Construction robot off-line programming method and device

Abstract

This invention discloses an offline programming method and apparatus for construction robots, relating to the field of construction robot technology. The offline programming method and apparatus include a data acquisition module for acquiring current workpiece data from a target workpiece drawing; a data input module for storing the current workpiece data; a parameter correction module for correcting the current workpiece data stored in the data input module; and a program generation module for generating a program for the construction robot to cut the target workpiece based on the current workpiece data. This invention solves the problem that existing offline programming methods for industrial construction robots have limited functionality, and that inaccurate data acquisition cannot be corrected, leading to inaccurate cutting actions after offline programming based on inaccurate data, thus failing to meet the user's requirement for accurate workpiece cutting.

Description

Technical Field

[0001] This invention relates to the field of construction robot technology, and in particular to an offline programming method and apparatus for construction robots. Background Technology

[0002] Industrial construction robots are multi-jointed manipulators or multi-degree-of-freedom machines widely used in the industrial field. They have a certain degree of automation and can achieve various industrial processing and manufacturing functions by relying on their own power and control capabilities.

[0003] Existing offline programming for industrial construction robots allows them to perform cutting actions on workpieces even when offline. Offline programming provides an efficient and simple way to obtain the required program. However, the functionality of existing offline programming for industrial construction robots is relatively limited. Inaccurate workpiece data cannot be corrected, leading to cutting actions that fail to cut the workpiece accurately after offline programming based on inaccurate data, thus failing to meet the user's requirement for precise workpiece cutting. Summary of the Invention

[0004] The main objective of this invention is to provide an offline programming method and apparatus for construction robots, aiming to solve the problem that the existing offline programming of industrial construction robots has limited functionality, and that inaccurate data cannot be corrected when collecting workpiece data. As a result, the cutting action executed after offline programming based on inaccurate data cannot successfully cut the workpiece, and thus cannot meet the user's need for accurate workpiece cutting.

[0005] To achieve the above objectives, the present invention proposes an offline programming method and apparatus for construction robots, comprising: The data acquisition module is used to collect the current workpiece data from the target workpiece drawing; The data input module is used to store the current workpiece data; A parameter correction module is used to correct the current workpiece data stored in the data input module; The program generation module is used to generate a program for a construction robot to cut a target workpiece based on the current workpiece data.

[0006] In one embodiment, the data of the target workpiece includes: the edges of the target workpiece to be cut, the number of edges to be cut being multiple, and the cutting order of the multiple edges to be cut.

[0007] In one embodiment, the parameter correction module compares the data stored in the data input module with the parameter template in the parameter correction module. When there is a large difference between the current workpiece data and the parameter template, a parameter correction action is performed to correct the current workpiece data with the large difference to the data provided by the parameter template.

[0008] In one embodiment, the offline programming method for construction robots further includes a temperature control module, which is used to collect the current temperature of the program generation module, and execute an alarm action when the current temperature is greater than a set temperature.

[0009] In one embodiment, the temperature control module includes a fault detection module. When the current temperature is greater than a set temperature, the temperature control module controls the fault detection module to perform an alarm action, thereby realizing fault detection of the generation program module.

[0010] In one embodiment, the offline programming method for construction robots further includes an offline download module. The program generation module submits the generated program to the offline download module, and the offline download module begins to execute the download action after the program for the construction robot to cut the target workpiece is completed.

[0011] In one embodiment, when the data acquisition module acquires the current workpiece data for the second time, the program stored in the storage unit is used by the construction robot to cut the target workpiece a second time.

[0012] In one embodiment, the offline programming method for construction robots further includes a compensation calculation module, which can process the current workpiece data collected by the data acquisition module to correct the current workpiece data collected by the data acquisition module.

[0013] This invention also proposes an offline programming device for construction robots, which includes a data acquisition module, a data input module, a parameter correction module, and a program generation module. The data input module is connected to the data acquisition module, and the data input module can store the current workpiece data on the target workpiece drawing acquired by the data acquisition module; The parameter correction module is connected to the data input module, and the parameter correction module is used to correct the current workpiece data stored in the data input module; The generation program module is connected to the data input module, and the generation program module is used to generate a program for the construction robot to cut the target workpiece based on the current workpiece data.

[0014] In one embodiment, the offline programming device for the construction robot further includes a display screen connected to the data acquisition module, the display screen being able to display the current workpiece data of the target workpiece.

