A walking route correction method and system for a flat curtain wall glue injection robot

Abstract

The present invention relates to a walking route correction method for a flat curtain wall glue injection robot, comprising: a main program process and interrupt processing; wherein the main program comprises: obtaining the working information of the robot; detecting whether the TCP connection of a GPRS module is normal; storing the working information of the robot separately according to whether the TCP connection is normal; the application collects various working data on site through the robot, reads its own working information and working height, and sends the data to a cloud server for storage, and after receiving a control instruction sent by a client, interrupts the operation of the main program, performs action control according to the control instruction, and resumes the operation of the main program after the action is completed, thereby ensuring the reliability, stability and accuracy of the robot's work.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a walking route correction method and system for a flat curtain wall glue injection robot. Background Art

[0002] Most of the operations of high-altitude curtain wall gap glue injection are done manually, which faces the problems of high cost, high risk, casualties, etc. Therefore, in the prior art, by adopting a curtain wall gap glue injection robot, a combination of on-site and remote methods is used to automatically complete walking on the curtain wall surface, and at the same time complete tasks such as pasting, glue injection, leveling and cutting, which saves a lot of human resource investment costs for the enterprise. However, in the above technical scheme, the route of the flat curtain wall glue injection robot often deviates during walking, and route correction is required. The traditional route correction method is usually corrected manually or by sending instructions to the robot. The method of sending control instructions to the robot through the client will appear in the correction process. Since the robot is performing real-time data monitoring and uploading, the control instructions are interfered with, and the action is not executed in time. Therefore, there is an urgent need for a walking route correction method for a flat curtain wall glue injection robot. Summary of the invention

[0003] In order to solve the above problems existing in the prior art, the present invention provides a walking route correction method for a flat curtain wall glue injection robot, which can effectively execute the actions of control instructions.

[0004] The present invention provides a method and system for correcting the walking route of a flat curtain wall glue injection robot, which adopts the following technical solutions:

[0005] In a first aspect, the present invention provides a method for correcting the walking route of a flat curtain wall glue injection robot, comprising: a main program process and interrupt processing;

[0006] The main program includes: obtaining the working information of the robot; detecting whether the TCP connection of the GPRS module is normal; storing the working information of the robot separately according to whether the TCP connection is normal;

[0007] Interrupt processing includes: obtaining the user's control instructions, pausing the main program, and controlling the robot's motion according to the control instructions. After completing the motion control, the main program is resumed.

[0008] Preferably, the obtaining of the robot's working information includes measuring the robot's height from the ground in real time; and periodically reading the robot's working data.

[0009] Preferably, the robot's working information is stored separately according to whether the TCP connection is normal, including sending the working information to the cloud server for storage if the TCP connection is normal; if the TCP connection is abnormal, temporarily storing the working information locally.

[0010] Preferably, the working information is stored separately according to whether the TCP connection is normal, and also includes continuing to detect whether the TCP connection is normal after temporarily storing the working information locally. If it is normal, the working information is uploaded to the cloud server. If it is abnormal, entering the next cycle to continue to detect whether the TCP connection is normal.

[0011] Preferably, the real-time measurement of the height of the robot from the ground comprises using a laser ranging module to measure the height of the robot from the ground in real time.

[0012] Preferably, the periodic reading of the robot's working data includes periodically reading the robot's working data via a timer.

[0013] Preferably, the obtaining of the user's control instruction includes determining whether the received control instruction complies with the communication protocol, and if so, forwarding the control instruction to the robot system, otherwise discarding the control instruction.

[0014] In a second aspect, the present invention provides a walking route correction system for a flat curtain wall glue injection robot, comprising:

[0015] The laser ranging module is configured to obtain the height of the robot from the ground;

[0016] The information reading module is configured to periodically read the robot working information;

[0017] The detection module is configured to store the robot's working information separately according to whether the TCP connection is normal;

[0018] The interrupt processing module is configured to interrupt the main program to control the robot motion according to the user control instruction.

[0019] In a third aspect, the present invention provides a computer-readable storage medium storing a plurality of instructions, wherein the instructions are suitable for being loaded and executed by a processor of a terminal device, for example, a method for correcting the walking route of a flat curtain wall glue injection robot.

[0020] In a fourth aspect, the present invention provides a terminal device comprising a processor and a computer-readable storage medium, wherein the processor is used to implement various instructions; the computer-readable storage medium is used to store multiple instructions, wherein the instructions are suitable for being loaded and executed by the processor to perform the method for correcting the walking route of a flat curtain wall glue injection robot.

[0021] In summary, the present invention has the following beneficial technical effects:

[0022] This application uses the robot to collect various work data on site, read its own work information and work height, and send the data to the cloud server for storage. After receiving the control command sent by the client, it interrupts the operation of the main program and performs action control according to the control command until the action is completed and then resumes the main program operation, thereby ensuring the reliability, stability and accuracy of the robot's work. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the flow chart of the main program operation of an embodiment of the present invention;

[0024] Figure 2 is a schematic diagram of the interrupt processing flow of an embodiment of the present invention;

[0025] Figure 3 The present invention is a schematic structural diagram of a walking route correction system for a flat curtain wall glue injection robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0027] Example 1

[0028] A walking route correction method for a flat curtain wall glue injection robot, comprising: a main program process and interrupt processing;

[0029] The main program includes: obtaining the working information of the robot; detecting whether the TCP connection of the GPRS module is normal; storing the working information of the robot separately according to whether the TCP connection is normal;

[0030] Interrupt processing includes: obtaining the user's control instructions, pausing the main program, and controlling the robot's motion according to the control instructions. After completing the motion control, the main program is resumed.

