Industrial robot control system and control method, device and storage medium thereof

Abstract

This invention discloses a control method, device, control system, and storage medium for an industrial robot control system. The method includes: upon receiving a motion control command for the target industrial robot sent from a human-machine interface, recording the motion control command as a target motion control command; causing the target virtual controller to generate a target servo drive signal based on the target motion control command; and sending the target servo drive signal to the target servo driver to drive the target robot to execute a preset target action. This solution, by virtually generating a virtual controller for the industrial robot on a cloud server, replaces the teach pendant and controller in the industrial robot's control equipment. Operators can control the industrial robot and adjust its virtual controller from the cloud server, simplifying the operation process and reducing the operator's workload.

Description

Technical Field

[0001] This invention belongs to the field of industrial robot technology, and specifically relates to a control method, device, industrial robot control system, and storage medium for an industrial robot control system. Background Technology

[0002] Industrial robot control technology primarily controls the movement, position, posture, trajectory, operation sequence, and timing of industrial robots within their workspace. In related solutions, each industrial robot has a separate control device, including a teach pendant, controller, and servo driver, along with corresponding software settings for these components. Controlling each robot requires an operator to be physically present in the robot's workspace, where they must edit and send control commands via the teach pendant. This inherently restricts the operator's work environment and increases their workload.

[0003] Furthermore, a production line often requires multiple industrial robots. Therefore, multiple sets of control equipment combining hardware and software are needed to support these robots. However, when the production line's operating procedures change (such as process adjustments) or when one of the industrial robots malfunctions, operators need to go to the robot's workspace and adjust the control equipment of all the robots before they can continue working. Adjusting the control equipment of each robot individually is cumbersome, time-consuming, and labor-intensive, and also increases the workload of the operators.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The object of the present invention is to provide a control method, a device, an industrial robot control system and a storage medium for an industrial robot control system, so as to solve the problem in the related solutions that each industrial robot has a separate control device, and this separate control device includes a teaching pendant, a controller and a servo driver, as well as the corresponding software settings for the teaching pendant, the controller and the servo driver. The control of each industrial robot and the adjustment of the control device of each industrial robot both require an operator to reach the working space of the industrial robot for operation, resulting in the problems of cumbersome operation process and high labor intensity of the operator. The effect is achieved that by virtually generating a virtual controller of the industrial robot on the cloud server side to replace the teaching pendant and the controller in the control device of the industrial robot, the operator can realize the control of the industrial robot and the adjustment of the virtual controller of the industrial robot on the cloud server side, the operation process is simplified, and the labor intensity of the operator is also reduced.

[0006] In a control method for an industrial robot control system provided by the present invention, the industrial robot control system includes: a human-computer interaction terminal, a cloud server and an industrial robot system; the industrial robot system includes: n industrial robots, and n servo drivers configured with the n industrial robots, where n is a positive integer; on the cloud server side, the control method of the industrial robot control system includes: on the cloud server side, for n industrial robots, virtual controllers of each industrial robot are pre-generated to obtain n virtual controllers; where, one of the n industrial robots that currently needs to perform motion control is denoted as the target industrial robot; one of the n virtual controllers corresponding to the target industrial robot is denoted as the target virtual controller; and one of the n servo drivers corresponding to the target industrial robot is denoted as the target servo driver; when receiving a motion control instruction for the target industrial robot sent by the human-computer interaction terminal, this motion control instruction is denoted as the target motion control instruction; enabling the target virtual controller to generate a target servo drive signal according to the target motion control instruction; sending the target servo drive signal to the target servo driver, so as to: enable the target servo driver to generate a target drive signal according to the target servo drive signal, and drive the target industrial robot to perform a preset target action through the target drive signal, so as to realize the control that the target industrial robot performs the preset target action according to the target motion control instruction.

[0007] In some implementations, on the cloud server side, for n industrial robots, a virtual controller for each industrial robot is pre-generated, resulting in n virtual controllers. This includes: for any one of the n industrial robots, simulating and training the functions of the teach pendant and the controller of that industrial robot to generate a virtual controller for that industrial robot; thereby obtaining the n virtual controllers corresponding to the n industrial robots.