[0015] This invention's technical solution, through the establishment of a data acquisition module, a data input module, a parameter correction module, and a program generation module, achieves the acquisition of data from the target workpiece's drawings. The acquired workpiece data is stored, and then compared with the data in the parameter template contained in the parameter correction module. If a significant discrepancy is found between the stored workpiece data and the parameter template data, the workpiece data is corrected according to the parameter template data. The corrected, accurate data is then used by the program generation module, which generates a program for a construction robot to cut the target workpiece based on the accurate workpiece data. In this offline programming method for construction robots, the acquired and stored data can be corrected according to the parameter template of the parameter correction module. If the difference between the acquired and stored workpiece data and the parameter template data is small, no correction is required; the program for the construction robot to cut the target workpiece is directly generated based on the workpiece data. This ensures the scientific nature of the offline programming method for construction robots, guaranteeing that the acquired workpiece data is accurate before offline programming, thus enabling highly accurate cutting of the target workpiece using the current program in subsequent operations. Furthermore, in subsequent work, if there are target workpieces of the same size to be cut, the cutting action can be directly executed based on the program for cutting the workpiece downloaded from the offline download module, without the need to generate the program again, thus achieving the goal of efficient cutting. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating the offline programming method for construction robots provided by the present invention; Figure 2 This is a functional block diagram of the offline programming method for construction robots provided by the present invention.

[0018] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be noted that all directional indications in the embodiments of the present invention are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0021] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0022] Existing offline programming for industrial construction robots allows them to perform cutting actions on workpieces even when offline. Offline programming provides an efficient and simple way to obtain the required program. However, the functionality of existing offline programming for industrial construction robots is relatively limited. Inaccurate workpiece data cannot be corrected, leading to cutting actions that fail to cut the workpiece accurately after offline programming based on inaccurate data, thus failing to meet the user's requirement for precise workpiece cutting.

[0023] To address the above problems, this invention proposes an offline programming method and apparatus for construction robots.

[0024] Please see Figures 1 to 2 In this embodiment, the offline programming method for the construction robot includes a data acquisition module for acquiring current workpiece data from a target workpiece drawing; a data input module for storing the current workpiece data; a parameter correction module for correcting the current workpiece data stored in the data input module; and a program generation module for generating a program for the construction robot to cut the target workpiece based on the current workpiece data.

[0025] Specifically, the offline programming method for construction robots of the present invention includes the following steps: Using a data acquisition module, current workpiece data is collected from the target workpiece drawing, where the target workpiece is the workpiece to be cut. The target workpiece drawing can be obtained in advance through various methods, such as: obtaining the CAD drawing of the target workpiece using CAD drawing software; or, obtaining an image of the target workpiece using an image acquisition device and determining the scale of the image to obtain an image of the target workpiece with the scale as the target workpiece drawing.

[0026] After the data acquisition module acquires the current workpiece data from the target workpiece drawing, it transmits the current workpiece data to the data input module for storage. The data to be stored includes, but is not limited to, the target workpiece's dimensions, shape features, and processing information. The data input module can transmit the stored current workpiece data to the parameter correction module. The parameter correction module includes parameter templates. These templates include, but are not limited to, the following: if a target task involves cutting an edge with a straight line, the parameter template contains the starting and ending points of that edge, allowing the construction robot to cut straight from the starting point to the ending point; or, if a target task involves cutting an edge with an arc, the parameter template contains the starting and ending points of that edge, as well as the midpoint, allowing the construction robot to cut arcs from the starting point to the ending point. This parameter template can be a pre-defined template. If the acquired target workpiece data differs significantly from the pre-defined data in this parameter template, the corresponding data in the parameter template is directly input to replace it. For example, when measuring the starting and ending points of the corresponding sides of a target workpiece, if the measured data of the ending point is significantly different from the actual data and the construction robot arm cannot reach the ending point, the current workpiece data will be replaced with the ending point data provided by the parameter template.

[0027] The program generation module generates programs for controlling the construction robot to perform relevant standard actions. Based on the parameter template or current workpiece data corresponding to each target task, raw code for controlling the construction robot to cut the target workpiece can be obtained. After compiling and encapsulating the raw code, a program for controlling the construction robot to cut the target workpiece can be obtained. This embodiment of the invention uses a data input module to store the current workpiece data; a parameter correction module to correct the current workpiece data stored in the data input module; and a program generation module to generate a program for the construction robot to cut the target workpiece based on the current workpiece data. This enables more accurate programming of the construction robot cutting workpieces, and the use of pre-determined parameter templates for data correction ensures programming accuracy.

[0028] In one embodiment, the data of the target workpiece includes: the edges of the target workpiece to be cut, the number of edges to be cut being multiple, and the cutting order of the multiple edges to be cut.

