Method, device and storage medium for determining robot state

Abstract

The present application discloses a method, device and storage medium for determining the state of a manipulator. The method comprises: obtaining device information sent by multiple manipulators through a transmission control protocol bus to obtain multiple device information; obtaining the offset content in each device information respectively to obtain multiple groups of offset content; determining the storage address to which each offset address belongs in a database, and storing the offset data associated with each offset address in the storage address to which it belongs; reading the offset data of each manipulator from the database in sequence, and determining the state of the manipulator during use according to the obtained offset data respectively. Through the present application, the problem in the related art that it is difficult to accurately and conveniently determine the state information of the manipulator manually is solved.

Description

Technical Field

[0001] The present application relates to the field of industrial equipment, and in particular, to a method, device and storage medium for determining a state of a robot. Background Art

[0002] In industrial production, robots are usually needed to replace manual labor to complete the picking and delivery of injection molded parts. However, since the production mode of traditional robots is a relatively independent and decentralized single-machine mode, if workshop managers need to understand the operating status, equipment parameters, fault alarms, output and other production information of the equipment, they must enter the workshop where the equipment is located to collect and view each machine. The collected data also needs to be entered manually, which is a large workload and is prone to problems such as inaccurate data obtained due to human erroneous behavior. As a result, it is impossible to quickly and accurately determine the status information of the robot equipment, and thus it is impossible to deal with the robot with abnormal status in time.

[0003] Furthermore, when processing the acquired production data, each device needs to be processed in turn, resulting in low data processing efficiency. When performing equipment system maintenance, each device also needs to be maintained in turn, which seriously affects the work efficiency of the staff.

[0004] With regard to the problem in related technologies that it is difficult to accurately and conveniently determine the state information of the robot manually, no effective solution has been proposed yet. Summary of the invention

[0005] The present application provides a method, device and storage medium for determining the state of a robot, so as to solve the problem in the related art that it is difficult to accurately and conveniently determine the state information of the robot manually.

[0006] According to one aspect of the present application, a method for determining the state of a manipulator is provided. The method includes: obtaining device information sent by multiple manipulators through a transmission control protocol bus to obtain multiple device information, wherein the data transmission interface of each manipulator is connected to the transmission control protocol bus; respectively obtaining the offset content in each device information to obtain multiple groups of offset content, wherein each group of offset content contains at least one offset content, and the offset content includes an offset address and offset data; determining the storage address to which each offset address belongs in a database, and storing the offset data associated with each offset address in the storage address to which it belongs; reading the offset data of each manipulator from the database in turn, and determining the state of the manipulator during use according to the obtained offset data.

[0007] Optionally, the offset data of each manipulator is read from the database in sequence, and the status of the manipulator during use is determined based on the acquired offset data, including: judging whether the offset data of the manipulator exists in a preset comparison table in the database, wherein the preset comparison table includes multiple abnormal offset data and abnormal phenomena corresponding to each abnormal offset data; when the offset data of the manipulator does not exist in the preset comparison table, determining that there is no abnormality in the use of the manipulator; when at least one offset data of the manipulator exists in the preset comparison table, determining the target abnormal phenomenon corresponding to the offset data in the preset comparison table, and generating an alarm message based on the target abnormal phenomenon.

[0008] Optionally, the offset content also includes the device ID, and generating alarm information based on the target abnormal phenomenon includes: determining the device type of the robot and the area to which the device belongs based on the device ID, and obtaining the target device type and target area; determining the style of the alarm information based on the target device type and target area, and obtaining the target alarm style; displaying the target abnormal phenomenon under the target alarm style, and obtaining the alarm information.

[0009] Optionally, generating alarm information based on the target abnormal phenomenon includes: when the target abnormal phenomenon indicates that the offset data is incomplete, determining the alarm information as a transmission control protocol bus abnormality or a robot data storage abnormality; when the target abnormal phenomenon indicates that there is an error in the offset data, determining the alarm information as a robot operation abnormality.

[0010] Optionally, after determining the state of the robot during use based on the acquired offset data, the method also includes: when there is no abnormality in the robot, judging whether the offset data indicates that the system version of the robot needs to be updated; when the offset data indicates that the system version of the robot needs to be updated, obtaining a target system file compatible with the robot from a database, sending the target system file to the robot, and installing the target system file in the robot.