[0008] In some embodiments, on the cloud server side, the control method of the industrial robot control system further includes: receiving a servo feedback signal from the target industrial robot fed back by the target servo driver; and, upon receiving the servo feedback signal from the target industrial robot fed back by the target servo driver, generating motion state data of the target industrial robot based on the servo feedback signal; wherein, when the target industrial robot performs a preset target action based on the target drive signal, the target servo driver receives the servo state data returned by the target industrial robot, generates a servo feedback signal based on the servo state data of the target industrial robot, and feeds it back to the target virtual controller; the motion state data of the target industrial robot is sent to the human-machine interface terminal so that the human-machine interface terminal displays the motion state data of the target industrial robot, thereby enabling monitoring of the target industrial robot performing the preset target action on the human-machine interface terminal.

[0009] In some embodiments, on the cloud server side, the control method of the industrial robot control system further includes: receiving an update instruction for the program of the target virtual controller sent by the human-machine interface terminal; upon receiving the update instruction for the program of the target virtual controller sent by the human-machine interface terminal, updating the program of the target virtual controller according to the update instruction, and then feeding back the update result to the human-machine interface terminal, so as to display the update result on the human-machine interface terminal, thereby realizing the update of the program of the target virtual controller and the monitoring of the update result.

[0010] Matched with the above method, on the other hand, the present invention provides a control device in an industrial robot control system. The industrial robot control system includes: a human-machine interaction terminal, a cloud server, and an industrial robot system; the industrial robot system includes: n industrial robots, and n servo drivers configured to match with the n industrial robots, where n is a positive integer; on the cloud server side, the control device of the industrial robot control system includes: a generation unit configured to pre-generate a virtual controller for each of the n industrial robots on the cloud server side, obtaining n virtual controllers; where one of the n industrial robots that currently needs to perform motion control is denoted as the target industrial robot; one of the n virtual controllers corresponding to the target industrial robot is denoted as the target virtual controller; and one of the n servo drivers corresponding to the target industrial robot is denoted as the target servo driver; an acquisition unit configured to, when receiving a motion control instruction for the target industrial robot sent by the human-machine interaction terminal, denote this motion control instruction as the target motion control instruction; and cause the target virtual controller to generate a target servo drive signal according to the target motion control instruction; a control unit configured to send the target servo drive signal to the target servo driver to: cause the target servo driver to generate a target drive signal according to the target servo drive signal, and drive the target industrial robot to execute a preset target action through the target drive signal, so as to implement the control that the target industrial robot executes the preset target action according to the target motion control instruction.

[0011] In some embodiments, the control unit pre-generates a virtual controller for each of the n industrial robots on the cloud server side, obtaining n virtual controllers, including: for any one of the n industrial robots, simulating and training the functions of the teach pendant and the controller of this industrial robot to generate the virtual controller of this industrial robot; thus, obtaining the n virtual controllers corresponding to the n industrial robots.

[0012] In some embodiments, on the cloud server side, the control device of the industrial robot control system further includes: the acquisition unit is further configured to receive a servo feedback signal of the target industrial robot fed back by the target servo driver; the control unit is further configured to, upon receiving the servo feedback signal of the target industrial robot fed back by the target servo driver, generate motion state data of the target industrial robot based on the servo feedback signal of the target industrial robot; wherein, when the target industrial robot performs a preset target action based on the target drive signal, the target servo driver receives the servo state data returned by the target industrial robot, generates a servo feedback signal based on the servo state data of the target industrial robot, and feeds it back to the target virtual controller; the control unit is further configured to send the motion state data of the target industrial robot to the human-machine interface terminal, so as to enable the human-machine interface terminal to display the motion state data of the target industrial robot, thereby realizing the monitoring of the target industrial robot performing the preset target action on the human-machine interface terminal.

[0013] In some embodiments, on the cloud server side, the control device of the industrial robot control system further includes: the acquisition unit is further configured to receive an update instruction for the program of the target virtual controller sent by the human-machine interface terminal; the control unit is further configured to, upon receiving the update instruction for the program of the target virtual controller sent by the human-machine interface terminal, update the program of the target virtual controller according to the update instruction, and then feed back the update result to the human-machine interface terminal, so as to display the update result on the human-machine interface terminal, thereby realizing the update of the program of the target virtual controller and the monitoring of the update result.

[0014] In conjunction with the above-mentioned device, the present invention further provides an industrial robot control system, comprising: the control device of the industrial robot control system described above.

[0015] In conjunction with the above method, the present invention further provides a storage medium comprising a stored program, wherein, when the program is executed, the device containing the storage medium is controlled to perform the control method of the industrial robot control system described above.

