Industrial robot speed monitoring method and device, electronic equipment and storage medium

Abstract

The application applies to the technical field of robots, and discloses an industrial robot speed monitoring method and device, electronic equipment and a storage medium. In response to a speed continuous monitoring instruction, a monitoring time period of an industrial robot is determined, and a first end clamp speed and a second end clamp speed of the industrial robot in the monitoring time period are acquired. Whether the time period speed of the monitoring time period is continuous is judged according to the first end clamp speed and the second end clamp speed. If the time period speed is not continuous in the monitoring time period, the working environment information and the machine running parameter information of the industrial robot in the monitoring time period are detected, and the warning reason for the discontinuity of the time period speed in the monitoring time period is determined. The speed monitoring information of the industrial robot is determined according to the time period speed in the monitoring time period and the warning reason. The application aims to solve the problem that it is difficult to monitor and analyze the speed continuity of the industrial robot.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of industrial robots, and relates to an industrial robot speed monitoring method and device, an electronic device and a storage medium. BACKGROUND

[0002] Currently, the application of industrial robots is increasingly mature, and the work capacity is increasingly effective. Industrial robots can effectively improve work efficiency and product quality. The continuity of speed in the process of work of the industrial robot will affect the precision and work efficiency of the work of the industrial robot. At present, the work speed of the industrial robot is planned to make the speed of the industrial robot continuous, but the continuity of the speed of the industrial robot is not monitored. Therefore, the user does not know the continuity of the speed of the industrial robot in the work process, so it is difficult to adjust the industrial robot to ensure the continuity of the industrial robot in the work process. SUMMARY

[0003] The main purpose of the application is to provide an industrial robot speed monitoring method, device, electronic device and storage medium, which aims to solve the technical problem that it is difficult to monitor and analyze the continuity of the speed of the industrial robot.

[0004] To achieve the above-mentioned purpose, the application provides an industrial robot speed monitoring method, which comprises:

[0005] In response to a speed continuity monitoring instruction, a monitoring time period of the industrial robot is determined, and a first end clamp speed and a second end clamp speed of the industrial robot in the monitoring time period are acquired;

[0006] According to the first end clamp speed and the second end clamp speed, it is judged whether the time period speed of the monitoring time period is continuous;

[0007] If the time period speed is not continuous in the monitoring time period, the work environment information and the machine running parameter information of the industrial robot in the monitoring time period are detected, and the warning reason for the discontinuity of the time period speed in the monitoring time period is determined;

[0008] According to the time period speed in the monitoring time period and the warning reason, the speed monitoring information of the industrial robot is determined.

[0009] To achieve the above-mentioned purpose, the application provides an industrial robot speed monitoring device, which comprises:

[0010] An acquisition module is configured to, in response to a speed continuity monitoring instruction, determine a monitoring time period of an industrial robot, and acquire a first end clamp speed and a second end clamp speed of the industrial robot in the monitoring time period.

[0011] a judging module, configured to judge whether a period speed of the monitoring period is continuous according to the first end effector speed and the second end effector speed;

[0012] a monitoring module, configured to detect work environment information and machine running parameter information of the industrial robot in the monitoring period if the period speed is not continuous in the monitoring period, and determine a warning reason for the period speed not being continuous in the monitoring period;

[0013] a monitoring report generation module, configured to determine speed monitoring information of the industrial robot according to the period speed in the monitoring period and the warning reason.

[0014] The application further provides an electronic device, which comprises a memory, a processor, and a program of the industrial robot speed monitoring method stored in the memory and executable on the processor, and the program of the industrial robot speed monitoring method can realize the steps of the industrial robot speed monitoring method as described above when executed by the processor.

[0015] The application further provides a storage medium, which stores a program of an industrial robot speed monitoring method, and the program of the industrial robot speed monitoring method realizes the steps of the industrial robot speed monitoring method as described above when executed by a processor.

[0016] The application further provides a computer program product, which comprises a computer program, and the computer program realizes the steps of the industrial robot speed monitoring method as described above when executed by a processor.

[0017] The application provides an industrial robot speed monitoring method, device, electronic device, and storage medium, and the industrial robot speed monitoring method comprises the following steps: in response to a speed continuity detection instruction, detecting a period speed of the industrial robot in a monitoring period, detecting work environment information and machine running parameter information of the industrial robot in the monitoring period in the case that the period speed is not continuous, realizing monitoring of the period speed of the industrial robot, determining a warning reason for the period speed not being continuous, further determining speed monitoring information according to the warning reason and the period speed, adjusting the industrial robot, improving the problem of speed discontinuity of the industrial robot, and analyzing the reason for the speed discontinuity of the industrial robot, which is convenient for improving the problem of speed discontinuity of the industrial robot. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings, which are incorporated into and form a part of the specification, illustrate an embodiment consistent with the present application and, together with the description, serve to explain the principles of the application.

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings can also provide other drawings based on the drawings for those skilled in the art without creative effort.

[0020] Figure 1 A flowchart of a first embodiment of the industrial robot speed monitoring method of the present application;

[0021] Figure 2 A flowchart of a second embodiment of the industrial robot speed monitoring method of the present application;

[0022] Figure 3 A flowchart of a third embodiment of the industrial robot speed monitoring method of the present application;

[0023] Figure 4 A device schematic diagram of an embodiment of the industrial robot speed monitoring method of the present application;

[0024] Figure 5 A device structure schematic diagram of the hardware running environment involved in the industrial robot speed monitoring method in the embodiments of the present application.