[0011] Optionally, after determining the status of the manipulator during use according to the acquired offset data, the method also includes: determining the manipulator that needs to perform device program update to obtain multiple manipulators to be updated; obtaining the device IP address of each manipulator to be updated, and determining whether the device IP addresses of multiple manipulators to be updated belong to a network segment; when the device IP addresses of multiple manipulators to be updated belong to a network segment, determining the switch associated with the network segment, and sending the program to be updated to the switch, and the switch sends the program to be updated to multiple manipulators.

[0012] Optionally, storing the offset data associated with each offset address in the corresponding storage address includes: determining the data in the offset data that needs to be converted into a data type to obtain the data to be converted; determining the data conversion process for the data to be converted; converting the type of the data to be converted into a preset data type according to the data conversion process to obtain the converted data; updating the offset data through the converted data, and executing the step of storing the offset data associated with each offset address in the corresponding storage address through the updated offset data.

[0013] Optionally, device information sent by multiple manipulators through the transmission control protocol bus is obtained, and the multiple device information obtained includes: obtaining the equipment type of each manipulator to obtain multiple equipment type information; grouping manipulators with the same equipment type information into a group to obtain multiple groups of equipment type information; setting an information collection period for each group of equipment type information according to the equipment type information to obtain multiple information collection periods; collecting the equipment information of the corresponding manipulator according to each information collection period to obtain multiple equipment information.

[0014] According to another aspect of the present application, a device for determining the state of a manipulator is provided. The device includes: a first acquisition unit, used to acquire device information sent by multiple manipulators through a transmission control protocol bus to obtain multiple device information, wherein the data transmission interface of each manipulator is connected to the transmission control protocol bus; a second acquisition unit, used to respectively acquire the offset content in each device information to obtain multiple groups of offset content, wherein each group of offset content contains at least one offset content, and the offset content includes an offset address and offset data; a first determination unit, used to determine the storage address to which each offset address belongs in the database, and store the offset data associated with each offset address in the storage address to which it belongs; a second determination unit, used to read the offset data of each manipulator from the database in sequence, and determine the state of the manipulator during use according to the acquired offset data.

[0015] According to another aspect of an embodiment of the present invention, a computer storage medium is provided. The computer storage medium is used to store a program. When the program is executed, the device where the computer storage medium is located is controlled to execute a method for determining a robot state.

[0016] According to another aspect of an embodiment of the present invention, an electronic device is also provided, comprising one or more processors and a memory; the memory stores computer-readable instructions, and the processor is used to run the computer-readable instructions, wherein a method for determining a robot state is executed when the computer-readable instructions are run.

[0017] Through the present application, the following steps are adopted: obtaining device information sent by multiple manipulators through the transmission control protocol bus to obtain multiple device information, wherein the data transmission interface of each manipulator is connected to the transmission control protocol bus; respectively obtaining the offset content in each device information to obtain multiple groups of offset content, wherein each group of offset content contains at least one offset content, and the offset content includes an offset address and offset data; determining the storage address to which each offset address belongs in the database, and storing the offset data associated with each offset address in the storage address to which it belongs; reading the offset data of each manipulator from the database in sequence, and determining the state of the manipulator during use according to the acquired offset data. The problem that it is difficult to accurately and conveniently determine the state information of the manipulator manually in the related art is solved. By receiving the production information of multiple manipulator devices sent in parallel by the transmission control protocol bus, and classifying the multiple production information according to the offset content, the offset content belonging to a storage address is stored together, and the offset data is uniformly processed in the storage address, so as to achieve the effect of efficiently and accurately determining the production state of each manipulator device according to the processing result. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative 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:

[0019] Figure 1 is a schematic diagram of an optional system for determining the state of a manipulator provided according to an embodiment of the present application;

[0020] Figure 2 is a flow chart of a method for determining a manipulator state according to an embodiment of the present application;

[0021] Figure 3 is a flowchart of an optional method for determining a manipulator state provided according to an embodiment of the present application;

[0022] Figure 4 It is a schematic diagram of a device for determining the state of a manipulator provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] 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.

[0024] 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.

[0025] 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.