[0029] In one embodiment, the parameter correction module compares the data stored in the data input module with the parameter template in the parameter correction module. When there is a large difference between the current workpiece data and the parameter template, a parameter correction action is performed to correct the current workpiece data with the large difference to the data provided by the parameter template.

[0030] In one embodiment, the offline programming method for construction robots further includes a temperature control module, which is used to collect the current temperature of the program generation module, and execute an alarm action when the current temperature is greater than a set temperature.

[0031] Specifically, the generation module generates heat when producing the target program. The temperature control module monitors this heat and includes a preset temperature, which is the highest temperature the generation module can handle when generating the program correctly and stably. If the temperature of the generation module exceeds the preset temperature during operation, the temperature control module will trigger an alarm. The temperature control module includes a temperature detector that detects the current temperature of the generation module in real time and transmits it to the temperature controller. The temperature controller then determines whether the temperature control module should trigger an alarm. If the temperature transmitted to the temperature controller is significantly higher than the preset temperature, the temperature controller will directly trigger an alarm on the temperature control module.

[0032] In one embodiment, the temperature control module includes a fault detection module. When the current temperature is greater than a set temperature, the temperature control module controls the fault detection module to perform an alarm action, thereby realizing fault detection of the generation program module.

[0033] Specifically, the temperature control module includes a fault detection module, which executes alarm actions. The fault detection module can perform online and offline fault diagnosis on the generation program module. Online fault diagnosis involves detecting faults in the generation program module when it is not down, obtaining online fault diagnosis results. Offline fault diagnosis involves detecting faults in the generation program module when it has already down. After obtaining the online and offline fault diagnosis results, they can be merged, and the merged result can be displayed and monitored. However, when the generation program module loses power or down, an alarm action is executed directly, and offline fault detection can be performed as needed.

[0034] In one embodiment, the offline programming method for construction robots further includes an offline download module. The program generation module submits the generated program to the offline download module, and the offline download module begins to execute the download action after the program for the construction robot to cut the target workpiece is completed.

[0035] Specifically, the generated program is submitted to the offline download module. The offline download module determines whether the program to be downloaded has already been downloaded. If so, the download is abandoned; otherwise, the download is executed. When the download method is large file download without chunks, a temporary file is created on the offline download server and the file download begins. The module determines whether the file download is successful. If the file download is successful, the file is divided into chunks of a predetermined size and the chunks are uploaded to cloud storage in sequence. The upload is then determined to be successful. If the upload is successful, the temporary file is deleted. Conversely, when the download method is small file download without chunks, the file download begins, and the module determines whether the file download is successful. If the file download is successful, the file is divided into chunks of a predetermined size and the chunks are uploaded to cloud storage in sequence.

[0036] In one embodiment, the storage unit within the offline download module is used to store the downloaded program.

[0037] Specifically, this offline download module may also include a judgment and recognition module. When the program generation module successfully generates a program for cutting the target workpiece, the judgment and recognition module will first perform a recognition action when executing the download action. Specifically, it will identify whether the program has been downloaded before or whether it has not been downloaded. If the program has been downloaded before, the second download action will not be performed, and the user can find the downloaded program in the cloud and execute it directly without the program generation module regenerating the program, thus realizing the convenience and intelligence of the offline programming method for controlling the construction robot. Furthermore, the specific method for determining whether the program has been downloaded is not limited. In this application, the judgment can be made based on the data input from the data input module to the program generation module. If the current workpiece data matches the previously downloaded program data, the second download action will not be performed, and the workpiece cutting action will be executed directly based on the previously downloaded program. A controller is provided in the offline programming device for the construction robot. The controller can judge based on the data sent from the data input module to the program generation module. If the data matches the previous workpiece data, it controls the offline download program to find the previously downloaded workpiece cutting program applied to that data. If the controller does not find that the current workpiece data matches the previous data, it will directly send the data transmitted by the data input module to the parameter correction module. The data after parameter correction can be used by the program generation module to generate the program for cutting the target workpiece.

[0038] In one embodiment, when the data acquisition module acquires the current workpiece data for the second time, the program stored in the storage unit is used by the construction robot to cut the target workpiece a second time.

[0039] Specifically, the offline download module can also copy downloaded resources to the user's space, such as cloud storage. When the user needs to use the resource, it can be downloaded from the space to the user's personal computer or mobile terminal according to the user's request.