[0025] The object implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0026] In order to make the above-mentioned objects, features and advantages of the present application more apparent and easy to understand, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort fall within the scope of protection of the present application.

[0027] Embodiment One

[0028] With reference to Figure 1 The embodiments of the present application provide an industrial robot speed monitoring method. In a first embodiment of the industrial robot speed monitoring method of the present application, the industrial robot speed monitoring method comprises:

[0029] Step S10, in response to the speed continuity monitoring instruction, determining a monitoring period of the industrial robot, and acquiring a first end gripper speed and a second end gripper speed of the industrial robot in the monitoring period;

[0030] Step S20, judging whether the period speed of the monitoring period is continuous according to the first end gripper speed and the second end gripper speed.

[0031] In the embodiment, it is to be noted that the speed continuity monitoring instruction is used to trigger the monitoring of the speed continuity of the industrial robot, the speed continuity monitoring instruction can be triggered when the industrial robot starts working, and the speed continuity monitoring instruction can be triggered by a user or triggered by the industrial robot by default when the industrial robot starts working. Based on the speed continuity monitoring instruction, a plurality of monitoring periods can be determined, the plurality of monitoring periods can be monitoring periods determined according to the speed continuity monitoring instruction, each monitoring period can be used as a monitoring period, and the period speed in the monitoring period can be collected by a speed sensor embedded in the end gripper of the industrial robot. The period speed includes the first end gripper speed and the second end gripper speed.

[0032] Step S30, if the period speed in the monitoring period is not continuous, detecting the working environment information and the machine running parameter information of the industrial robot in the monitoring period, and determining the warning reason for the non-continuity of the period speed in the monitoring period.

[0033] In the embodiment, it is to be noted that the working environment information represents the environment information of the industrial robot in the monitoring period, and the working environment information includes temperature and humidity. The working environment information can be collected by a temperature sensor and a humidity sensor embedded in the industrial robot. The machine running parameter information represents the change of the parameters of the industrial robot itself in the monitoring period, and the machine running parameter information includes displacement information and end load weight. The displacement information includes telescopic displacement, lifting displacement, rotary displacement and pitching displacement. The warning reason represents the reason for the non-continuity of the speed of the industrial robot.

[0034] Step S40, determining the speed monitoring information of the industrial robot according to the period speed in the monitoring period and the warning reason.

[0035] In this embodiment, it should be noted that the speed monitoring information is used to alert the user when the industrial robot's speed is discontinuous during the monitoring period, providing the user with the reason for the discontinuity and thus offering a basis for adjusting the industrial robot's operating environment and parameters. The speed monitoring information can be stored in the cloud, and when a discontinuity in speed is detected during the monitoring period, the discontinuity can be output in real time.

[0036] As an example, steps S10 to S40 include: responding to a continuous speed monitoring command, determining a monitoring period, and acquiring the first end-effector speed and the second end-effector speed of the industrial robot within the monitoring period; determining, based on the first end-effector speed and the second end-effector speed, whether the time-period speed of the industrial robot is continuous within a preset monitoring period; if the time-period speed is discontinuous within the monitoring period, detecting the industrial robot's operating environment information and machine operating parameter information within the monitoring period, and determining the warning reason for the discontinuous time-period speed within the monitoring period; if the time-period speed is continuous within the monitoring period, performing end-effector speed monitoring of the industrial robot for the next time step monitoring period; and determining the speed monitoring information of the industrial robot based on the time-period speed within the monitoring period and the warning reason.

[0037] This application, in response to a continuous speed detection command, detects the speed of an industrial robot during a monitoring period. This allows for the detection of the robot's operating environment and machine parameters during the monitoring period, even when the speed is discontinuous. This enables the monitoring of the industrial robot's speed over time, revealing the cause of any speed discontinuity warnings. Furthermore, based on the warning cause and the measured speed, the application determines the speed monitoring information and adjusts the industrial robot to address the speed discontinuity issue. This allows for the analysis of the causes of speed discontinuity and the identification of underlying reasons for improvement, thereby enhancing the stability of the industrial robot's speed continuity.

[0038] Specifically, before the step of analyzing the industrial robot's operating environment information and machine operating parameter information during the monitoring period to obtain the warning reason for the discontinuous speed during the monitoring period if the speed is discontinuous during the monitoring period, the industrial robot speed monitoring method includes:

[0039] Step A10, calculating a difference between the first end effector speed and the second end effector speed, wherein the first end effector speed is a speed at a start time of the monitoring period, and the second end effector speed is a speed at an end time of the monitoring period, to obtain a speed difference value;

[0040] Step A20, judging whether the speed difference value is within a preset speed continuity threshold value;

[0041] Step A30, if the speed difference value is within the preset speed continuity threshold value, then the period speed of the industrial robot in the monitoring period is continuous.

[0042] Step A40, if the speed difference value is not within the preset speed continuity threshold value, then the period speed of the industrial robot in the monitoring period is discontinuous.

[0043] In the embodiment, it is to be noted that the period speed includes a first end effector speed and a second end effector speed, the first end effector speed is a speed at a start time of the monitoring period, and the second end effector speed is a speed at an end time of the monitoring period, the preset speed continuity threshold value is a range of speed continuity corresponding to the monitoring period, the preset speed continuity threshold value corresponding to each monitoring period is different in the working process of the industrial robot, the industrial robot has different preset speed continuity threshold values at different working period nodes, the working period node of the industrial robot can be determined according to the monitoring period, so that the preset speed continuity threshold value of the monitoring period can be determined according to the working period node of the industrial robot. The speed difference value is the difference between the first end effector speed and the second end effector speed, the speed difference value can be negative, positive or zero, when the speed difference value is negative, the first end effector speed is less than the second end effector speed, when the speed difference value is positive, the first end effector speed is greater than the second end effector speed, when the speed difference value is zero, the first end effector speed is equal to the second end effector speed, when the speed difference value is less than the preset speed continuity threshold value, the period speed in the monitoring period is too slow, and when the speed difference value is greater than the preset speed continuity threshold value, the period speed in the monitoring period is too fast.

