Robot position determination method, determination device and robot system

Abstract

The present application provides a method for determining the position of a robot, a determining device, and a robot system, the method being applied to a controller of the robot, the method comprising: determining whether the position of a target robot has changed when the operating state of the robot is in the initial startup state, and determining that the position of the target robot has not changed when the current position of the target robot is the same as the position before power failure, wherein the initial startup state is a state in which the startup duration is less than a predetermined threshold; obtaining persistent variable data when the position of the target robot has not changed, the persistent variable data being variable data that is not lost after the power failure of the target robot, and including the position data of the target robot before power failure; determining that the target robot is currently located at the preset reference point when the position corresponding to the position data before power failure is the same as the preset reference point. The present application achieves the effect of determining whether the robot is currently located at the reference point without controlling the motor to power on.

Description

Technical Field

[0001] The present application relates to the field of robot control, and in particular, to a robot position determination method, a determination device, a computer-readable storage medium, a processor, a controller, and a robot system. Background Art

[0002] In current industrial robots, in order to ensure the safety of personnel before the equipment is started and to ensure that personnel are not within the operating range of the equipment, the robot's home point signal is used to determine whether the equipment can be started. Most robots now use the method of obtaining the value of the robot's motor encoder to determine whether the robot is at the home point. In general, to obtain the value of the motor encoder, the motor must be powered on first so that the driver can obtain the value of the motor encoder. However, if the operator is within the operating range of the equipment when the motor is powered on, the robot may lose its shaft or the equipment may start unexpectedly, posing a safety hazard.

[0003] The above information disclosed in the background technology section is only used to enhance the understanding of the background technology of the technology described in this article. Therefore, the background technology may contain certain information that does not form the prior art known in this country for those skilled in the art. Summary of the invention

[0004] The main purpose of the present application is to provide a robot position determination method, determination device, computer-readable storage medium, processor, controller and robot system to solve the problem of potential safety hazards in the prior art in determining whether the robot is at the home point when the motor is powered on.

[0005] According to one aspect of an embodiment of the present invention, a method for determining the position of a robot is provided, and the method is applied to a controller of the robot, and the method includes: when the operating state of the robot is an initial startup state, determining whether the position of a target robot has changed, and when the current position of the target robot is the same as the position before power failure, determining that the position of the target robot has not changed, wherein the initial startup state is a state in which the startup duration is less than a predetermined threshold; when the position of the target robot has not changed, acquiring persistent variable data, the persistent variable data being variable data that is not lost after power failure of the target robot, and including the position data of the target robot before power failure; and when the position corresponding to the position data before power failure is the same as a preset reference point, determining that the target robot is currently located at the preset reference point.

[0006] Optionally, when the current position of the target robot is the same as the position before power failure, determining that the position of the target robot has not changed includes: determining whether there is an abnormality in encoder data, the encoder data being data stored in the motor encoder of the target robot; when there is no abnormality in the encoder data, determining that the current position is the same as the position before power failure; when the current position is the same as the position before power failure, determining that the position of the target robot has not changed.

[0007] Optionally, determining whether the encoder data has an abnormality includes: obtaining predetermined alarm information, wherein the predetermined alarm information is the alarm information of the motor encoder stored in the driver; parsing the predetermined alarm information to determine whether the encoder data has an abnormality; if the predetermined alarm information does not include information characterizing abnormal data of the motor encoder, determining that the encoder data has no abnormality; if the predetermined alarm information includes information characterizing abnormal data of the motor encoder, determining that the encoder data has an abnormality.

[0008] Optionally, in the case that the encoder data is abnormal, the method further includes: generating abnormal information characterizing that the encoder data is abnormal and sending it to a PLC (Programmable Logic Controller), so that a target person can manually determine the current position of the target robot based on the abnormal information.

[0009] Optionally, before determining whether the position of the target robot has changed, the method further includes: acquiring the self-operating state, the self-operating state including the initial startup state and the non-initial startup state, the non-initial startup state being a startup state other than the initial startup state; when the self-operating state is the non-initial startup state, the method further includes: acquiring the current position of the target robot; and determining whether the target machine is currently located at the preset reference point based on the current position.

[0010] Optionally, before acquiring the persistent variable data, the method further includes: setting the pre-power-off position data as the persistent variable data; and storing the persistent variable data in a memory.

