenth aspect of the present invention provides a readable storage medium having programs or instructions stored thereon, which, when executed by a processor, implement the steps of the report generation method in any of the above embodiments.

[0126] In this embodiment, a readable storage medium is defined, on which a processor and a memory are provided, and the memory is used to store programs or instructions. The processor is connected to the memory, and is used to call and execute the program or instructions stored in the memory to implement the steps of the report generation method defined in any of the above embodiments. Therefore, the readable storage medium has all the advantages of the report generation method in any of the above embodiments, and can achieve the technical effects achieved by the report generation method in any of the above embodiments. To avoid repetition, it will not be repeated here.

[0127] Embodiment 16

[0128] In a specific embodiment of the present invention, an application plug-in applicable to a robot offline programming program is provided. The application plug-in is used in conjunction with the offline programming software platform used to implement the report generation method in any of the above embodiments on the offline programming program.

[0129] For example, the above-mentioned application plug-in can be applied in KUKA.Sim offline programming software. After the user runs the application plug-in in the offline programming software, the user can quickly verify the reservation information of the currently selected robot or the reservation information of all robots in the currently active file by clicking a single button to generate a robot detection report in a web page format, thereby improving the efficiency of the robot program verification process.

[0130] The application plug-in can also be used in offline programming software. After running the application plug-in in the offline programming software, a custom command can be created. A single command button can be clicked to perform collision detection verification on the robot's scheduled information to be detected, and a robot detection report in Excel format can be generated. Users can quickly locate program problems, as well as the robots and workpieces or tooling equipment involved according to the report. This improves the efficiency of the robot's scheduled information verification process, and can save more than 90% of time compared to the method of verifying the robot's scheduled information by playing simulation animations in related technologies.

[0131] In the description of the present invention, the term "plurality" refers to two or more than two. Unless otherwise clearly defined, the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship described in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention. The terms "connection", "installation", "fixation", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0132] In the description of the present invention, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In the present invention, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0133] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A report generation method, characterized in that: include: Get the robot's reservation information; Determining collision detection information and posture verification information of the robot according to the predetermined information; Generate a detection report based on the collision detection information and the posture verification information; The predetermined information includes the path of the robot and state information corresponding to the path, and the step of determining the collision detection information and posture verification information of the robot according to the predetermined information specifically includes: determining a plurality of path points on the path according to a path interpolation method; Determine the collision detection information and the posture verification information according to the state information corresponding to the path point; The state information includes the posture information, tooling information, first position information and first structure information of the robot, and also includes the second position information and second structure information of the workpiece, the first position information and the second position information are used to determine the relative position of the robot to be verified and the workpiece to be processed, the first structure information is used to reflect the structure of the robot, and the second structure information is the initial shape information and target shape information of the workpiece to be processed, which are used to plan the processing path of the robot and verify whether the robot structure collides with the workpiece. The steps of determining the collision detection information and the posture verification information according to the state information corresponding to the path point specifically include: Determine the collision detection information and the posture verification information according to the posture information, tooling information, the first position information, the first structure information, the second position information and the second structure information corresponding to the path point; The tooling information includes tooling type information and tooling status information corresponding to the tooling type information; The tooling status information includes an open state or a closed state. For tooling equipment that does not move relative to the robot during the processing process, the tooling status information is set to a threshold that does not affect the determination result.

2. The report generation method according to claim 1, characterized in that: The step of generating a detection report according to the collision detection information and the posture verification information specifically includes: storing in association with the identifier of the path point and the collision detection information and the posture verification information corresponding to the path point; According to the extension direction of the path, the identification, the collision detection information and the posture verification information are sorted to obtain the detection report.

3. The report generation method according to claim 1, characterized in that: The step of determining the collision detection information and posture verification information of the robot according to the predetermined information specifically includes: Get the robot simulation program; determining event information according to the robot simulation program and the predetermined information; The corresponding collision detection information and the posture verification information are determined according to the event information.

4. The report generation method according to claim 3, characterized in that: The event information includes time information of the event occurrence, and the step of generating a detection report according to the collision detection information and the posture verification information specifically includes: storing the time information of the event information in association with the collision detection information and the posture verification information corresponding to the event information; According to the sequence of the time information, the event information, the collision detection information and the posture verification information are sorted to obtain the detection report.

5. The report generation method according to claim 4, characterized in that: The step of generating a detection report according to the collision detection information and the posture verification information specifically includes: Determining graphic information corresponding to the event information through the robot simulation program; The detection report is generated according to the graphic information, the collision detection information and the posture verification information.

6. The report generation method according to claim 3, characterized in that: Also includes: Generate a simulation animation according to the robot simulation program and the predetermined information; Play the simulation animation.

7. The report generation method according to any one of claims 1 to 6, characterized in that: The step of obtaining the predetermined information of the robot specifically includes: A detection instruction is obtained, and predetermined information of the robot is obtained based on the detection instruction.

8. The report generation method according to claim 7, characterized in that: Also includes: Display the test report and upload the test report to the server.

9. A report generating device, characterized in that: include: An acquisition unit, used for acquiring predetermined information of the robot; A determination unit, configured to determine collision detection information and posture verification information of the robot according to the predetermined information; A generating unit, configured to generate a detection report according to the collision detection information and the posture verification information; The predetermined information includes a path of the robot and state information corresponding to the path; The determining unit is further used to determine a plurality of path points on the path according to a path interpolation method, and determine the collision detection information and the posture verification information according to state information corresponding to the path points; The state information includes posture information, tooling information, first position information and first structure information of the robot, and also includes second position information and second structure information of the workpiece, the first position information and the second position information are used to determine the relative position of the robot to be verified and the workpiece to be processed, the first structure information is used to reflect the structure of the robot, and the second structure information is the initial shape information and target shape information of the workpiece to be processed, which is used to plan the processing path of the robot and verify whether the robot structure collides with the workpiece; The determination unit is further used to determine the collision detection information and the posture verification information according to the posture information, tooling information, the first position information, the first structure information, the second position information and the second structure information corresponding to the path point; The tooling information includes tooling type information and tooling status information corresponding to the tooling type information; The tooling status information includes an open state or a closed state. For tooling equipment that does not move relative to the robot during the processing process, the tooling status information is set to a threshold that does not affect the determination result.

10. A robot, characterized in that: include: The report generating apparatus as claimed in claim 9.

11. A robot, characterized in that: include: A memory on which programs or instructions are stored; A processor is configured to implement the steps of the report generating method according to any one of claims 1 to 8 when executing the program or instructions.

12. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by a processor, the steps of the report generating method according to any one of claims 1 to 8 are implemented.

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