A robot process commissioning system and method based on three-dimensional visualization

Abstract

The application provides a robot process debugging system and method based on three-dimensional visualization, and relates to the technical field of robot processing debugging, and comprises the following steps: a data processing module is used for acquiring saved workstation data and robot data in a robot workstation, and extracting robot trajectory point data and process parameters from the robot data; a three-dimensional display module is used for establishing a virtual workstation model containing a virtual robot model according to the workstation data and the robot data, and establishing a virtual processing trajectory of the virtual robot model according to the trajectory point data and the process parameters; and a debugging module is used for debugging process parameters to obtain process debugging parameters according to externally input debugging instructions, and the three-dimensional display module synchronously displays the adjustment of the virtual processing trajectory according to the process debugging parameters. The beneficial effect is to provide a three-dimensional visual interactive interface, reduce the operation complexity, improve the process debugging efficiency, improve the interactive experience, and make the process debugging more convenient.

Description

Technical Field

[0001] This invention relates to the field of robot processing and debugging technology, and in particular to a robot process debugging system and method based on three-dimensional visualization. Background Technology

[0002] With the rapid development of intelligent manufacturing, many advanced and high-precision products rely on more sophisticated robots and robot process debugging software to achieve production goals. Currently, there are two methods for process debugging of robot workstations: teach pendant teaching and offline simulation software teaching. Teach pendant teaching relies on manual on-site operation of the robot teach pendant, which is relatively complex and not intuitive, and can easily lead to fatigue with prolonged operation. Offline simulation software teaching generally takes place outside the on-site environment, by first creating an offline program remotely and then continuously importing and exporting the on-site robot program for teaching. This type of software is expensive, complex in function, and requires professional training to use.

[0003] Offline simulation software often has extensive functionality, complex 3D user interfaces, and a poor user experience. Even some offline simulation software that can provide real-time teaching suffers from complex communication processes and high hardware requirements, making them unsuitable for frequent use by workers on-site.

[0004] In the development of robot process debugging software, a large amount of robot data needs to be read and displayed in real time. The effects of using different robot communication protocols and file transfer protocols vary greatly. At the same time, robot data is diverse and needs to be analyzed and stored in a targeted manner.

[0005] Therefore, for customers who have frequent process debugging needs, there is a need for more intuitive and easy-to-use supporting process debugging software that can be customized and expanded according to changes in the processing scenario. Summary of the Invention

[0006] To address the problems existing in the prior art, this invention provides a robot process debugging system based on three-dimensional visualization, comprising:

[0007] The data processing module connects to an external robot workstation and is used to acquire the workstation data and robot data stored in the robot workstation, and extract the trajectory point data of the basic processing trajectory of the robot and the process parameters corresponding to the basic processing trajectory from the robot data.

[0008] A 3D display module, connected to the data processing module, is used to establish a virtual workstation model containing a virtual robot model based on the workstation data and the robot data and to perform 3D visualization display, and to establish a virtual processing trajectory of the virtual robot model based on the trajectory point data and the process parameters and to perform 3D visualization display.

[0009] The debugging module, connected to the data processing module and the 3D display module, is used to debug the process parameters according to the externally input debugging instructions to obtain process debugging parameters. The 3D display module is also used to adjust the virtual machining trajectory according to the process debugging parameters and perform 3D visualization display.

[0010] Preferably, the robot data further includes robot system variable parameters; then the 3D display module includes:

[0011] The first model building unit is used to build the virtual workstation model based on the workstation data.

[0012] The second model building unit, connected to the first model building unit, is used to build the virtual robot model in the virtual workstation model according to the robot system variable parameters.

[0013] The trajectory establishment unit is used to establish the basic machining trajectory of the virtual robot model based on the trajectory point data, and to adjust the basic machining trajectory according to the process parameters to obtain the virtual machining trajectory;

[0014] The model display unit is connected to the first model establishment unit, the second model establishment unit, and the trajectory establishment unit, respectively, and is used to perform three-dimensional visualization of the virtual workstation model, the virtual robot model, and the virtual processing trajectory.