[0026] It should be noted that the relevant information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for display, data for analysis, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties. For example, an interface is set between this system and the relevant user or organization. Before obtaining relevant information, it is necessary to send an acquisition request to the aforementioned user or organization through the interface, and obtain relevant information after receiving the consent information fed back by the aforementioned user or organization.

[0027] In this embodiment, if Figure 1 As shown, the aforementioned method for determining the state of the manipulator is performed with an optional system for determining the state of the manipulator as the execution subject, and the system at least includes: multiple manipulators 101, Modbus TCP bus 102, switch 103, gateway 104, and host computer 105, wherein multiple manipulators 101 upload production data to switch 103 through Modbus TCP bus 102 according to a preset cycle, and switch 103 is used to connect manipulators 101 with the same network segment but different IP addresses, so that data blocking will not occur when multiple manipulators 101 upload or exchange data at the same time. Switch 103 then transmits the production data to gateway 104, and gateway 104 can convert the production data sent by two different network segments using data of different transmission protocols and upload them to host computer 105, and then host computer 105 uniformly processes the production data, thereby achieving the effect of uniformly acquiring and processing production information, and improving the efficiency and accuracy of acquiring and processing production data.

[0028] According to an embodiment of the present application, a method for determining a state of a robot is provided.

[0029] Figure 2 is a flow chart of a method for determining the state of a manipulator according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0030] Step S202, acquiring device information sent by multiple manipulators through the transmission control protocol bus to obtain multiple device information, wherein the data transmission interface of each manipulator is connected to the transmission control protocol bus.

[0031] Specifically, the transmission control protocol bus can be a Modbus TCP bus, which is an industrial bus protocol standard, and the manipulator can be an injection molding manipulator used to complete the picking and delivery of injection molded parts. After obtaining the device information of multiple manipulators, the transmission control protocol bus, that is, the Modbus TCP bus, can connect all the manipulators in the workshop to the switch, so that multiple manipulators can send the device information to the switch in parallel for data transmission. Among them, the device information may include the device operation information of the device during production and the production information when producing products.

[0032] Step S204, respectively obtain the offset content in each device information to obtain multiple groups of offset content, wherein each group of offset content includes at least one offset content, and the offset content includes an offset address and offset data.

[0033] Specifically, after obtaining multiple device information, the offset content in each device information can be obtained, wherein the offset content includes an offset address and offset data. Since there may be multiple device data in each device information, and each data is stored in a different memory and register in the device, in order to quickly classify the data, the data can be distinguished directly by determining the offset address, that is, the device data corresponding to the data with the same offset address indicates the same content. For example, if the version data of the device system is stored in the A offset address, then only the version data is stored in the offset address, and the rest of the data is not stored.

[0034] Step S206, determining the storage address to which each offset address belongs in the database, and storing the offset data associated with each offset address in the storage address to which it belongs.

[0035] Specifically, the association relationship between the offset address and the storage address can be set in advance in the host computer, so that after obtaining the offset content, the offset data can be stored in the corresponding storage address in the database according to the association relationship between the offset address and the storage address, thereby storing data with the same indication content in multiple manipulator devices in the same storage address, thereby facilitating the subsequent determination of the manipulator status.

[0036] Step S208, reading the offset data of each manipulator from the database in sequence, and determining the state of the manipulator during use according to the acquired offset data.

[0037] Specifically, after obtaining the offset data of each robot, the host computer can determine from the database according to the storage address whether each offset data is abnormal or does not meet the current standard. In the event of the above problems, the problems of all robot equipment can be summarized in time, and the summarized information can be fed back, so as to promptly prompt the staff to process through the host computer or go to the equipment site for processing, thereby achieving the effect of uniformly obtaining and processing production information, thereby improving the efficiency and accuracy of obtaining and processing production data.