[0011] According to another aspect of an embodiment of the present invention, a robot position determination device is also provided, which is applied to a controller of the robot, and the robot position determination device includes a first determination unit, a first acquisition unit and a second determination unit, wherein the first determination unit is used to determine whether the position of the target robot has changed when its own operating state is an initial startup state, and to determine that the position of the target robot has not changed when the current position of the target robot is the same as the position before power failure, wherein the initial startup state is a state in which the startup duration is less than a predetermined threshold; the first acquisition unit is used to acquire persistent variable data when the position of the target robot has not changed, the persistent variable data being variable data that is not lost after the power failure of the target robot, and including the position data of the target robot before power failure; the second determination unit is used to determine that the target robot is currently located at the preset reference point when the position corresponding to the position data before power failure is the same as the preset reference point.

[0012] According to another aspect of the embodiments of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein the program executes any one of the methods described.

[0013] According to yet another aspect of the embodiments of the present invention, a processor is provided, wherein the processor is used to run a program, wherein any one of the methods is executed when the program is run.

[0014] According to another aspect of an embodiment of the present invention, a controller is also provided, comprising one or more processors, a memory and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of the methods described.

[0015] According to yet another aspect of the embodiments of the present invention, there is provided a robot system, comprising a robot and the controller, wherein the controller is used to control the robot.

[0016] In an embodiment of the present invention, the method for determining the position of the robot, when the robot's own running state is the initial startup state, first determines whether the position of the target robot has changed, the initial startup state is a state where the startup time is less than a predetermined threshold, that is, the state where the controller has just been powered on; then, when the position of the target robot has not changed, obtains persistent variable data including the position data of the target robot before power failure, and the persistent variable data is not lost with power failure; finally, when the position corresponding to the position data before power failure is the same as the preset reference point, determines that the target robot is currently located at the preset reference point. Compared with the prior art, which determines whether the robot is at the home point when the motor is powered on, there is a safety hazard. In this application, when the controller is just powered on, it determines whether the position of the target robot has changed. When its position has not changed, it means that the position of the target robot before power failure is the same as the position just powered on. In this case, according to the persistent variable data including the position data of the target robot before power failure, it is determined whether the target robot is currently at the preset reference point, so that the effect of determining whether the robot is currently located at the reference point without controlling the motor to power on is achieved, avoiding the problem of robot shaft loss and accidental equipment startup when the position of the robot is determined by powering on the motor, and ensuring the safety of on-site staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0018] Figure 1 A schematic diagram showing a flow chart of a method for determining a position of a robot according to an embodiment of the present application;

[0019] Figure 2 A flowchart of determining the position of a robot according to a specific embodiment of the present application is shown;

[0020] Figure 3 A schematic structural diagram of a robot position determination device according to an embodiment of the present application is shown;

[0021] Figure 4 A partial structural schematic diagram of a robot system according to an embodiment of the present application is shown.

[0022] The above drawings include the following reference numerals:

[0023] 100. Motor; 101. Driver; 102. Controller; 103. PLC. DETAILED DESCRIPTION

[0024] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] It should be understood that when an element (such as a layer, film, region, or substrate) is described as being "on" another element, the element may be directly on the other element, or there may be intermediate elements. Moreover, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element, or "connected" to the other element through a third element.

[0028] As mentioned in the background technology, there are safety hazards in the prior art of determining whether the robot is at the home point when the motor is powered on. In order to solve the above problem, in a typical embodiment of the present application, a robot position determination method, a determination device, a computer-readable storage medium, a processor, a controller and a robot system are provided.

[0029] According to an embodiment of the present application, a method for determining the position of a robot is provided, and the method is applied to a controller of the robot.

[0030] Figure 1 : is a flow chart of a method for determining the position of a robot according to an embodiment of the present application. Figure 1 As shown, the method comprises the following steps:

[0031] Step S101, when the operating state is the initial startup state, determining whether the position of the target robot has changed, and when the current position of the target robot is the same as the position before power failure, determining that the position of the target robot has not changed, wherein the initial startup state is a state in which the startup time is less than a predetermined threshold;

[0032] Step S102, when the position of the target robot does not change, obtaining persistent variable data, the persistent variable data being variable data that is not lost after the target robot is powered off, and including the position data of the target robot before the power off;

[0033] Step S103, when the position corresponding to the position data before power failure is the same as the preset reference point, determining that the target robot is currently located at the preset reference point.