[0040] In this application, the offline download module can also perform block downloads. Specifically, when the download method is a large file download without block downloads, a temporary file is created on the offline download server, and the file download begins. The system determines whether the file download is successful. If the file download is successful, the file is divided into blocks of a predetermined size, and these blocks are uploaded to cloud storage in sequence. The upload is then determined to be successful, and if the upload is successful, the temporary file is deleted. When the download method is a small file download without block downloads, the file download begins, and the system determines whether the file download is successful. If the file download is successful, the file is divided into blocks of a predetermined size, and these blocks are uploaded to cloud storage in sequence. The specific block division method can be differentiated based on the actions required by the target workpiece. For example, if the target workpiece only needs to perform a straight-line cutting action, only the data required for the straight-line cutting action is used to generate the program and download it. If the target workpiece only needs to perform a curve cutting action, the data required for the straight-line cutting action will not be collected.

[0041] In one embodiment, the offline programming method for construction robots further includes a compensation calculation module, which can process the current workpiece data collected by the data acquisition module to correct the current workpiece data collected by the data acquisition module.

[0042] Specifically, the offline programming method for construction robots includes a compensation calculation module. When the data acquisition module collects the current workpiece data from the target workpiece drawing, it can process and perform compensation calculations on the current workpiece data online via a computer. The processed and compensated current workpiece data can then be stored through the data input module. Preferably, the compensation calculation module and the parameter correction module can be configured based on actual design requirements, determining whether both are necessary or only one needs to be configured. The module only needs to correct the collected current workpiece data.

[0043] This invention also proposes an offline programming device for construction robots, which includes a data acquisition module, a data input module, a parameter correction module, and a program generation module. The data input module is connected to the data acquisition module, and the data input module can store the current workpiece data on the target workpiece drawing acquired by the data acquisition module; The parameter correction module is connected to the data input module, and the parameter correction module is used to correct the current workpiece data stored in the data input module; The generation program module is connected to the data input module, and the generation program module is used to generate a program for the construction robot to cut the target workpiece based on the current workpiece data.

[0044] Specifically, the offline programming device for construction robots included in this invention comprises a controller, a data acquisition module, a data input module, a parameter correction module, a program generation module, a temperature control module, an offline download module, and a fault detection module. The controller enables the data acquisition module to acquire data from the drawings of the target workpiece and controls the data input module to store the data acquired by the data acquisition module. The data acquisition module is connected to the data input module, which is connected to the parameter correction module. The parameter correction module is connected to the program generation module, which also includes a temperature control module and a fault detection module within it. The program generation module is connected to the offline download module. The parameter correction module is equipped with a parameter correction controller. This controller compares the data from the parameter template with the target workpiece data transmitted from the data input module. If one or two data points clearly do not match the actual target workpiece dimensions or fall within the cutting range that the construction robot's manipulator cannot reach, the corresponding data at the target workpiece position is changed to the data in the parameter template, ensuring the corrected data falls within the manipulator's working range. The corrected data is then transmitted to the program generation module. If the data transmitted from the data input module to the parameter correction module is found to be without significant issues after comparison by the parameter correction controller, the data is directly transmitted to the program generation module. The program generation module generates a program based on the correct target workpiece data. This program is used for the manipulator to perform linear or curved cutting of the target workpiece. After the program generation module generates the program for linear or curved cutting of the target workpiece, the offline download device automatically begins downloading this program. However, it should be noted that after the target workpiece data passes through the parameter correction module, before the correct data is transmitted to the program generation module, the controller determines whether the data is a program that has already been downloaded for a previously executed cutting action. If it is a downloaded program, the program generation module does not need to generate a second target program for cutting the target workpiece. Furthermore, the program generation module includes a temperature control device. This temperature control module monitors the real-time temperature of the program generation module and contains a temperature controller. If the temperature of the program generation module is detected to be higher than the preset temperature, the temperature controller will activate the fault detection module to trigger an alarm. This action ensures the normal operation of the program generation module.

[0045] In one embodiment, the offline programming device for the construction robot further includes a display screen connected to the data acquisition module, the display screen being able to display the current workpiece data of the target workpiece.

[0046] Specifically, the offline programming device for construction robots also includes a display screen, which can be connected to the data acquisition module. The display screen can show the current drawing data of the target workpiece, whether the parameter correction module has updated the data on the target workpiece drawing, and whether the generated program module is in normal working state. This allows users to intuitively observe the working progress of the offline programming device for construction robots and whether there are any errors.