[0044] As an example, steps A10 to A40 include: subtracting the first end effector speed and the second end effector speed to obtain a speed difference value; calculating whether the speed difference value exceeds a preset speed continuity threshold; if the speed comparison result satisfies the preset speed continuity threshold, the time period speed of the industrial robot in the monitoring time period is continuous; if the speed comparison result does not satisfy the preset speed continuity threshold, the time period speed of the industrial robot in the monitoring time period is discontinuous. The embodiment of the present application can monitor the time period speed continuity of the monitoring time period by comparing the first end effector speed and the second end effector speed of the monitoring time period, so as to determine whether the end effector speed in the monitoring time period is continuous according to the speed difference value, thereby ensuring the timeliness of monitoring the time period speed.

[0045] Embodiment two

[0046] Further, with reference to Figure 2 , based on the above-mentioned embodiments of the present application, in another embodiment of the present application, the same or similar contents as the above-mentioned embodiments can be referred to the above introduction, and will not be described in detail hereinafter. On this basis, the step of determining the speed monitoring information of the industrial robot according to the time period speed in the monitoring time period and the warning cause comprises:

[0047] Step B10, matching the warning level of the warning cause in the preset warning level rule, taking the warning cause and the warning level as the speed warning information together;

[0048] Step B20, taking the speed warning information and the time period speed in the monitoring time period as the speed monitoring information of the industrial robot.

[0049] In the embodiment, it should be noted that the preset warning level rule is used to determine the warning level of the warning cause of the discontinuous time period speed, the preset warning level rule comprises a warning cause and a warning level associated with the warning cause, and the warning level is divided into a first warning, a second warning and a third warning; the warning cause comprises job environment abnormal information and running parameter abnormal information, the job environment abnormal information comprises temperature abnormal information and humidity abnormal information, and the running parameter abnormal information comprises displacement abnormal information and end effector load abnormal information. The displacement abnormal information comprises telescopic displacement abnormality, lifting displacement abnormality, rotary displacement abnormality and pitching displacement abnormality. The warning level of the temperature abnormal information and the humidity abnormal information is the first warning, the warning level of the end effector load abnormality is the second warning, and the warning level of the telescopic displacement abnormality, the lifting displacement abnormality, the rotary displacement abnormality, the pitching displacement abnormality and the instruction execution abnormality is the third warning.

[0050] As an example, the steps B10 to B20 include: determining a warning level of the warning cause according to the warning cause in the preset warning level rule matching the warning level of the warning cause, and taking the warning cause and the warning level as speed warning information; and generating speed monitoring information of the industrial robot according to the speed warning information and the period speed in the monitoring period. In this embodiment, by determining the warning level of the warning cause, the user can more intuitively understand the warning level of the industrial robot when the speed is discontinuous, so as to adjust the environmental information of the industrial robot during work or adjust the load weight of the end gripper according to the importance and urgency of the warning level, thereby reducing the influence of the environmental information during work on the speed continuity of the industrial robot, and improving the accuracy of the analysis of the speed discontinuity of the end carrier of the industrial robot by determining the warning level of the warning cause.

[0051] In the step of determining the speed monitoring information of the industrial robot according to the period speed in the monitoring period and the warning cause, the industrial robot speed monitoring method further includes:

[0052] Step C10, respectively counting the warning times of the first-level warning, the second-level warning and the third-level warning according to each historical speed monitoring information of the industrial robot and the speed monitoring information, to obtain the first-level warning times, the second-level warning times and the third-level warning times;

[0053] Step C20, according to the preset level distribution weight, weighting and summing the first-level warning times, the second-level warning times and the third-level warning times to obtain a warning weighted value;

[0054] Step C30, taking the ratio between the warning weighted value and the total work times of the industrial robot as a speed continuity stability value;

[0055] Step C40, taking the speed continuity stability value, each warning cause and each warning level as speed continuity stability information.

[0056] In this embodiment, it should be noted that the historical speed monitoring information is the speed monitoring information of the period speed discontinuity of the industrial robot in the historical work process, the speed continuity information is used to describe the stability of the speed continuity of the industrial robot during work, the speed continuity stability information can be expressed by percentage, and the speed continuity stability information is positively correlated with the stability of the period speed continuity of the industrial robot.

[0057] As an example, the step C10 to the step C40 includes: acquiring each historical speed monitoring information of the industrial robot; respectively counting a warning level number of each warning level according to each historical speed monitoring information and the speed monitoring information, obtaining a first warning number, a second warning number and a third warning number, weighting the first warning number, the second warning number and the third warning number according to a preset level distribution weight, and obtaining a warning weighted value by weighted summation, obtaining a ratio of the warning weighted value to a total operation number of the industrial robot according to the total operation number of the industrial robot and the warning weighted value, taking the ratio as a speed continuous stability value, and outputting speed continuous stability information according to the speed continuous stability value, each warning cause and a warning level associated with each warning cause. The preset level distribution weight is set in advance, and the higher the important level of the warning level is, the higher the weight corresponding to the warning level is. In this embodiment, the weight of the first warning is less than the weight of the second warning, and the weight of the third warning is less than the weight of the second warning.