[0034] In the above-mentioned robot position determination method, when the robot's own running state is the initial startup state, first determine whether the position of the target robot has changed, the initial startup state is a state where the startup time is less than a predetermined threshold, that is, the state where the controller has just been powered on; then, when the position of the target robot has not changed, obtain persistent variable data including the position data of the target robot before power failure, and the persistent variable data is not lost with power failure; finally, when the position corresponding to the position data before power failure is the same as the preset reference point, determine that the target robot is currently located at the preset reference point. Compared with the prior art, which determines whether the robot is at the home point when the motor is powered on, there is a safety hazard. In this application, when the controller is just powered on, determine whether the position of the target robot has changed. When its position has not changed, it means that the position of the target robot before power failure is the same as the position just powered on. In this case, according to the persistent variable data including the position data of the target robot before power failure, determine whether the target robot is currently at the preset reference point, so as to achieve the effect of determining whether the robot is currently located at the reference point without controlling the motor to power on, avoiding the problems of robot shaft loss and accidental equipment startup when the position of the robot is determined by powering on the motor, and ensuring the safety of on-site staff.

[0035] In actual application, the preset reference point may be the origin or the home point. In a specific embodiment, the preset reference point is the home point. The preset threshold is a threshold that is preset manually, and those skilled in the art may flexibly set the value according to actual conditions. Generally, the preset threshold is relatively small, so that the initial startup state is basically the state of just powering on.

[0036] Specifically, the above-mentioned persistent variable data is the persistent variable data. Before obtaining the persistent variable data, the above-mentioned method further includes: setting the above-mentioned position data before power failure as the above-mentioned persistent variable data; storing the above-mentioned persistent variable data in a memory. By defining the position before power failure as persistent variable data, the position of the robot before power failure will not be lost with power failure, and will still be maintained after power failure and restart. The persistent variable data is then stored in the memory, which is convenient for the controller to call and use it from the memory at any time when needed. In addition, the storage of the above-mentioned persistent variable data can be achieved by constructing a power failure buffer device or establishing a parallel program.

[0037] In order to further achieve the effect of determining whether the robot is currently located at the reference point without controlling the motor to power on, and further ensure that the determination result is relatively accurate, according to a specific embodiment of the present application, when the current position of the target robot is the same as the position before power failure, it is determined that the position of the target robot has not changed, including: determining whether the encoder data is abnormal, the encoder data is the data stored in the motor encoder of the target robot; when the encoder data is not abnormal, determining that the current position is the same as the position before power failure; when the current position is the same as the position before power failure, determining that the position of the target robot has not changed. The controller determines whether the position of the target robot has changed by judging whether the encoder data is abnormal, further ensuring that when the robot has not changed, the current position of the robot is determined to be relatively accurate, and further ensuring that the result of whether the target robot is currently located at the preset reference point based on the position is relatively accurate, thereby further ensuring the life safety of on-site personnel and eliminating safety hazards.

[0038] In another specific embodiment of the present application, determining whether the encoder data is abnormal includes: obtaining predetermined alarm information, the predetermined alarm information is the alarm information of the motor encoder stored in the driver; parsing the predetermined alarm information to determine whether the encoder data is abnormal; when the predetermined alarm information does not include information characterizing the abnormal data of the motor encoder, determining that the encoder data is normal; when the predetermined alarm information includes information characterizing the abnormal data of the motor encoder, determining that the encoder data is abnormal. The controller obtains the stored predetermined alarm information of the motor encoder from the driver, and then determines whether the encoder data is abnormal based on whether the predetermined alarm information includes information characterizing the abnormal data of the motor encoder. This further avoids the problem of directly obtaining the encoder data requiring the motor to be powered on, and further avoids the problem of the motor powering on and the shaft falling off, and the accidental start-up of the equipment causing damage to the on-site personnel.

[0039] In actual applications, the above encoder data has anomalies, including partial encoder data loss, errors and other anomalies.