[0038] The method for determining the state of a manipulator provided in an embodiment of the present application obtains multiple device information by acquiring device information sent by multiple manipulators through a transmission control protocol bus, wherein the data transmission interface of each manipulator is connected to the transmission control protocol bus; the offset content in each device information is respectively obtained to obtain multiple groups of offset content, wherein each group of offset content contains at least one offset content, and the offset content includes an offset address and offset data; the storage address to which each offset address belongs in the database is determined, and the offset data associated with each offset address is stored in the storage address to which it belongs; the offset data of each manipulator is sequentially read from the database, and the state of the manipulator during use is determined according to the acquired offset data. The problem that it is difficult to accurately and conveniently determine the state information of the manipulator manually in the related art is solved. By receiving the production information of multiple manipulator devices sent in parallel by the transmission control protocol bus, and classifying the multiple production information according to the offset content, the offset content belonging to a storage address is stored together, and the offset data is uniformly processed in the storage address, so as to achieve the effect of efficiently and accurately determining the production state of each manipulator device according to the processing result.

[0039] In order to accurately determine whether there is an abnormality in the manipulator and to promptly discover the abnormal phenomenon when there is an abnormality in the manipulator, optionally, in the method for determining the state of the manipulator provided in the embodiment of the present application, the offset data of each manipulator is read from the database in sequence, and the state of the manipulator during use is determined according to the acquired offset data, including: step S302, judging whether the offset data of the manipulator exists in a preset comparison table in the database, wherein the preset comparison table includes multiple abnormal offset data and abnormal phenomena corresponding to each abnormal offset data; step S304, when none of the offset data of the manipulator exists in the preset comparison table, determining that there is no abnormality in the manipulator during use; step S306, when at least one offset data of the manipulator exists in the preset comparison table, determining the target abnormal phenomenon corresponding to the offset data existing in the preset comparison table, and generating an alarm information according to the target abnormal phenomenon.

[0040] Specifically, Figure 3 is a flow chart of an optional method for determining the state of a manipulator provided in an embodiment of the present application, such as Figure 3 As shown, after obtaining a certain offset data, it is first determined whether the offset data exists in a preset comparison table, and if the offset data exists in the preset comparison table, it is determined that there is an abnormality in the offset data, and the abnormal phenomenon corresponding to the offset data is obtained from the preset comparison table, and an alarm information is generated based on the abnormal phenomenon, thereby informing the staff that there is an abnormality in the equipment.

[0041] For example, the offset data may be: the material drop rate of robot A is 5%, and the data stored in the preset comparison table is that the material drop rate is greater than 3%. The offset information exists in the preset comparison table, so an alarm message needs to be issued to inform the staff that the product material drop rate of equipment A is too high and needs to be processed in time.

[0042] It should be noted that the offset data can also be determined by setting a number code. For example, the offset data can be identified by a 16-bit code data. After obtaining the code data, it can be determined whether the code data exists in the preset comparison table, and if so, the abnormal phenomenon corresponding to the code data can be directly obtained, thereby determining the abnormal phenomenon of the device corresponding to the offset data.

[0043] Optionally, in the method for determining the state of the robot provided in an embodiment of the present application, the offset content also includes a device ID, and generating alarm information based on the target abnormal phenomenon includes: determining the device type of the robot and the area to which the device belongs based on the device ID, and obtaining the target device type and target area; determining the style of the alarm information based on the target device type and target area, and obtaining the target alarm style; and displaying the target abnormal phenomenon under the target alarm style to obtain alarm information.

[0044] Specifically, when generating an alarm message, the device information of the robot device corresponding to the offset data and the location information of the robot can be obtained from the offset content first, and the corresponding alarm style can be generated according to the location information and the device information. For example, the color corresponding to area A is red. If the offset data of a device in area A is abnormal, the staff can be prompted that the abnormal device is a device in area A by displaying a red alarm message.

[0045] When a target alarm style is generated, the target abnormal phenomenon can be displayed under the target alarm style, so that the staff can be prompted by both the target alarm style and the target abnormal phenomenon, thereby preventing the staff from making observation errors when observing the alarm information.

[0046] Optionally, in the method for determining the robot status provided in an embodiment of the present application, generating alarm information based on the target abnormal phenomenon includes: when the target abnormal phenomenon indicates that the offset data is incomplete, determining the alarm information as a transmission control protocol bus abnormality or a robot data storage abnormality; when the target abnormal phenomenon indicates that there is an error in the offset data, determining the alarm information as a robot operation abnormality.

[0047] Specifically, when the abnormal phenomenon indicates that the offset data is incomplete, the cause of the abnormality may be that an abnormality occurred during the data transmission process resulting in missing data, or the data may have been missing when it was stored in the device. Therefore, the alarm phenomenon may be that an abnormality occurred in the bus during data transmission or that there was an abnormality in the robot device.