[0015] Preferably, the 3D display module calls a pre-configured 3D graphics engine and establishes a virtual workstation model containing the virtual robot model based on the workstation data and the robot data, and establishes the virtual machining trajectory based on the trajectory point data and the process parameters.

[0016] Preferably, it further includes a local storage module connected to the data processing module for storing pre-saved account data; then the data processing module further includes:

[0017] The login verification unit is used to compare and verify the externally input account information to be verified with the account data, and generate a login signal when the verification result indicates successful verification;

[0018] The data processing module obtains the workstation data and the robot data from the robot workstation based on the login signal.

[0019] This invention also provides a robot process debugging method based on three-dimensional visualization, applied to the aforementioned robot process debugging system, comprising:

[0020] Step S1: The robot process debugging system acquires the saved workstation data and robot data in the robot workstation, and extracts the trajectory point data of the basic processing trajectory of the robot and the process parameters corresponding to the basic processing trajectory from the robot data.

[0021] Step S2: The robot process debugging system establishes a virtual workstation model containing a virtual robot model based on the workstation data and the robot data and performs a three-dimensional visualization display. It also establishes a virtual processing trajectory of the virtual robot model based on the trajectory point data and the process parameters and performs a three-dimensional visualization display.

[0022] Step S3: The robot process debugging system debugs the process parameters according to the externally input debugging instructions to obtain process debugging parameters, and adjusts the virtual machining trajectory according to the process debugging parameters and performs three-dimensional visualization display.

[0023] Preferably, the robot data further includes robot system variable parameters; then step S2 includes:

[0024] Step S21: The robot process debugging system establishes the virtual workstation model based on the workstation data;

[0025] Step S22: The robot process debugging system establishes the virtual robot model in the virtual workstation model according to the robot system variable parameters;

[0026] Step S23: The robot process debugging system establishes the basic machining trajectory of the virtual robot model based on the trajectory point data, and adjusts the basic machining trajectory according to the process parameters to obtain the virtual machining trajectory;

[0027] Step S24: The robot process debugging system will perform a three-dimensional visualization of the virtual workstation model, the virtual robot model, and the processing trajectory.

[0028] Preferably, in step S2, the robot process debugging system calls a pre-configured 3D graphics engine and establishes a virtual workstation model containing the virtual robot model based on the workstation data and the robot data, and establishes the virtual processing trajectory based on the trajectory point data and the process parameters.

[0029] Preferably, the robot process debugging system stores pre-saved account data; therefore, before performing step S1, the system further includes:

[0030] The robot process debugging system compares the externally input account information to be verified with the account data to determine whether the verification result indicates successful verification.

[0031] If so, proceed to step S1;

[0032] If not, a login failure message will be displayed.

[0033] The above technical solution has the following advantages or beneficial effects: it provides a three-dimensional visualization interactive interface, reduces the complexity of worker operation, and improves the efficiency of process debugging; it integrates process debugging operation functions, enhances the interactive experience, reduces hardware costs, and makes process debugging more convenient. Attached Figure Description

[0034] Figure 1 A schematic diagram of a robot process debugging system based on three-dimensional visualization is provided in a preferred embodiment of the present invention.

[0035] Figure 2 A flowchart illustrating a robot process debugging method based on three-dimensional visualization is provided in a preferred embodiment of the present invention.

[0036] Figure 3 This is a schematic diagram of the sub-process of step S2 in a preferred embodiment of the present invention. Detailed Implementation

[0037] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. The present invention is not limited to this embodiment; other embodiments that conform to the spirit of the present invention may also fall within the scope of the present invention.

[0038] In a preferred embodiment of the present invention, based on the above-mentioned problems existing in the prior art, a robot process debugging system based on three-dimensional visualization is provided, such as... Figure 1 As shown, it includes:

[0039] Data processing module 1 is connected to an external robot workstation 100. It is used to obtain the workstation data and robot data stored in the robot workstation 2, and extract the trajectory point data and process parameters corresponding to the basic processing trajectory of the robot when performing process processing from the robot data.