[0040] In order to further avoid the problem of potential safety hazards in determining whether the robot is at the home point when the motor is powered on compared to the prior art, according to another specific embodiment of the present application, when the above encoder data is abnormal, the above method also includes: generating abnormal information indicating that the above encoder data is abnormal and sending it to the PLC, so that the target personnel manually determine the current position of the above target robot based on the above abnormal information. When the above encoder data is abnormal, it means that the mechanical zero point of the target robot is lost. In this case, the equipment cannot be started normally, and manual intervention is required to manually recalibrate the mechanical zero point of the target robot, and manually control the target robot to return to home, which further ensures the safety of the site. In addition, by sending the above abnormal information to the PLC, the PLC can more comprehensively grasp the operating status of the target robot.

[0041] In another specific embodiment of the present application, before determining whether the position of the target robot has changed, the method further includes: obtaining the self-operating state, the self-operating state includes the initial startup state and the non-initial startup state, the non-initial startup state is a startup state other than the initial startup state; when the self-operating state is the non-initial startup state, the method further includes: obtaining the current position of the target robot; and determining whether the target robot is currently located at the preset reference point based on the current position. When the self-operating state is not the initial startup state, it is not necessary to perform the above process to determine whether the target robot is currently located at the preset reference point. It is only necessary to directly obtain the home point signal of the target robot to determine its current position and whether it is located at the preset reference point.

[0042] According to another specific embodiment of the present application, Figure 2As shown, the process of determining the position of the robot is as follows: First, the controller obtains its own operating status to confirm whether it is in the state of just starting up. If not, it directly reads the current position of the robot to determine whether the current position is at the home point. If so, the controller reads the preset alarm information of the motor encoder through the driver, that is, the information indicating whether the encoder data is lost or abnormal, to determine whether the current position of the robot has changed. If there is no change, it means that the current position of the robot is the same as the recorded position before power failure, that is, the current recorded position is the current point. After that, the controller calls the persistent variable in the memory and compares it with the recorded home point to know whether the current position of the robot is at the home point. If there is a change, the robot cannot start normally in this case. The controller only needs to upload the information about the loss of the robot's mechanical zero point to the PLC, so that the operator can recalibrate the mechanical zero point and return to the home point manually.

[0043] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0044] The embodiment of the present application also provides a robot position determination device, which is applied to the robot controller. It should be noted that the robot position determination device of the embodiment of the present application can be used to execute the robot position determination method provided in the embodiment of the present application. The robot position determination device provided in the embodiment of the present application is introduced below.

[0045] Figure 3 Schematic diagram of a robot position determination device according to an embodiment of the present application. Figure 3 As shown, the device includes a first determination unit 10, a first acquisition unit 20 and a second determination unit 30, wherein the first determination unit 10 is used to determine whether the position of the target robot has changed when its own operating state is the initial startup state, and to determine that the position of the target robot has not changed when the current position of the target robot is the same as the position before power failure, wherein the initial startup state is a state in which the startup duration is less than a predetermined threshold; the first acquisition unit 20 is used to acquire persistent variable data when the position of the target robot has not changed, the persistent variable data being variable data that is not lost after the target robot is powered off, and including the position data of the target robot before power failure; the second determination unit 30 is used to determine that the target robot is currently located at the preset reference point when the position corresponding to the position data before power failure is the same as the preset reference point.

[0046] In the above-mentioned robot position determination device, when its own operating state is the initial startup state, the above-mentioned first determination unit is used to determine whether the position of the target robot has changed, and the initial startup state is a state in which the startup time is less than a predetermined threshold, that is, a state in which the controller has just been powered on; through the above-mentioned first acquisition unit, when the position of the above-mentioned target robot has not changed, persistent variable data including the pre-power-off position data of the target robot is acquired, and the persistent variable data is not lost with the power off; through the above-mentioned second determination unit, when the position corresponding to the above-mentioned pre-power-off position data is the same as the above-mentioned preset reference point, it is determined that the above-mentioned target robot is currently located at the above-mentioned preset reference point. Compared with the prior art which determines whether the robot is at the home point when the motor is powered on, which poses a potential safety hazard, the present application determines whether the position of the target robot has changed when the controller is just powered on. When its position has not changed, it indicates that the position of the target robot before power-off is the same as the position when it was just powered on. In this case, based on persistent variable data including the position data of the target robot before power-off, it is determined whether the target robot is currently at a preset reference point. This achieves the effect of determining whether the robot is currently at the reference point without controlling the motor to power on, avoiding the problem of determining the robot's position by powering on the motor, which may cause the robot to fall off its axis, the equipment to start unexpectedly, and other problems, thereby ensuring the safety of on-site staff.