[0058] Further, after the speed continuous stability information, the user can maintain and repair the industrial robot according to the speed continuous stability information, so as to improve the continuity of the speed of the industrial robot in the subsequent operation process. Through processing of the historical speed monitoring information and the detection report, the speed continuous stability information is obtained, so as to evaluate the speed continuity of the industrial robot, and let the user know the stability of the speed continuity of the industrial robot.

[0059] Embodiment three

[0060] Reference Figure 3 The embodiment of the present application provides a speed monitoring method of an industrial robot. In another embodiment of the present application, the same or similar contents as the above embodiments can be referred to the above introduction, and will not be described in detail. On this basis, the step of detecting the operation environment information and the machine running parameter information of the industrial robot in the monitoring period to obtain the warning cause of the period speed discontinuity in the monitoring period includes:

[0061] Step D10, detecting whether the operation environment information of the industrial robot in the monitoring period matches the preset environment information;

[0062] Step D20, if the operation environment information does not match the preset environment information, generating operation environment abnormal information, and analyzing the machine running parameter information of the industrial robot in the monitoring period to obtain running parameter abnormal information;

[0063] Step D30, determining the warning cause of the period speed discontinuity in the monitoring period according to the operation environment abnormal information and the running parameter abnormal information.

[0064] Step D40, if the job environment information matches the preset environment information, analyzing the machine running parameter information of the industrial robot in the monitoring period to obtain running parameter abnormal information;

[0065] Step D50, taking the running parameter abnormal information as the warning reason of the period speed discontinuity in the monitoring period.

[0066] In this embodiment, it should be noted that the job environment information includes temperature and humidity, the preset environment information includes a preset environment humidity range and a preset environment temperature range, the preset environment information represents a standard job environment of the industrial robot, and the preset environment information can be set by a user according to actual conditions. The job environment abnormal information represents that the job environment of the industrial robot does not meet the standard job environment, and the job environment abnormal information includes temperature abnormal information and humidity abnormal information.

[0067] As an example, steps D10 to D50 include: detecting whether the job environment information of the industrial robot in the monitoring period matches the preset environment information; if the job environment information does not match the preset environment information, generating job environment abnormal information and analyzing the machine running parameter information of the industrial robot in the monitoring period to obtain running parameter abnormal information; determining the warning reason of the period speed discontinuity in the monitoring period according to the job environment abnormal information and the running parameter abnormal information; if the job environment information matches the preset environment information, analyzing the machine running parameter information of the industrial robot in the monitoring period to obtain running parameter abnormal information; and taking the running parameter abnormal information as the warning reason of the period speed discontinuity in the monitoring period.

[0068] The step of analyzing the machine running parameter information of the industrial robot in the monitoring period to obtain running parameter abnormal information includes:

[0069] Step D201, taking the machine running parameter information that does not match the preset running parameter information as running parameter abnormal information.

[0070] In the embodiment, it is to be explained that when the job environment information meets the preset environment information and the machine running parameter information matches the preset running parameter information, it indicates that the temperature, humidity, displacement information and end load weight information of the industrial robot in the monitoring period are not the reasons affecting the speed discontinuity of the industrial robot. The speed of the general industrial robot is planned in advance, and the industrial robot is controlled to execute according to the planned speed. If the temperature, humidity, displacement information and end load weight information are not the reasons affecting the speed discontinuity of the industrial robot, it indicates that the speed planning of the industrial robot is wrong, so as to remind the user that the speed planning of the industrial robot is wrong.

[0071] As an example, the machine running parameter information that does not match the preset running parameter information is taken as running parameter abnormal information, and the running parameter abnormal information is taken as the warning reason for the speed discontinuity in the monitoring period. If the machine running parameter information matches the preset running parameter information, the speed planning error information is outputted, and the speed planning error information is taken as the warning reason. The preset running parameter information includes a preset standard displacement and a preset load weight. If the displacement information does not match the preset standard displacement, the displacement abnormal information is outputted. If the end load weight does not match the preset load weight, the end load weight abnormal information is outputted. The displacement abnormal information and / or the weight abnormal information are taken as the running parameter abnormal information, and the speed planning error information indicates that the planning speed of the industrial robot is wrong.

[0072] The step of determining the warning reason for the speed discontinuity in the monitoring period according to the environment abnormal information and the running parameter abnormal information includes:

[0073] Step E10, inputting the environment abnormal information into a preset environment abnormal analysis model according to the environment abnormal information to obtain environment influence information.

[0074] Step E20, if the environment influence information does not match the displacement abnormal information, the displacement abnormal information that does not match the environment influence information and the displacement abnormal information is taken as machine internal displacement influence information, and if the running parameter abnormal information includes end load abnormal information, the machine internal displacement influence information and the end load abnormal information are taken as machine internal abnormal information.

[0075] Step E30, if the environment influence information matches the displacement abnormal information of the running parameter abnormal information, and if the running parameter abnormal information includes end load abnormal information, the end load abnormal information is taken as machine internal abnormal information.

[0076] Step E40, the environmental abnormal information and the machine internal abnormal information are jointly taken as the warning reason of the speed discontinuity in the monitoring period.