[0048] Similarly, when the abnormal phenomenon indicates that the offset data is erroneous, the cause of the abnormality may be that the equipment itself has an abnormality, or that an abnormality occurred during the execution of the production task, resulting in abnormal equipment data. Therefore, the alarm phenomenon may be that there is an abnormality in the robot equipment, which can help the staff to further locate the cause of the abnormality after obtaining the abnormal phenomenon, thereby improving the work efficiency of the staff.

[0049] Optionally, in the method for determining the state of the manipulator provided in an embodiment of the present application, after determining the state of the manipulator during use according to the acquired offset data, the method also includes: when there is no abnormality in the manipulator, judging whether the offset data indicates that the system version of the manipulator needs to be updated; when the offset data indicates that the system version of the manipulator needs to be updated, obtaining a target system file compatible with the manipulator from a database, sending the target system file to the manipulator, and installing the target system file in the manipulator.

[0050] Specifically, when there is no abnormality in the manipulator, it is possible to determine whether there is version information in the device-related information in the offset data, and if there is version information, determine the current device version of the device and the system version that needs to be installed on the device. When the current device version is inconsistent with the system version to be installed, the system file to be installed can be directly obtained from the database of the host computer, and the system file can be sent from the host computer to the manipulator device. At the same time, the manipulator device can also be remotely controlled directly in the host computer, thereby achieving the effect of remotely upgrading the device system.

[0051] Optionally, in the method for determining the state of the manipulator provided in an embodiment of the present application, after determining the state of the manipulator during use according to the acquired offset data, the method further includes: determining the manipulator that needs to perform a device program update to obtain multiple manipulators to be updated; obtaining the device IP address of each manipulator to be updated, and determining whether the device IP addresses of multiple manipulators to be updated belong to a network segment; when the device IP addresses of multiple manipulators to be updated belong to a network segment, determining the switch associated with the network segment, and sending the program to be updated to the switch, and the switch sends the program to be updated to multiple manipulator devices.

[0052] Specifically, the host computer can also update the program or system of multiple robot devices at the same time through the Modbus TCP bus. It can first obtain the IP addresses of multiple robot devices that need to be updated, and determine whether the multiple IP addresses belong to the same network segment. If they belong to the same network segment, the program to be updated is sent to the robot device through the switch corresponding to the network segment, thereby completing the effect of updating the programs of multiple devices in the same network segment at the same time, thereby improving the efficiency of device program changes.

[0053] Optionally, in the method for determining the state of the manipulator provided in an embodiment of the present application, storing the offset data associated with each offset address in the corresponding storage address includes: determining the data in the offset data that needs to be converted into a data type to obtain the data to be converted; determining the data conversion process for the data to be converted; converting the type of the data to be converted into a preset data type according to the data conversion process to obtain the converted data; updating the offset data through the converted data, and executing the step of storing the offset data associated with each offset address in the corresponding storage address through the updated offset data.

[0054] Specifically, after receiving the offset data, it is also necessary to obtain the data in the offset data that needs to be converted, obtain the data to be converted, and convert the data type of the data to be converted, so that the data obtained from the manipulator device that cannot be read and stored can be read and stored.

[0055] For example, the data type of the data transmitted by the robot can be Analog type, and the data type of the data in the upper computer can be Unsigned Integer type. At this time, when part of the data in the offset data is of Analog type, the data needs to be converted from Analog type to Unsigned Integer type to obtain updated transmission data, and then the updated data can be stored in the corresponding storage address to complete normal storage of the data.

[0056] Optionally, in the method for determining the state of a manipulator provided in an embodiment of the present application, device information sent by multiple manipulators through a transmission control protocol bus is obtained, and the multiple device information obtained include: obtaining the device type of each manipulator to obtain multiple device type information; grouping manipulators with the same device type information into a group to obtain multiple groups of device type information; setting an information collection period for each group of device type information according to the device type information to obtain multiple information collection periods; collecting the device information of the corresponding manipulator according to each information collection period to obtain multiple device information.