[0047] Since this offline programming device for construction robots adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0048] In one embodiment, the technical solution of the present invention, by setting up a data acquisition module, a data input module, a parameter correction module, and a program generation module, acquires data from the drawings of the target workpiece, stores the acquired current workpiece data, and compares the stored current workpiece data with the data in the parameter template contained in the parameter correction module. If a significant difference is found between the stored current workpiece data and the parameter template data, the current workpiece data is corrected according to the parameter template data. The corrected accurate data can be used by the program generation module, which generates a program for the construction robot to cut the target workpiece based on the accurate current workpiece data. In this offline programming method for construction robots, the acquired and stored data can be corrected according to the parameter template of the parameter correction module. If the acquired and stored current workpiece data is not significantly different from the parameter template data, no correction is required, and the program for the construction robot to cut the target workpiece is directly generated based on the current workpiece data. This ensures the scientific nature of the offline programming method for construction robots, as offline programming is only performed after confirming that the acquired current workpiece data is accurate, enabling subsequent use of the current program to cut the target workpiece with significantly higher accuracy. Furthermore, in subsequent work, if there are target workpieces of the same size to be cut, the cutting action can be directly executed based on the program for cutting the workpiece downloaded from the offline download module, without the need to generate the program again, thus achieving the goal of efficient cutting.

[0049] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made under the concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An offline programming method for construction robots, characterized in that, include: The data acquisition module is used to collect the current workpiece data from the target workpiece drawing; The data input module is used to store the current workpiece data; The compensation calculation module, connected to the data input module, is used to perform online data processing and compensation calculation on the current workpiece data collected by the data acquisition module, so as to correct the current workpiece data; A parameter correction module, connected to the data input module, has a built-in parameter template. The parameter template includes at least the start point position data and end point position data of each edge to be cut on the target workpiece. The parameter correction module is configured to compare the current workpiece data stored in the data input module with the parameter template. When the difference between the current workpiece data and the parameter template causes the construction robot arm to be unable to reach the start point position or end point position, a parameter correction action is performed to replace the corresponding start point position data or end point position data in the current workpiece data with the data provided by the parameter template. The program generation module is used to generate a program for the construction robot to cut the target workpiece based on the corrected current workpiece data.

2. The offline programming method for construction robots as described in claim 1, characterized in that, The data of the target workpiece includes: the edges of the target workpiece to be cut, the number of edges to be cut is multiple, and the cutting order of the multiple edges to be cut.

3. The offline programming method for construction robots as described in claim 2, characterized in that, The parameter correction module compares the data stored in the data input module with the parameter template in the parameter correction module. When there is a large difference between the current workpiece data and the parameter template, a parameter correction action is performed to correct the current workpiece data with the large difference to the data provided by the parameter template.

4. The offline programming method for construction robots as described in claim 1, characterized in that, The offline programming method for construction robots also includes a temperature control module, which is used to collect the current temperature of the program generation module. When the current temperature is greater than a set temperature, the temperature control module executes an alarm action.

5. The offline programming method for construction robots as described in claim 4, characterized in that, The temperature control module includes a fault detection module. When the current temperature is greater than the set temperature, the temperature control module controls the fault detection module to perform an alarm action, thereby realizing the fault detection of the generation program module.

6. The offline programming method for construction robots as described in claim 1, characterized in that, The offline programming method for construction robots also includes an offline download module. The program generation module submits the generated program to the offline download module, and the offline download module starts the download action after the program for the construction robot to cut the target workpiece is completed.

7. The offline programming method for construction robots as described in claim 6, characterized in that, When the data acquisition module acquires the current workpiece data for the second time, the program stored in the storage unit is used by the construction robot to cut the target workpiece a second time.

8. An offline programming device for construction robots, characterized in that, The offline programming device for the construction robot includes a data acquisition module, a data input module, a compensation calculation module, a parameter correction module, and a program generation module. The data acquisition module is used to acquire the current workpiece data on the target workpiece drawing; The data input module is connected to the data acquisition module and is used to store the current workpiece data; The compensation calculation module is connected to the data input module and is used to perform online data processing and compensation calculation on the current workpiece data collected by the data acquisition module in order to correct the current workpiece data. The parameter correction module is connected to the data input module. The parameter correction module has a built-in parameter template, which contains at least the start point position data and end point position data of each edge to be cut on the target workpiece. The parameter correction module is configured to: compare the current workpiece data stored in the data input module with the parameter template; when the difference between the current workpiece data and the parameter template causes the construction robot arm to be unable to reach the starting point position or the ending point position, execute the parameter correction action to replace the corresponding starting point position data or ending point position data in the current workpiece data with the data provided by the parameter template. The generation program module is connected to the data input module and is used to generate a program for the construction robot to cut the target workpiece based on the current workpiece data corrected by the parameter correction module.

9. The offline programming device for construction robots as described in claim 8, characterized in that, The offline programming device for the construction robot also includes a display screen, which is connected to the data acquisition module and can display the current workpiece data of the target workpiece.

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