[0077] In this embodiment, it should be noted that the speed continuity of the industrial robot during work can be affected by the environment in which the industrial robot is located. The temperature and humidity of the environment can affect the structure in the industrial robot for controlling rotation, i.e., the joint of the industrial robot, and the rotation of the joint can affect the displacement information generated by the industrial robot during work. In the case of environmental abnormal information, the influence of the environmental abnormal information on the displacement of the industrial robot is analyzed, so that it can be determined whether the displacement abnormal information is caused by the environmental abnormal information, the machine internal abnormal information, or the environmental abnormal information and the machine internal abnormal information together, thereby improving the accuracy of determining the warning reason. The machine internal abnormal information represents that there is a problem with the internal parameter of the industrial robot. The machine internal parameter abnormality can be motor abnormality, structural abnormality, etc. of the industrial robot.

[0078] Among them, the environmental abnormal information can be input into a preset environmental abnormal analysis model to obtain the displacement deviation information of the industrial robot caused by the environmental abnormal information. The displacement deviation information is taken as environmental influence information, which is used to represent the influence of the environmental abnormal information on the displacement of the industrial robot during work. The environmental abnormal analysis model is obtained by training a large amount of data. In the case of ensuring that the machine running parameter information is correct, the displacement information of the industrial robot can be collected under the temperature and humidity data that do not conform to the preset environmental information, the displacement error information is determined, the temperature and humidity data that do not conform to the preset environmental information and the displacement error information are taken as environmental abnormal training data, and a plurality of sets of environmental abnormal training data are obtained. The environmental abnormal training data is trained to obtain the environmental abnormal analysis model.

[0079] As an example, steps E10 to E40 include: inputting the environmental anomaly information into a preset environmental anomaly analysis model to obtain environmental impact information; matching the environmental impact information with the displacement anomaly information of the operating parameter anomaly information; if the environmental impact information and the displacement anomaly information do not match, then the mismatched displacement anomaly information is taken as internal displacement impact information of the machine; and if the industrial robot has end-effector load anomaly information, then the internal displacement impact information and the end-effector load anomaly information are taken together as internal machine anomaly information; if the environmental impact information and the displacement anomaly information of the operating parameter anomaly information match, and the industrial robot has end-effector load anomaly information, then the end-effector load anomaly information is taken as internal machine anomaly information; and taking the environmental anomaly information and the internal machine anomaly information together as the warning reason for the discontinuous speed during the monitoring period. This application embodiment analyzes the impact of abnormal environmental information on the displacement of the industrial robot, thereby determining whether the abnormal displacement information is caused by abnormal environmental information, machine operating parameter information, or a combination of both, thus improving the accuracy of determining the cause of the warning.

[0080] The step of detecting whether the working environment information of the industrial robot during the monitoring period matches the preset environment information includes:

[0081] Step F10: Detect whether the temperature of the industrial robot during the monitoring period meets the preset temperature range and whether the humidity meets the preset humidity range;

[0082] Step F20: If the temperature meets the preset temperature range and the humidity meets the preset humidity range, then the working environment information meets the preset environment information.

[0083] Step F30: If the temperature does not meet the preset temperature range and / or the humidity does not meet the preset humidity range, then the working environment information does not meet the preset environment information.

[0084] In this embodiment, it should be noted that the working environment information includes temperature and humidity, and the preset environment information includes a preset temperature range and a preset humidity range. The temperature and humidity can be collected by temperature sensors and humidity sensors pre-embedded in the industrial robot. When the speed is not continuous during the time period, the temperature sensor and the humidity sensor can collect the temperature and humidity during the monitoring period respectively, thereby determining whether the temperature and humidity meet the preset environment information.

[0085] As an example, the steps F10 to F30 include: detecting whether the temperature of the industrial robot in the monitoring period meets the preset temperature range and whether the humidity meets the preset humidity range; if the temperature meets the preset temperature range and the humidity meets the preset humidity range, the working environment information meets the preset environment information; if the temperature does not meet the preset temperature range and / or the humidity does not meet the preset humidity range, the working environment information does not meet the preset environment information. Wherein, after the step of if the temperature does not meet the preset temperature range and / or the humidity does not meet the preset humidity range, the industrial robot speed monitoring method further comprises: if the temperature does not meet the preset temperature range, generating temperature abnormal information; if the humidity does not meet the preset humidity range, generating humidity abnormal information; wherein, the temperature abnormal information is characterized by the temperature of the industrial robot in the monitoring period exceeding the maximum value of the preset temperature range or being lower than the minimum value of the preset temperature range, the humidity abnormal information is characterized by the humidity of the industrial robot in the monitoring period exceeding the maximum value of the preset humidity range or the humidity exceeding the minimum value of the preset humidity range, the temperature abnormal information can be temperature too high or temperature too low, and the humidity abnormal information can be humidity too high and humidity too low.

[0086] The embodiment determines the working environment abnormal information of the industrial robot when the temperature does not meet the preset temperature range and the humidity does not meet the preset humidity range, so that the user can eliminate the interference of the temperature and humidity on the speed continuity of the industrial robot according to the working environment abnormal information, and improve the accuracy of the warning cause analysis of the speed discontinuity of the industrial robot.

[0087] Embodiment four

[0088] With reference to Figure 4 The embodiment of the present application further provides an industrial robot speed monitoring device, which comprises:

[0089] The acquisition module 10 is configured to determine a monitoring period of the industrial robot in response to a speed continuity monitoring instruction, and acquire a first end clamp speed and a second end clamp speed of the industrial robot in the monitoring period.

[0090] The judgment module 20 is configured to judge whether the period speed of the monitoring period is continuous according to the first end clamp speed and the second end clamp speed.

[0091] The monitoring module 30 is configured to detect the work environment information and the machine running parameter information of the industrial robot in the monitoring period if the period speed is discontinuous in the monitoring period, and determine the warning reason for the discontinuity of the period speed in the monitoring period.