[0040] The 3D display module 2 is connected to the data processing module 1. It is used to build a virtual workstation model containing a virtual robot model based on workstation data and robot data and to perform 3D visualization display. It also builds a virtual processing trajectory of the virtual robot model based on trajectory point data and process parameters and performs 3D visualization display.

[0041] The debugging module 3 connects the data processing module 1 and the 3D display module 2. It is used to debug process parameters according to the debugging instructions input by the outside to obtain process debugging parameters. The 3D display module 2 is also used to adjust the virtual machining trajectory according to the process debugging parameters and perform 3D visualization display.

[0042] Specifically, in this embodiment, a 3D visualization-based robot process debugging software system is provided and applied to a robot workstation 2 for polishing the outer shell of a housing. The robot program pre-established by the robot workstation often needs to be frequently modified according to changes in the size of the outer shell, requiring high precision. Modifying and debugging using a traditional robot teach pendant is time-consuming for workers, incurs significant training costs, and is inefficient. Using the process debugging software system provided by this invention, the accompanying software is installed on the industrial control computer of the robot workstation, making it easier and faster to complete the high-frequency process debugging requirements of the polishing trajectory. The process debugging software system of this invention also adopts a human-machine interface panel that supports touch screen operation, emphasizing the effects of 3D display and human-machine interaction.

[0043] First, the workstation data and robot data saved in robot workstation 2 are read and parsed into a specified type. A virtual workstation model containing a virtual robot model is constructed using digital twin technology. The physical models of robot workstation 2 and the robot are mapped into the virtual scene. The trajectory point data of the basic processing trajectory during robot processing is extracted from the robot data. The points on the trajectory are converted into three-dimensional spheres and connected to establish the basic processing trajectory. Different processing processes have different process parameters. The basic processing trajectory is then adjusted according to the process parameters to obtain the corresponding virtual processing trajectory. In the actual production process, the process parameters also need to be adjusted during processing to obtain process debugging parameters. The virtual processing trajectory is adjusted in real time according to the process debugging parameters, and the effect of the debugging trajectory can be viewed intuitively to realize the synchronous simulation of robot action.

[0044] The machining trajectory is set according to the trajectory point data in the robot program within the robot data. When debugging process parameters, view and select the robot program you want to edit. Select the program segment you want to edit through the interactive panel, and click the button to modify various process parameters. You can select one, multiple, or a combination of multiple process parameters for modification. This allows you to view the corresponding 3D trajectory points in real time, adjust process parameters in batches, and quickly save and upload program scripts to the robot.

[0045] When replacing a robot workstation, only the new digital model and the robot communication port need to be replaced, meeting the requirements for rapid customization and expansion.

[0046] In a preferred embodiment of the present invention, the robot data further includes robot system variable parameters; then, as follows: Figure 1 As shown, the 3D display module 2 includes:

[0047] The first model building unit 21 is used to build a virtual workstation model based on workstation data;

[0048] The second model building unit 22 is connected to the first model building unit 21 and is used to build a virtual robot model in the virtual workstation model according to the robot system variable parameters.

[0049] The trajectory establishment unit 23 is used to establish the basic machining trajectory of the virtual robot model based on the trajectory point data, and to adjust the basic machining trajectory according to the process parameters to obtain the virtual machining trajectory.

[0050] The model display unit 24 is connected to the first model establishment unit 21, the second model establishment unit 22 and the trajectory establishment unit 23 respectively, and is used to display the virtual workstation model, the virtual robot model and the processing trajectory in three dimensions.

[0051] In a preferred embodiment of the present invention, the three-dimensional display module 2 calls a pre-configured three-dimensional graphics engine and establishes a virtual workstation model containing a virtual robot model based on workstation data and robot data, and establishes a virtual machining trajectory based on trajectory point data and process parameters.