[0047] In actual application, the preset reference point may be the origin or the home point. In a specific embodiment, the preset reference point is the home point. The preset threshold is a threshold that is preset manually, and those skilled in the art may flexibly set the value according to actual conditions. Generally, the preset threshold is relatively small, so that the initial startup state is basically the state of just powering on.

[0048] Specifically, the above-mentioned persistent variable data is persistent variable data, and the above-mentioned device also includes a setting unit and a storage unit. The above-mentioned setting unit is used to set the above-mentioned pre-power-off position data as the above-mentioned persistent variable data before obtaining the persistent variable data; the above-mentioned storage unit is used to store the above-mentioned persistent variable data in the memory. By defining the pre-power-off position as persistent variable data, the pre-power-off position of the robot will not be lost with the power off, and it will still be maintained after the power off and restart. The persistent variable data is then stored in the memory, which is convenient for the controller to call and use it from the memory at any time when needed later. In addition, the storage of the above-mentioned persistent variable data can be achieved by constructing a power-off buffer device or establishing a parallel program.

[0049] In order to further achieve the effect of determining whether the robot is currently located at the reference point without controlling the motor to power on, and further ensure that the determination result is relatively accurate, according to a specific embodiment of the present application, the first determination unit includes a first determination module, a second determination module and a third determination module, wherein the first determination module is used to determine whether the encoder data is abnormal, and the encoder data is the data stored in the motor encoder of the target robot; the second determination module is used to determine that the current position is the same as the position before the power failure when the encoder data is not abnormal; the third determination module is used to determine that the position of the target robot has not changed when the current position is the same as the position before the power failure. The controller determines whether the position of the target robot has changed by judging whether the encoder data is abnormal, further ensuring that when the robot has not changed, the current position of the robot is determined to be relatively accurate, and further ensuring that the result of whether the target robot is currently located at the preset reference point based on the position is relatively accurate, thereby further ensuring the life safety of the on-site personnel and eliminating safety hazards.

[0050] In another specific embodiment of the present application, the first determination module includes an acquisition submodule, an analysis submodule and a determination submodule, wherein the acquisition submodule is used to acquire predetermined alarm information, the predetermined alarm information is the alarm information of the motor encoder stored in the driver; the analysis submodule is used to analyze the predetermined alarm information to determine whether the encoder data is abnormal; the determination submodule is used to determine that the encoder data is normal when the predetermined alarm information does not include information indicating abnormal data of the motor encoder, and to determine that the encoder data is abnormal when the predetermined alarm information includes information indicating abnormal data of the motor encoder. The controller acquires the stored predetermined alarm information of the motor encoder from the driver, and then determines whether the encoder data is abnormal according to whether the predetermined alarm information includes information indicating abnormal data of the motor encoder, which further avoids the problem of directly acquiring the encoder data requiring the motor to be powered on, and further avoids the problem of the motor powering on and the shaft falling off and the accidental start of the equipment causing damage to the on-site personnel.

[0051] In actual applications, the above encoder data has anomalies, including partial encoder data loss, errors and other anomalies.

[0052] In order to further avoid the problem of potential safety hazards in determining whether the robot is at the home point when the motor is powered on compared to the prior art, according to another specific embodiment of the present application, the above-mentioned device also includes a generation unit, and the above-mentioned generation unit is used to generate abnormal information indicating that the above-mentioned encoder data is abnormal and send it to the PLC when the above-mentioned encoder data is abnormal, so that the target personnel can manually determine the current position of the above-mentioned target robot based on the above-mentioned abnormal information. In the case that the above-mentioned encoder data is abnormal, it means that the mechanical zero point of the target robot is lost. In this case, the equipment cannot be started normally, and manual intervention is required to manually recalibrate the mechanical zero point of the target robot, and manually control the target robot to return to home, which further ensures the safety of the site. In addition, by sending the above-mentioned abnormal information to the PLC, the PLC can more comprehensively grasp the operating status of the target robot.