[0031] As an implementation mode, obtaining the working information of the robot includes measuring the height of the robot from the ground in real time; and periodically reading the working data of the robot. The working information of the robot is stored separately according to whether the TCP connection is normal, including sending the working information to the cloud server for storage if the TCP connection is normal; and temporarily storing the working information locally if the TCP connection is abnormal. The storing of the working information separately according to whether the TCP connection is normal also includes continuing to detect whether the TCP connection is normal after temporarily storing the working information locally. If it is normal, the working information is uploaded to the cloud server. If it is abnormal, the next cycle continues to detect whether the TCP connection is normal. The real-time measurement of the height of the robot from the ground includes measuring the height of the robot from the ground in real time using a laser ranging module. The periodic reading of the working data of the robot includes periodically reading the working data of the robot through a timer. The obtaining of the control instruction of the user includes determining whether the received control instruction complies with the communication protocol. If it complies, the control instruction is forwarded to the robot system, otherwise the control instruction is discarded.

[0032] As another embodiment,

[0033] When the main program of this embodiment is running, it will first perform an initialization operation. After the initialization is completed, the laser ranging module will start to measure the height of the robot from the ground in real time, and the robot system will start to collect other working data. The system reads the robot working information periodically through the timer and checks whether the TCP connection of the GPRS module is normal. If the connection is normal, the system will send the data to the cloud server for storage through the GPRS module, otherwise the data will be stored locally. When the TCP connection is detected to be normal in the next cycle, the locally stored data will be uploaded to the cloud server in the idle state of the timer query.

[0034] When the user controls the robot system through the client, the user command will first be sent to the cloud server through the client, and the server will determine whether the received command conforms to the communication protocol. If it conforms, the cloud server will forward the control command to the robot system, otherwise it will discard the command. After the robot system receives the control command forwarded by the cloud server, the main program will be suspended and enter the interrupt processing to execute the user's control action on the robot. After the action is completed, the system will automatically continue to execute the main program.

[0035] Example 2

[0036] The present embodiment provides a walking route correction system for a flat curtain wall glue injection robot, comprising: a laser ranging module, configured to obtain the height of the robot from the ground; an information reading module, configured to periodically read the robot's working information; a detection module, configured to store the robot's working information separately according to whether the TCP connection is normal; an interrupt processing module, configured to interrupt the main program to control the robot's motion according to user control instructions.

[0037] As an implementation method,

[0038] The software system of this embodiment consists of three parts: client, server and database. The remote server software runs online in the cloud for a long time and is always ready to receive information and instructions from the robot system or users. The server will parse the data from the robot system and save it in the database; at the same time, the server will also parse the query and control instructions from the client to meet the user's requirements for querying robot system data and real-time control of the robot system.

[0039] A computer-readable storage medium stores a plurality of instructions, wherein the instructions are suitable for being loaded and executed by a processor of a terminal device, for a method for correcting the walking route of a flat curtain wall glue injection robot.

[0040] A terminal device includes a processor and a computer-readable storage medium, wherein the processor is used to implement various instructions; the computer-readable storage medium is used to store multiple instructions, wherein the instructions are suitable for being loaded and executed by the processor and a method for correcting the walking route of a flat curtain wall glue injection robot is described.

[0041] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for correcting the walking route of a flat curtain wall glue injection robot, characterized in that: include: Main program process and interrupt handling; The main program includes: obtaining the working information of the robot; detecting whether the TCP connection of the GPRS module is normal; storing the working information of the robot separately according to whether the TCP connection is normal; Interrupt processing includes: obtaining the user's control instructions, suspending the main program, and controlling the robot's motion according to the control instructions. After completing the motion control, the main program is resumed. The obtaining of the robot's working information includes measuring the robot's height from the ground in real time and periodically reading the robot's working data; The robot's work information is stored separately according to whether the TCP connection is normal. If the TCP connection is normal, the work information is sent to the cloud server for storage; if the TCP connection is abnormal, the work information is temporarily stored locally. The working information is stored separately according to whether the TCP connection is normal, and further includes continuing to detect whether the TCP connection is normal after temporarily storing the working information locally. If normal, the working information is uploaded to the cloud server. If not normal, the next cycle is entered to continue to detect whether the TCP connection is normal. The real-time measurement of the height of the robot from the ground comprises using a laser ranging module to measure the height of the robot from the ground in real time; The periodic reading of the robot's working data includes periodically reading the robot's working data through a timer; The obtaining of the user's control instruction includes determining whether the received control instruction complies with the communication protocol. If so, the control instruction is forwarded to the robot system; otherwise, the control instruction is discarded.

2. A system for correcting the walking route of a flat curtain wall glue injection robot, which executes a method for correcting the walking route of a flat curtain wall glue injection robot as claimed in claim 1, characterized in that: include: The laser ranging module is configured to obtain the height of the robot from the ground; The information reading module is configured to periodically read the robot working information; The detection module is configured to store the robot's working information separately according to whether the TCP connection is normal; The interrupt processing module is configured to interrupt the main program to control the robot motion according to the user control instruction.

3. A computer-readable storage medium storing a plurality of instructions, wherein the instructions are suitable for being loaded and executed by a processor of a terminal device according to claim 1 as a method for correcting the walking route of a flat curtain wall glue injection robot.

4. A terminal device, comprising a processor and a computer-readable storage medium, the processor being used to implement various instructions; the computer-readable storage medium being used to store multiple instructions, the instructions being suitable for being loaded by the processor and executing a method for correcting the walking route of a flat curtain wall glue injection robot as described in claim 1.

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