[0092] The monitoring report generation module 40 is configured to determine the speed monitoring information of the industrial robot according to the period speed in the monitoring period and the warning reason.

[0093] Optionally, the judging module 20 further comprises:

[0094] calculating a difference between the first end effector speed and the second end effector speed, to obtain a speed difference value, wherein the first end effector speed is the speed at the start time of the monitoring period, and the second end effector speed is the speed at the end time of the monitoring period;

[0095] judging whether the speed difference value exceeds a preset speed continuity threshold value;

[0096] if the speed difference value exceeds the preset speed continuity threshold value, the period speed of the industrial robot in the monitoring period is continuous;

[0097] if the speed difference value does not exceed the preset speed continuity threshold value, the period speed of the industrial robot in the monitoring period is discontinuous.

[0098] Optionally, the monitoring report generation module 40 further comprises:

[0099] matching a warning level of the warning reason in a preset warning level rule, and taking the warning reason and the warning level as the speed warning information together;

[0100] taking the speed warning information and the period speed in the monitoring period as the speed monitoring information of the industrial robot.

[0101] Optionally, the monitoring report generation module 40 further comprises:

[0102] According to each historical speed monitoring information of the industrial robot and the speed monitoring information, the number of warnings of each of the first-level warning, the second-level warning and the third-level warning is counted respectively, to obtain the number of first-level warnings, the number of second-level warnings and the number of third-level warnings;

[0103] According to a preset level allocation weight, the number of first-level warnings, the number of second-level warnings and the number of third-level warnings are weighted and summed, to obtain a warning weighted value;

[0104] a ratio between the warning weighting value and a total number of operations of the industrial robot as a speed continuous stability value;

[0105] the speed continuous stability value, each of the warning causes, and each of the warning levels are collectively used as speed continuous stability information.

[0106] Optionally, the monitoring module 30 further comprises:

[0107] detecting whether the operation environment information of the industrial robot in the monitoring period matches preset environment information;

[0108] if the operation environment information does not match the preset environment information, generating operation environment abnormal information, and analyzing the machine running parameter information of the industrial robot in the monitoring period to obtain running parameter abnormal information;

[0109] determining a warning cause of the period speed discontinuity in the monitoring period according to the operation environment abnormal information and the running parameter abnormal information;

[0110] if the operation environment information matches the preset environment information, analyzing the machine running parameter information of the industrial robot in the monitoring period to obtain running parameter abnormal information;

[0111] using the running parameter abnormal information as the warning cause of the period speed discontinuity in the monitoring period;

[0112] The step of analyzing the machine running parameter information of the industrial robot in the monitoring period to obtain running parameter abnormal information comprises:

[0113] using machine running parameter information that does not match preset running parameter information as running parameter abnormal information.

[0114] Optionally, the monitoring module 30 further comprises:

[0115] inputting the environment abnormal information into a preset environment abnormality analysis model according to the environment abnormal information to obtain environment influence information;

[0116] if the environment influence information does not match the displacement abnormal information, using displacement abnormal information that does not match the environment influence information as machine internal displacement influence information, and if there is end load abnormal information in the running parameter abnormal information, using the machine internal displacement influence information and the end load abnormal information together as machine internal abnormal information;

[0117] If the displacement abnormality information of the environment influence information and the running parameter abnormality information match, and if there is end load abnormality information in the running parameter abnormality information, the end load abnormality information is taken as the machine internal abnormality information;

[0118] The environment abnormality information and the machine internal abnormality information are taken as the warning reason of the time period speed discontinuity in the monitoring time period.

[0119] Optionally, the monitoring module 30 further comprises:

[0120] detecting whether the temperature and the humidity of the industrial robot in the monitoring time period are within the preset temperature range and the preset humidity range, respectively;

[0121] If the temperature is within the preset temperature range and the humidity is within the preset humidity range, the working environment information meets the preset environment information.

[0122] If the temperature is not within the preset temperature range and / or the humidity is not within the preset humidity range, the working environment information does not meet the preset environment information.

[0123] The industrial robot speed monitoring device provided by the application adopts the industrial robot speed monitoring method in the above embodiments, and aims to solve the problem that it is difficult to monitor and analyze the speed continuity of the industrial robot. Compared with the prior art, the industrial robot speed monitoring method provided by the embodiments of the application has the same beneficial effects as the industrial robot speed monitoring method provided by the above embodiments, and the other technical features in the industrial robot speed monitoring device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0124] Embodiment five

[0125] The application provides an electronic device, which can be a playing device. The electronic device comprises at least one processor and a memory connected with the at least one processor. The memory stores instructions executable by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to perform the industrial robot speed monitoring method in the above embodiments.

[0126] The following refers to Figure 5The diagram illustrates a structural schematic of an electronic device suitable for implementing embodiments of the present disclosure. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (portable Android devices), PMPs (portable media players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0127] like Figure 5 As shown, the electronic device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in ROM (Read-Only Memory) 1002 or a program loaded from storage device 1003 into RAM (Random Access Memory) 1004. RAM 1004 also stores various programs and data required for the operation of the electronic device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via bus 1005. Input / output (I / O) interface 1006 is also connected to the bus.

[0128] Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, tachometers, gyroscopes, etc.; output devices 1008 including, for example, LCDs (Liquid Crystal Displays), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. The communication devices allow electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although electronic devices with various systems are shown in the figures, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0129] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer readable medium, the computer program comprising program code for performing the methods illustrated by the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication system, or installed from a storage system, or installed from a ROM. When the computer program is executed by a processing system, the above-mentioned functions defined in the methods of the embodiments of the present disclosure are performed.