[0053] In another specific embodiment of the present application, the device further includes a second acquisition unit, the second acquisition unit is used to acquire the self-operation state before determining whether the position of the target robot has changed, the self-operation state includes the initial startup state and the non-initial startup state, the non-initial startup state is a startup state other than the initial startup state; the device further includes a third acquisition unit and a third determination unit, wherein the third acquisition unit is used to acquire the current position of the target robot when the self-operation state is the non-initial startup state; the third determination unit is used to determine whether the target robot is currently located at the preset reference point according to the current position. When the self-operation state is not the initial startup state, it is not necessary to perform the above process to determine whether the target robot is currently located at the preset reference point, and it is only necessary to directly acquire the home point signal of the target robot to determine its current position and whether it is located at the preset reference point.

[0054] The position determination device of the robot includes a processor and a memory. The first determination unit, the first acquisition unit and the second determination unit are all stored in the memory as program units. The processor executes the program units stored in the memory to realize corresponding functions.

[0055] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the kernel parameters can be adjusted to solve the problem of determining whether the robot is at the home point when the motor is powered on in the prior art, which poses a safety hazard.

[0056] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0057] An embodiment of the present invention provides a computer-readable storage medium having a program stored thereon, and when the program is executed by a processor, the above-mentioned robot position determination method is implemented.

[0058] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the robot position determination method is executed when the program is run.

[0059] An embodiment of the present invention provides a device, the device including a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0060] Step S101, when the operating state is the initial startup state, determining whether the position of the target robot has changed, and when the current position of the target robot is the same as the position before power failure, determining that the position of the target robot has not changed, wherein the initial startup state is a state in which the startup time is less than a predetermined threshold;

[0061] Step S102, when the position of the target robot does not change, obtaining persistent variable data, the persistent variable data being variable data that is not lost after the target robot is powered off, and including the position data of the target robot before the power off;

[0062] Step S103, when the position corresponding to the position data before power failure is the same as the preset reference point, determining that the target robot is currently located at the preset reference point.

[0063] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0064] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0065] Step S101, when the operating state is the initial startup state, determining whether the position of the target robot has changed, and when the current position of the target robot is the same as the position before power failure, determining that the position of the target robot has not changed, wherein the initial startup state is a state in which the startup time is less than a predetermined threshold;

[0066] Step S102, when the position of the target robot does not change, obtaining persistent variable data, the persistent variable data being variable data that is not lost after the target robot is powered off, and including the position data of the target robot before the power off;

[0067] Step S103, when the position corresponding to the position data before power failure is the same as the preset reference point, determining that the target robot is currently located at the preset reference point.

[0068] In another typical embodiment of the present application, a controller is provided, comprising one or more processors, a memory and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include means for executing any one of the above methods.

[0069] The above-mentioned controller includes a processor, a memory and a program, and the above-mentioned program is used to execute any of the above-mentioned methods. Compared with the prior art that determines whether the robot is at the home point when the motor is powered on, there is a safety hazard. The controller of the present application determines whether the position of the target robot has changed when it is just powered on. When its position has not changed, it means that the position of the target robot before power-off is the same as the position when it was just powered on. In this case, according to the persistent variable data including the position data of the target robot before power-off, it is determined whether the target robot is currently at the preset reference point. In this way, the effect of determining whether the robot is currently at the reference point without controlling the motor to power on is achieved, avoiding the problem of determining the position of the robot by powering on the motor, which may cause the robot to fall off the axis, the equipment to start accidentally, etc., and ensures the safety of on-site staff.

[0070] In a specific embodiment, the memory stores persistent variable data, which are variable data that are not lost after the target robot is powered off, and include position data of the target robot before power off.

[0071] An embodiment of the present invention further provides a robot system, the robot system comprising a robot and the controller, wherein the controller is used to control the robot.

[0072] The above-mentioned robot system includes a robot and the above-mentioned controller for controlling the above-mentioned robot, which is used to execute any of the above-mentioned methods. Compared with the prior art in which whether the robot is at the home point is determined when the motor is powered on, there is a safety hazard. In the robot system of the present application, the controller determines whether the position of the target robot has changed when it is just powered on. When its position has not changed, it means that the position of the target robot before power-off is the same as the position when it was just powered on. In this case, according to persistent variable data including the position data of the target robot before power-off, it is determined whether the target robot is currently at a preset reference point. In this way, the effect of determining whether the robot is currently at the reference point without controlling the motor to power on is achieved, avoiding the problem of determining the position of the robot by powering on the motor, which may cause the robot to fall off the axis, the equipment to start accidentally, and so on, thereby ensuring the safety of on-site staff.