[0052] In this embodiment, a 3D graphics engine is used to create a virtual workstation model, a virtual robot model, and a basic machining trajectory, respectively, to achieve a 3D visualization display of the workstation, robot, and corresponding machining trajectory, which is intuitive and concise. When debugging process parameters, the virtual model and trajectory are also adjusted synchronously, and the model and trajectory before and after the adjustment are displayed at the same time, which facilitates quick comparison and viewing of the adjustment effect.

[0053] In a preferred embodiment of the present invention, a local storage module 4 is further included, connected to the data processing module 1, for storing pre-saved account data; then... Figure 1 As shown, data processing module 1 also includes:

[0054] The login verification unit 11 is used to compare and verify the externally input account information to be verified with the account data, and generate a login signal when the verification result indicates that the verification is successful.

[0055] Data processing module 1 acquires workstation data and robot data from robot workstation 2 based on the login signal.

[0056] Specifically, in this embodiment, registered users will save their account data locally. After successful login, the robot process debugging system will obtain the saved workstation data and robot data in the robot workstation 2, and then display the parameter debugging page to the user. The user can view and select the robot program that they want to edit, and use the interactive panel to select the program segment that they want to edit to debug the process parameters.

[0057] This invention also provides a robot process debugging method based on three-dimensional visualization, applied to the aforementioned robot process debugging system, such as... Figure 2 As shown, it includes:

[0058] Step S1: The robot process debugging system acquires the saved workstation data and robot data in the robot workstation, and extracts the trajectory point data of the basic processing trajectory and the process parameters corresponding to the basic processing trajectory from the robot data.

[0059] Step S2: The robot process debugging system establishes a virtual workstation model containing a virtual robot model based on workstation data and robot data and performs 3D visualization display. It also establishes a virtual machining trajectory of the virtual robot model based on trajectory point data and process parameters and performs 3D visualization display.

[0060] Step S3: The robot process debugging system adjusts the process parameters according to the externally input debugging instructions to obtain process debugging parameters, and adjusts the virtual machining trajectory according to the process debugging parameters and displays it in three dimensions.

[0061] In a preferred embodiment of the present invention, the robot data further includes robot system variable parameters; then, as follows: Figure 3 As shown, step S2 includes:

[0062] Step S21: The robot process debugging system establishes a virtual workstation model based on the workstation data;

[0063] Step S22: The robot process debugging system establishes a virtual robot model in the virtual workstation model based on the robot system variable parameters;

[0064] Step S23: The robot process debugging system establishes the basic machining trajectory of the virtual robot model based on the trajectory point data, and adjusts the basic machining trajectory according to the process parameters to obtain the virtual machining trajectory.

[0065] In step S24, the robot process debugging system will display the virtual workstation model, virtual robot model, and virtual machining trajectory in three dimensions.

[0066] In a preferred embodiment of the present invention, in step S2, the robot process debugging system calls a pre-configured three-dimensional graphics engine and establishes a virtual workstation model containing a virtual robot model based on workstation data and robot data, and establishes a virtual processing trajectory based on trajectory point data and process parameters.

[0067] In a preferred embodiment of the present invention, the robot process debugging system stores pre-saved account data; therefore, the process further includes the following steps before executing step S1:

[0068] The robot process debugging system compares the externally input account information to be verified with the account data to determine whether the verification result indicates successful verification.

[0069] If so, proceed to step S1;

[0070] If not, a login failure message will be displayed.

[0071] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should recognize that any equivalent substitutions and obvious changes made using the content of this specification and illustrations should be included within the protection scope of the present invention.