[0057] Specifically, when the device sends data to the host computer, the data sending cycle of each device can be determined according to the device type. The host computer receives the device information sent by the robot device according to different data sending cycles, and sends a device information acquisition instruction to the robot when the sending cycle is reached but the device information sent by the robot is not received, thereby ensuring that the information sent by the robot device can be received on time, and abnormal feedback is given in time when the information cannot be received. In this way, the device can be monitored and processed accurately and on time.

[0058] 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.

[0059] The present application also provides a device for determining the state of a manipulator. It should be noted that the device for determining the state of a manipulator in the present application can be used to execute the method for determining the state of a manipulator provided in the present application. The following introduces the device for determining the state of a manipulator provided in the present application.

[0060] Figure 4 Schematic diagram of a device for determining the state of a manipulator according to an embodiment of the present application. Figure 4 As shown, the device includes: a first acquisition unit 41, a second acquisition unit 42, a first determination unit 43, and a second determination unit 44.

[0061] The first acquisition unit 41 is used to acquire device information sent by multiple manipulators through the transmission control protocol bus to obtain multiple device information, wherein the data transmission interface of each manipulator is connected to the transmission control protocol bus.

[0062] The second acquisition unit 42 is used to respectively acquire the offset content in each device information to obtain multiple groups of offset content, wherein each group of offset content includes at least one offset content, and the offset content includes an offset address and offset data.

[0063] The first determining unit 43 is used to determine the storage address to which each offset address belongs in the database, and store the offset data associated with each offset address in the corresponding storage address.

[0064] The second determining unit 44 is used to read the offset data of each manipulator from the database in sequence, and determine the state of the manipulator during use according to the acquired offset data.

[0065] The device for determining the state of a manipulator provided in an embodiment of the present application is used to obtain device information sent by multiple manipulators through a transmission control protocol bus through a first acquisition unit 41, and obtain multiple device information, wherein the data transmission interface of each manipulator is connected to the transmission control protocol bus. The second acquisition unit 42 is used to respectively obtain the offset content in each device information, and obtain multiple groups of offset content, wherein each group of offset content contains at least one offset content, and the offset content includes an offset address and offset data. The first determination unit 43 is used to determine the storage address to which each offset address belongs in the database, and store the offset data associated with each offset address in the storage address to which it belongs. The second determination unit 44 is used to read the offset data of each manipulator from the database in turn, and determine the state of the manipulator during use according to the acquired offset data. The problem that it is difficult to accurately and conveniently determine the state information of the manipulator manually in the related art is solved. By receiving the production information of multiple robot devices sent in parallel by the transmission control protocol bus, and classifying the multiple production information according to the offset content, the offset content belonging to a storage address is stored together, and the offset data is uniformly processed in the storage address, the effect of efficiently and accurately determining the production status of each robot device according to the processing results is achieved.

[0066] Optionally, in the device for determining the state of the manipulator provided in the embodiment of the present application, the second determination unit 44 includes: a judgment module, used to determine whether the offset data of the manipulator exists in a preset comparison table in the database, wherein the preset comparison table includes multiple abnormal offset data and abnormal phenomena corresponding to each abnormal offset data; a first determination module, used to determine that there is no abnormality in the use of the manipulator when none of the offset data of the manipulator exists in the preset comparison table; a second determination module, used to determine the target abnormal phenomenon corresponding to the offset data in the preset comparison table when at least one offset data of the manipulator exists in the preset comparison table, and generate an alarm message based on the target abnormal phenomenon.

[0067] Optionally, in the device for determining the state of the manipulator provided in the embodiment of the present application, the offset content also includes a device ID, and the second determination module includes: a first determination submodule, used to determine the device type of the manipulator and the area to which the device belongs according to the device ID, and obtain the target device type and target area; a second determination submodule, used to determine the style of the alarm information according to the target device type and the target area, and obtain the target alarm style; a display submodule, used to display the target abnormal phenomenon under the target alarm style, and obtain the alarm information.

[0068] Optionally, in the device for determining the state of the manipulator provided in an embodiment of the present application, the second determination module includes: a third determination submodule, for determining the alarm information as a transmission control protocol bus abnormality or a manipulator data storage abnormality when the target abnormality indicates that the offset data is incomplete; and a fourth determination submodule, for determining the alarm information as a manipulator operation abnormality when the target abnormality indicates that the offset data is erroneous.