[0073] Specifically, Figure 4 As shown, the robot includes a motor 100, an encoder of the motor (not shown) and a driver 101, the driver 101 is used to store the alarm information of the encoder, the robot system also includes a PLC 103, the motor 100 is connected to the driver 101 through the encoder, and the controller 102 is connected to the PLC 103 and the driver 101 respectively. The controller also includes a memory, the memory stores persistent variable data, the persistent variable data is variable data that is not lost after the target robot is powered off, and includes the position data of the target robot before power off.

[0074] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0075] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the above-mentioned units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0076] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0077] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0078] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0079] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0080] 1) In the above-mentioned method for determining the position of the robot, when the robot's own running state is the initial startup state, first determine whether the position of the target robot has changed, the initial startup state is a state where the startup time is less than a predetermined threshold, that is, the state where the controller has just been powered on; then, when the position of the target robot has not changed, obtain persistent variable data including the position data of the target robot before power failure, and the persistent variable data is not lost with power failure; finally, when the position corresponding to the position data before power failure is the same as the preset reference point, determine that the target robot is currently located at the preset reference point. Compared with the prior art, which determines whether the robot is at the home point when the motor is powered on, there is a safety hazard. In this application, when the controller is just powered on, determine whether the position of the target robot has changed. When its position has not changed, it means that the position of the target robot before power failure is the same as the position just powered on. In this case, according to the persistent variable data including the position data of the target robot before power failure, determine whether the target robot is currently at the preset reference point, so as to achieve the effect of determining whether the robot is currently located at the reference point without controlling the motor to power on, avoiding the problems of robot shaft loss and accidental equipment startup when the position of the robot is determined by powering on the motor, and ensuring the safety of the on-site staff.

[0081] 2) In the above-mentioned robot position determination device, when its own operating state is the initial startup state, the above-mentioned first determination unit is used to determine whether the position of the target robot has changed, and the initial startup state is a state in which the startup time is less than a predetermined threshold, that is, a state in which the controller has just been powered on; through the above-mentioned first acquisition unit, when the position of the above-mentioned target robot has not changed, persistent variable data including the position data of the target robot before power failure is acquired, and the persistent variable data is not lost with the power failure; through the above-mentioned second determination unit, when the position corresponding to the above-mentioned position data before power failure is the same as the above-mentioned preset reference point, it is determined that the above-mentioned target robot is currently located at the above-mentioned preset reference point. Compared with the prior art which determines whether the robot is at the home point when the motor is powered on, which poses a potential safety hazard, the present application determines whether the position of the target robot has changed when the controller is just powered on. When its position has not changed, it indicates that the position of the target robot before power-off is the same as the position when it was just powered on. In this case, based on persistent variable data including the position data of the target robot before power-off, it is determined whether the target robot is currently at a preset reference point. This achieves the effect of determining whether the robot is currently at the reference point without controlling the motor to power on, avoiding the problem of determining the robot's position by powering on the motor, which may cause the robot to fall off its axis, the equipment to start unexpectedly, and other problems, thereby ensuring the safety of on-site staff.

[0082] 3) The controller includes a processor, a memory and a program, and the program is used to execute any one of the methods. Compared with the prior art that determines whether the robot is at the home point when the motor is powered on, there is a potential safety hazard. The controller of the present application determines whether the position of the target robot has changed when it is just powered on. When its position has not changed, it means that the position of the target robot before power-off is the same as the position when it was just powered on. In this case, it is determined whether the target robot is currently at a preset reference point based on persistent variable data including the position data of the target robot before power-off. This achieves the effect of determining whether the robot is currently at the reference point without controlling the motor to power on, avoiding the problem of determining the robot's position by powering on the motor, which may cause the robot to fall off the axis, the equipment to start accidentally, and other problems, thereby ensuring the safety of on-site staff.