Claims

1. A robot process debugging system based on three-dimensional visualization, characterized in that, include: The data processing module connects to an external robot workstation and is used to acquire the workstation data and robot data stored in the robot workstation, and extract the trajectory point data of the basic processing trajectory of the robot and the process parameters corresponding to the basic processing trajectory from the robot data. A 3D display module, connected to the data processing module, is used to establish a virtual workstation model containing a virtual robot model based on the workstation data and the robot data and to perform 3D visualization display, and to establish a virtual processing trajectory of the virtual robot model based on the trajectory point data and the process parameters and to perform 3D visualization display. The debugging module, connected to the data processing module and the 3D display module, is used to debug the process parameters according to the externally input debugging instructions to obtain process debugging parameters. The 3D display module is also used to adjust the virtual machining trajectory according to the process debugging parameters and perform 3D visualization display.

2. The robot process debugging system according to claim 1, characterized in that, The robot data also includes robot system variable parameters; therefore, the 3D display module includes: The first model building unit is used to build the virtual workstation model based on the workstation data. The second model building unit, connected to the first model building unit, is used to build the virtual robot model in the virtual workstation model according to the robot system variable parameters. The trajectory establishment unit is used to establish the basic machining trajectory of the virtual robot model based on the trajectory point data, and to adjust the basic machining trajectory according to the process parameters to obtain the virtual machining trajectory; The model display unit is connected to the first model establishment unit, the second model establishment unit, and the trajectory establishment unit, respectively, and is used to perform three-dimensional visualization of the virtual workstation model, the virtual robot model, and the virtual processing trajectory.

3. The robot process debugging system according to claim 1, characterized in that, The 3D display module calls a pre-configured 3D graphics engine and establishes a virtual workstation model containing the virtual robot model based on the workstation data and the robot data, and establishes the virtual machining trajectory based on the trajectory point data and the process parameters.

4. The robot process debugging system according to claim 1, characterized in that, It also includes a local storage module, connected to the data processing module, for storing pre-saved account data; then the data processing module further includes: The login verification unit is used to compare and verify the externally input account information to be verified with the account data, and generate a login signal when the verification result indicates successful verification; The data processing module obtains the workstation data and the robot data from the robot workstation based on the login signal.

5. A robot process debugging method based on three-dimensional visualization, characterized in that, The system is applied to the robot process debugging system as described in any one of claims 1-4, comprising: Step S1: The robot process debugging system acquires the saved workstation data and robot data in the robot workstation, and extracts the trajectory point data of the basic processing trajectory of the robot and the process parameters corresponding to the basic processing trajectory from the robot data. Step S2: The robot process debugging system establishes a virtual workstation model containing a virtual robot model based on the workstation data and the robot data and performs a three-dimensional visualization display. It also establishes a virtual processing trajectory of the virtual robot model based on the trajectory point data and the process parameters and performs a three-dimensional visualization display. Step S3: The robot process debugging system debugs the process parameters according to the externally input debugging instructions to obtain process debugging parameters, and adjusts the virtual machining trajectory according to the process debugging parameters and performs three-dimensional visualization display.

6. The robot process debugging method according to claim 5, characterized in that, The robot data also includes robot system variable parameters; therefore, step S2 includes: Step S21: The robot process debugging system establishes the virtual workstation model based on the workstation data; Step S22: The robot process debugging system establishes the virtual robot model in the virtual workstation model according to the robot system variable parameters; Step S23: The robot process debugging system establishes the basic machining trajectory of the virtual robot model based on the trajectory point data, and adjusts the basic machining trajectory according to the process parameters to obtain the virtual machining trajectory; Step S24: The robot process debugging system displays the virtual workstation model, the virtual robot model, and the virtual processing trajectory in three dimensions.

7. The robot process debugging method according to claim 5, characterized in that, In step S2, the robot process debugging system calls a pre-configured 3D graphics engine and establishes a virtual workstation model containing the virtual robot model based on the workstation data and the robot data, and establishes the virtual processing trajectory based on the trajectory point data and the process parameters.

8. The robot process debugging method according to claim 5, characterized in that, The robot process debugging system stores pre-saved account data; therefore, before executing step S1, the following steps are also included: The robot process debugging system compares the externally input account information to be verified with the account data to determine whether the verification result indicates successful verification. If so, proceed to step S1; If not, a login failure message will be displayed.

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