[0130] The electronic device provided in the present application adopts the industrial robot speed monitoring method in the above-mentioned embodiment one, which aims to solve the problem of difficulty in monitoring and analyzing the continuity of the speed of the industrial robot. Compared with the prior art, the product flow data distribution provided in the embodiments of the present application has the same beneficial effects as the industrial robot speed monitoring method provided in the above-mentioned embodiments, and other technical features in the industrial robot speed monitoring device are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0131] It should be understood that parts of the present disclosure can be realized by hardware, software, firmware or a combination thereof. In the description of the above-mentioned embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0132] The above is merely specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0133] Embodiment six

[0134] The present embodiment provides a storage medium having computer readable program instructions stored thereon, the computer readable program instructions being used to perform the industrial robot speed monitoring method in the above-mentioned embodiment one.

[0135] The storage medium provided by the embodiments of the present application may, for example, be a U disk, but is not limited to an electric, magnetic, optical, electromagnetic, infrared, or semiconductor device, device, or instrument, or any combination thereof. More specific examples of the storage medium may, for example, include, but are not limited to, an electric connection with one or more conductive wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM) or a flash memory, an optical fiber, a portable compact disk (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the embodiments, the storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution device, device, or instrument. The program code contained in the storage medium may be transmitted by any suitable medium, including but not limited to an electric wire, an optical cable, an RF (Radio Frequency), or the like, or any suitable combination thereof.

[0136] The storage medium described above may be contained in an electronic device, or may exist separately without being assembled into an electronic device.

[0137] The storage medium described above carries one or more programs, which, when executed by an electronic device, cause the electronic device to: in response to a speed continuous monitoring instruction, determine a monitoring period of an industrial robot, and acquire a period speed of the industrial robot in the monitoring period; detect the period speed in the monitoring period, and if the period speed is not continuous in the monitoring period, detect work environment information and machine running parameter information of the industrial robot in the monitoring period, determine a warning reason for the non-continuous period speed in the monitoring period; and determine speed monitoring information of the industrial robot according to the period speed in the monitoring period and the warning reason.

[0138] Computer program code for carrying out operations of the present disclosure can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0139] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functionalities, and operations of possible implementations of devices, methods, and computer program products according to various embodiments disclosed in this application. In this regard, each block in the flow diagrams or block diagrams can represent a module, a procedure, or a part of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or in the reverse order, depending on the functionality involved. It is also noted that each block in the block diagrams and / or flow diagrams and combinations of blocks in the block diagrams and / or flow diagrams can be implemented by special-purpose hardware-based devices, which perform the specified functions or operations, or combinations of hardware and computer program instructions.

[0140] The modules involved in the embodiments of the present disclosure can be implemented in the form of software or in the form of hardware. In some cases, the name of the module does not constitute a limitation on the module itself.

[0141] The storage medium provided by the present application stores computer readable program instructions for executing the industrial robot speed monitoring method described above, and aims to solve the problem that it is difficult to monitor and analyze the continuity of the speed of the industrial robot. Compared with the prior art, the beneficial effects of the storage medium provided by the embodiment of the present application are the same as those of the industrial robot speed monitoring method provided by the above-mentioned embodiment, and are not described here.

[0142] Embodiment seven

[0143] The application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the industrial robot speed monitoring method as described above.

[0144] The computer program product provided by the application is intended to solve the problem of difficulty in monitoring and analyzing the continuity of the speed of the industrial robot. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiments of the application are the same as those of the industrial robot speed monitoring method provided by the above-mentioned embodiments, and will not be repeated here.

[0145] The above is only a preferred embodiment of the application, and does not limit the patent scope of the application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent processing scope of the application.

Claims

1. A method for speed monitoring of an industrial robot, characterized by, The industrial robot speed monitoring method comprises: in response to a speed continuous monitoring instruction, determining a monitoring period of the monitoring industrial robot, acquiring a first end clamp speed and a second end clamp speed of the industrial robot in the monitoring period; judging whether the period speed of the monitoring period is continuous according to the first end clamp speed and the second end clamp speed; if the period speed in the monitoring period is not continuous, detecting the working environment information and the machine running parameter information of the industrial robot in the monitoring period, and determining the warning reason for the non-continuous period speed in the monitoring period; determining the speed monitoring information of the industrial robot according to the period speed in the monitoring period and the warning reason; the step of detecting the working environment information and the machine running parameter information of the industrial robot in the monitoring period to obtain the warning reason for the non-continuous period speed in the monitoring period comprises: detecting whether the working environment information of the industrial robot in the monitoring period matches the preset environment information; if the working environment information does not match the preset environment information, generating working environment abnormal information, and analyzing the machine running parameter information of the industrial robot in the monitoring period to obtain running parameter abnormal information; determining the warning reason for the non-continuous period speed in the monitoring period according to the working environment abnormal information and the running parameter abnormal information; if the working environment information matches the preset environment information, taking the machine running parameter information that does not match the preset running parameter information as the running parameter abnormal information; taking the running parameter abnormal information as the warning reason for the non-continuous period speed in the monitoring period; the running parameter abnormal information at least includes one of displacement abnormal information and end load abnormal information; the step of determining the warning reason for the non-continuous period speed in the monitoring period according to the environment abnormal information and the running parameter abnormal information comprises: according to the environment abnormal information, inputting the environment abnormal information into a preset environment abnormal analysis model to obtain environment influence information; if the environment influence information does not match the displacement abnormal information, taking the displacement abnormal information that does not match the environment influence information as machine internal displacement influence information, and if there is end load abnormal information in the running parameter abnormal information, taking the machine internal displacement influence information and the end load abnormal information as machine internal abnormal information; if the environment influence information matches the displacement abnormal information in the running parameter abnormal information, and if there is end load abnormal information in the running parameter abnormal information, taking the end load abnormal information as machine internal abnormal information; taking the environment abnormal information and the machine internal abnormal information as the warning reason for the non-continuous period speed in the monitoring period.