[0069] Optionally, in the device for determining the state of the manipulator provided in an embodiment of the present application, the device also includes: a judgment unit, used to judge whether the offset data indicates that the system version of the manipulator needs to be updated when there is no abnormality in the manipulator; a third acquisition unit, used to obtain a target system file compatible with the manipulator from a database when the offset data indicates that the system version of the manipulator needs to be updated, send the target system file to the manipulator, and install the target system file in the manipulator.

[0070] Optionally, in the device for determining the state of the robot provided in the embodiment of the present application, the device also includes: a third determination unit, used to determine the robot that needs to perform device program update, and obtain multiple robots to be updated; a fourth acquisition unit, used to obtain the device IP address of each robot to be updated, and determine whether the device IP addresses of multiple robots to be updated belong to the same network segment; the fourth determination unit, used to determine the switch associated with the network segment when the device IP addresses of multiple robots to be updated belong to the same network segment, and send the program to be updated to the switch, and the switch sends the program to be updated to multiple robots.

[0071] Optionally, in the device for determining the state of the manipulator provided in the embodiment of the present application, the first determination unit 43 includes: a third determination module, used to determine the data in the offset data that needs to be converted into a data type, and obtain the data to be converted; a fourth determination module, used to determine the data conversion process of the data to be converted; a conversion module, used to convert the type of the data to be converted into a preset data type according to the data conversion process, and obtain the converted data; an execution module, used to update the offset data through the converted data, and execute the step of storing the offset data associated with each offset address in the corresponding storage address through the updated offset data.

[0072] Optionally, in the device for determining the state of a manipulator provided in an embodiment of the present application, the first acquisition unit 41 includes: an acquisition module, used to acquire the equipment type of each manipulator to obtain multiple equipment type information; a grouping module, used to group manipulators with the same equipment type information into a group to obtain multiple groups of equipment type information; a setting module, used to set the information collection period of each group of equipment type information according to the equipment type information to obtain multiple information collection periods; and an acquisition module, used to collect the equipment information of the corresponding manipulator according to each information collection period to obtain multiple equipment information.

[0073] The above-mentioned device for determining the state of the robot includes a processor and a memory. The above-mentioned first acquisition unit 41, second acquisition unit 42, first determination unit 43, second determination unit 44, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize the corresponding functions.

[0074] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem of the difficulty of accurately and conveniently determining the state information of the manipulator manually in the related art is solved by adjusting the kernel parameters.

[0075] 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.

[0076] An embodiment of the present invention provides a computer-readable storage medium on which a program is stored. When the program is executed by a processor, the method for determining the state of the manipulator is implemented.

[0077] An embodiment of the present invention provides a processor, which is used to run a program, wherein the method for determining the state of the robot is executed when the program is running.

[0078] An embodiment of the present invention provides an electronic device, including a processor, a memory, and a program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned method and steps for determining the state of the manipulator when executing the program. The device in this article may be a server, a PC, a PAD, a mobile phone, etc.

[0079] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program initialized with the above-mentioned robot state determination method steps.

[0080] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0081] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0082] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0083] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0084] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0085] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0086] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0087] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0088] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for determining the state of a robot, It is characterized in that include: Acquire device information sent by multiple manipulators through a transmission control protocol bus to obtain multiple device information, wherein the data transmission interface of each manipulator is connected to the transmission control protocol bus; Respectively obtain the offset content in each device information to obtain multiple groups of offset content, wherein each group of offset content includes at least one offset content, and the offset content includes an offset address and offset data; Determine the storage address to which each offset address belongs in the database, and store the offset data associated with each offset address in the storage address to which it belongs; Reading the offset data of each manipulator from the database in sequence, and determining the state of each manipulator during use according to the acquired offset data; After determining the status of the manipulator during use based on the acquired offset data, the method also includes: determining the manipulator that needs to perform device program update to obtain multiple manipulators to be updated; obtaining the device IP address of each manipulator to be updated, and determining whether the device IP addresses of the multiple manipulators to be updated belong to a network segment; when the device IP addresses of the multiple manipulators to be updated belong to a network segment, determining the switch associated with the network segment, and sending the program to be updated to the switch, and the switch sends the program to be updated to the multiple manipulators.