[0083] 4) The robot system includes a robot and a controller for controlling the robot, which is used to execute any one of the methods. Compared with the prior art in which a safety hazard is present in determining whether the robot is at the home point when the motor is powered on, in the robot system of the present application, the controller determines whether the position of the target robot has changed when the power is just turned on. When the position has not changed, it indicates that the position of the target robot before power failure is the same as the position when the power is just turned on. In this case, it is determined whether the target robot is currently at a preset reference point based on persistent variable data including the position data of the target robot before power failure. This achieves the effect of determining whether the robot is currently at the reference point without controlling the motor to power on, avoiding the problem of determining the position of the robot by powering on the motor, which may cause the robot to fall off its axis, the equipment to start unexpectedly, and other problems, thereby ensuring the safety of on-site staff.

[0084] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for determining the position of a robot, the method being applied to a controller of the robot, It is characterized in that The method comprises: When the operating state of the robot is an initial startup state, determining whether the position of the target robot has changed, and when the current position of the target robot is the same as the position before power failure, determining that the position of the target robot has not changed, wherein the initial startup state is a state in which the startup time is less than a predetermined threshold; When the position of the target robot does not change, persistent variable data is acquired, wherein the persistent variable data is variable data that is not lost after the target robot is powered off, and includes the position data of the target robot before the power off; When the position corresponding to the position data before power failure is the same as the preset reference point, determining that the target robot is currently located at the preset reference point, The predetermined threshold is a value that makes the initial startup state the state of just powering on.

2. The method according to claim 1, It is characterized in that In a case where the current position of the target robot is the same as the position before power failure, determining that the position of the target robot has not changed includes: Determine whether encoder data is abnormal, wherein the encoder data is data stored in a motor encoder of the target robot; When there is no abnormality in the encoder data, determining that the current position is the same as the position before power failure; In a case where the current position is the same as the position before power failure, it is determined that the position of the target robot has not changed.

3. The method according to claim 2, It is characterized in that Determine whether the encoder data is abnormal, including: Acquire predetermined alarm information, where the predetermined alarm information is the alarm information of the motor encoder stored in the driver; Analyze the predetermined alarm information to determine whether the encoder data is abnormal; When the predetermined alarm information does not include information characterizing abnormal data of the motor encoder, it is determined that the encoder data has no abnormality. When the predetermined alarm information includes information characterizing abnormal data of the motor encoder, it is determined that the encoder data has abnormality.

4. The method according to claim 2, It is characterized in that In the case where the encoder data is abnormal, the method further includes: Abnormal information indicating that the encoder data is abnormal is generated and sent to the PLC, so that the target personnel can manually determine the current position of the target robot according to the abnormal information.

5. The method according to claim 1, It is characterized in that Before determining whether the position of the target robot changes, the method further includes: Acquire the self-operation state, where the self-operation state includes the initial startup state and the non-initial startup state, where the non-initial startup state is a startup state other than the initial startup state; When the operating state of the method is the non-initial startup state, the method further includes: Obtaining the current position of the target robot; According to the current position, it is determined whether the target machine is currently located at the preset reference point.

6. The method according to claim 1, It is characterized in that Before obtaining the persistent variable data, the method further includes: Setting the position data before power failure as the persistent variable data; The persistent variable data is stored in a memory.

7. A robot position determination device, the device being applied to a robot controller, It is characterized in that The device comprises: A first determining unit is used to determine whether the position of the target robot has changed when the operating state of the target robot is an initial startup state, and to determine that the position of the target robot has not changed when the current position of the target robot is the same as the position before power failure, wherein the initial startup state is a state in which the startup time is less than a predetermined threshold; A first acquisition unit, configured to acquire persistent variable data when the position of the target robot does not change, wherein the persistent variable data is variable data that is not lost after the target robot is powered off, and includes position data of the target robot before the power off; The second determining unit is configured to determine that the target robot is currently located at the preset reference point when the position corresponding to the position data before power failure is the same as the preset reference point. The predetermined threshold is a value that makes the initial startup state the state of just powering on.

8. A computer-readable storage medium, It is characterized in that The computer-readable storage medium includes a stored program, wherein the program executes the method of any one of claims 1 to 6.

9. A processor, It is characterized in that The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 6 when running.

10. A controller, It is characterized in that include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of claims 1 to 6.

11. A robot system, It is characterized in that include: robot; The controller of claim 10, wherein the controller is used to control the robot.

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