2. The industrial robot speed monitoring method of claim 1, wherein, The step of judging whether the period gripper speed of the monitoring period is continuous according to the first end gripper speed and the second end gripper speed comprises: calculating the difference between the first end gripper speed and the second end gripper speed to obtain a speed difference value, wherein the first end gripper speed is the speed at the starting moment of the monitoring period, and the second end gripper speed is the speed at the ending moment of the monitoring period; judging whether the speed difference value exceeds a preset speed continuity threshold value; if the speed difference value exceeds the preset speed continuity threshold value, the period speed of the industrial robot in the monitoring period is continuous; if the speed difference value does not exceed the preset speed continuity threshold value, the period speed of the industrial robot in the monitoring period is not continuous.

3. The industrial robot speed monitoring method of claim 1, wherein, The step of determining the speed monitoring information of the industrial robot according to the period speed in the monitoring period and the warning cause comprises: matching the warning level of the warning cause in a preset warning level rule, and taking the warning cause and the warning level as the speed warning information together; taking the speed warning information and the period speed in the monitoring period as the speed monitoring information of the industrial robot.

4. The industrial robot speed monitoring method of claim 3, wherein, The warning level comprises: a first-level warning, a second-level warning and a third-level warning. After the step of taking the speed warning information and the period speed in the monitoring period as the speed monitoring information of the industrial robot, the industrial robot speed monitoring method further comprises: respectively counting the warning times of each of the first-level warning, the second-level warning and the third-level warning according to each historical speed monitoring information of the industrial robot and the speed monitoring information, to obtain a first-level warning time, a second-level warning time and a third-level warning time; performing weighted summation on the first-level warning time, the second-level warning time and the third-level warning time according to a preset level allocation weight, to obtain a warning weighted value; taking the ratio between the warning weighted value and the total operation number of the industrial robot as a speed continuity stability value; taking the speed continuity stability value, each warning cause and each warning level as speed continuity stability information together.

5. The industrial robot speed monitoring method of claim 1, wherein, The operation environment information comprises temperature and humidity, and the preset environment information comprises a preset temperature range and a preset humidity range. The step of detecting whether the operation environment information of the industrial robot in the monitoring period matches the preset environment information comprises: detecting whether the temperature of the industrial robot in the monitoring period is within the preset temperature range and whether the humidity is within the preset humidity range; if the temperature is within the preset temperature range and the humidity is within the preset humidity range, the operation environment information satisfies the preset environment information; if the temperature is not within the preset temperature range and / or the humidity is not within the preset humidity range, the operation environment information does not satisfy the preset environment information.

6. An industrial robot speed monitoring device, characterized by The industrial robot speed monitoring device comprises: The acquisition module is configured to determine a monitoring time period of the industrial robot in response to a speed continuous monitoring instruction, and acquire a first end clamp speed and a second end clamp speed of the industrial robot in the monitoring time period; The judgment module is configured to determine whether a time period speed of the monitoring time period is continuous according to the first end clamp speed and the second end clamp speed; The monitoring module is configured to detect work environment information and machine running parameter information of the industrial robot in the monitoring time period if the time period speed is not continuous in the monitoring time period, and determine a warning reason for the time period speed being not continuous in the monitoring time period; The monitoring report generation module is configured to determine speed monitoring information of the industrial robot according to the time period speed in the monitoring time period and the warning reason; The monitoring module is further configured to detect whether the work environment information of the industrial robot in the monitoring time period matches preset environment information, generate work environment abnormal information if the work environment information does not match the preset environment information, analyze the machine running parameter information of the industrial robot in the monitoring time period to obtain running parameter abnormal information, determine the warning reason for the time period speed being not continuous in the monitoring time period according to the work environment abnormal information and the running parameter abnormal information, and take machine running parameter information that does not match preset running parameter information as the running parameter abnormal information if the work environment information matches the preset environment information; the running parameter abnormal information at least includes one of displacement abnormal information and end load abnormal information; and take the running parameter abnormal information as the warning reason for the time period speed being not continuous in the monitoring time period. The monitoring module is further configured to input the environment abnormal information into a preset environment abnormal analysis model to obtain environment influence information according to the environment abnormal information; take displacement abnormal information that does not match the environment influence information as machine internal displacement influence information if the environment influence information does not match the displacement abnormal information, and take the machine internal displacement influence information and the end load abnormal information as machine internal abnormal information if the end load abnormal information exists in the running parameter abnormal information; take end load abnormal information as machine internal abnormal information if the environment influence information matches the displacement abnormal information of the running parameter abnormal information and if the end load abnormal information exists in the running parameter abnormal information; and take the environment abnormal information and the machine internal abnormal information as the warning reason for the time period speed being not continuous in the monitoring time period.

7. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected in communication with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the steps of the industrial robot speed monitoring method in any one of claims 1 to 5.

8. A storage medium, characterized by The storage medium has stored thereon a program for implementing the industrial robot speed monitoring method, and the program is executed by a processor to implement the steps of the industrial robot speed monitoring method according to any one of claims 1 to 5.

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