2. The method according to claim 1, It is characterized in that Sequentially reading the offset data of each manipulator from the database, and determining the state of the manipulator during use according to the acquired offset data respectively includes: Determine whether the offset data of the manipulator exists in a preset comparison table in the database, wherein the preset comparison table includes a plurality of abnormal offset data and an abnormal phenomenon corresponding to each abnormal offset data; In the case that the offset data of the manipulator does not exist in the preset comparison table, it is determined that there is no abnormality in the use of the manipulator; In the case that at least one offset data of the manipulator exists in the preset comparison table, a target abnormal phenomenon corresponding to the offset data existing in the preset comparison table is determined, and an alarm message is generated according to the target abnormal phenomenon.

3. The method according to claim 2, It is characterized in that The offset content also includes a device ID, and generating alarm information according to the target abnormal phenomenon includes: Determine the device type and the region to which the device belongs of the robot according to the device ID, and obtain the target device type and target region; Determine the style of the warning information according to the target device type and the target area, and obtain a target warning style; The target abnormal phenomenon is displayed in the target alarm style to obtain the alarm information.

4. The method according to claim 2, It is characterized in that Generating alarm information according to the target abnormal phenomenon includes: In the case where the target abnormal phenomenon indicates that the offset data is incomplete, determining the alarm information as an abnormality of the transmission control protocol bus or an abnormality of the manipulator data storage; When the target abnormal phenomenon indicates that the offset data is erroneous, the alarm information is determined as abnormal operation of the robot.

5. The method according to claim 1, It is characterized in that After determining the state of the manipulator during use according to the acquired offset data respectively, the method further includes: In the case that there is no abnormality in the manipulator, determining whether the offset data indicates that the system version of the manipulator needs to be updated; When the offset data indicates that the system version of the robot needs to be updated, a target system file adapted to the robot is obtained from the database, the target system file is sent to the robot, and the target system file is installed in the robot.

6. The method according to claim 1, It is characterized in that Storing the offset data associated with each offset address in the corresponding storage address includes: Determine the data in the offset data that needs to be converted into a data type, and obtain the data to be converted; Determining a data conversion process for the data to be converted; Convert the type of the data to be converted into a preset data type according to the data conversion process to obtain converted data; The offset data is updated by the converted data, and the step of storing the offset data associated with each offset address in the corresponding storage address is performed by the updated offset data.

7. The method according to claim 1, It is characterized in that Obtain device information sent by multiple manipulators through the transmission control protocol bus, and obtain multiple device information including: Obtain the equipment type of each robot and obtain multiple equipment type information; Grouping robots with the same device type information into one group to obtain multiple groups of device type information; Setting an information collection period for each group of device type information according to the device type information to obtain multiple information collection periods; The device information of the corresponding robot is collected in each information collection cycle to obtain the multiple pieces of device information.

8. A device for determining the state of a manipulator, It is characterized in that include: A first acquisition unit is used to acquire device information sent by multiple manipulators through a transmission control protocol bus to obtain multiple device information, wherein the data transmission interface of each manipulator is connected to the transmission control protocol bus; A second acquisition unit is used to respectively acquire the offset content in each device information to obtain multiple groups of offset content, wherein each group of offset content includes at least one offset content, and the offset content includes an offset address and offset data; A first determining unit, configured to determine a storage address to which each offset address belongs in a database, and store the offset data associated with each offset address in the storage address to which it belongs; A second determination unit is used to sequentially read the offset data of each manipulator from the database, and determine the state of the manipulator during use according to the acquired offset data; The device also includes: a third determination unit, used to determine the manipulators that need to perform device program update, and obtain multiple manipulators to be updated; a fourth acquisition unit, used to obtain the device IP address of each manipulator to be updated, and determine whether the device IP addresses of the multiple manipulators to be updated belong to a network segment; the fourth determination unit is used to determine the switch associated with the network segment when the device IP addresses of the multiple manipulators to be updated belong to the network segment, and send the program to be updated to the switch, and the switch sends the program to be updated to the multiple manipulators.

9. A computer storage medium, It is characterized in that The computer storage medium is used to store a program, wherein when the program is run, the device where the computer storage medium is located is controlled to execute the method for determining the state of the manipulator according to any one of claims 1 to 7.

Images