[0016] Therefore, the solution of this invention, by simulating and training the functions of the teach pendant and controller of an industrial robot consisting of a teach pendant, a controller, and a servo driver on the cloud server side, generates a virtual controller for the industrial robot. This virtual controller replaces the teach pendant and controller in the industrial robot's control device. On the cloud server side, corresponding virtual controllers can be generated for multiple industrial robots. Through the virtual controller of each industrial robot, remote control, monitoring of the operating status of each industrial robot, and maintenance of the virtual controller can be performed on the cloud server side. Thus, by virtually generating the virtual controller of the industrial robot on the cloud server side to replace the teach pendant and controller in the industrial robot's control device, operators can control the industrial robot and adjust the virtual controller on the cloud server side, simplifying the operation process and reducing the labor intensity of operators.

[0017] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention.

[0018] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0019] Figure 1 This is a flowchart illustrating an embodiment of the control method for the industrial robot control system of the present invention;

[0020] Figure 2 This is a flowchart illustrating an embodiment of the method of the present invention for monitoring the operating status data of a target industrial robot.

[0021] Figure 3 This is a flowchart illustrating an embodiment of updating the program of the virtual controller of the target industrial robot in the method of the present invention.

[0022] Figure 4 This is a schematic diagram of the structure of a control device of the industrial robot control system of the present invention;

[0023] Figure 5 This is a flowchart illustrating an embodiment of the cloud server-side control method in the control method of an industrial robot control system according to the present invention;

[0024] Figure 6 This is a flowchart illustrating an embodiment of the industrial service-side control method in the control method of an industrial robot control system according to the present invention;

[0025] Figure 7 This is a schematic diagram of the control process of a cloud server controlling a single industrial robot in an industrial robot control system according to the present invention.

[0026] Figure 8 This is a schematic diagram of the control process of controlling 10 industrial robots on the cloud server side in the control device of an industrial robot control system according to the present invention.

[0027] Referring to the accompanying drawings, the reference numerals in the embodiments of the present invention are as follows:

[0028] 102 - Generation unit; 104 - Acquisition unit; 106 - Control unit. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0030] In related solutions, industrial robot control has always evolved around a hardware and software bundled model. For example, each industrial robot has a separate control device, which includes a teach pendant, controller, and servo driver, as well as corresponding software settings for the teach pendant, controller, and servo driver. This makes it impossible for operators to truly delve into the software environment to break down barriers. They can only interact with the controller in a limited way through the configuration tools provided by the supplier, making every change extremely weak and difficult.

[0031] For example, in related solutions, the controllers for industrial robots vary depending on the brand, resulting in differences in protocols, tools, and control instruction programs. If multiple brands of industrial robots are used simultaneously on a production line, each robot must first be configured individually, and then all robots must be integrated, controlled, and debugged through a master station until they can work together harmoniously. Furthermore, if any robot requires maintenance or a function update later in the operation, all robots must undergo another round of overall debugging. This requires significant manpower, resources, and time for both initial technical support and after-sales service.

[0032] In particular, for some old industrial robots, the hardware and software of the control devices of many in-service industrial robots are dedicated and closed, resulting in expensive maintenance and upgrade costs. Once integration is involved, it becomes extremely complex, and the central control program also becomes huge and redundant, leading to low efficiency in software function research, maintenance, and update.

[0033] Considering that in related solutions, each industrial robot has a separate control device, which includes a teach pendant, a controller, and a servo drive, as well as corresponding software settings for the teach pendant, the controller, and the servo drive. The control of each industrial robot and the adjustment of the control device of each industrial robot require the operator to reach the working space of the industrial robot for operation, resulting in cumbersome operation processes and high labor intensity for the operator. Additionally, considering that the cloud server has features such as simple programming, software menu operation, a friendly human-machine interaction interface, online operation prompts, and convenient use. Therefore, the solution of the present invention provides a control method for an industrial robot control system, which virtually generates a virtual controller of the industrial robot on the cloud server side to replace the teach pendant and the controller in the control device of the industrial robot. The operator can control the industrial robot and adjust the virtual controller of the industrial robot on the cloud server side, simplifying the operation process and reducing the labor intensity of the operator.

[0034] According to an embodiment of the present invention, a control method for an industrial robot control system is provided, as Figure 1 shown in the flowchart of an embodiment of the method of the present invention. The industrial robot control system includes: a human-machine interaction terminal (such as a smart terminal), a cloud server, and an industrial robot system; the industrial robot system includes: n industrial robots, and n servo drives configured to be paired with the n industrial robots, where n is a positive integer; among them, one industrial robot is configured with one servo drive. On the cloud server side, the control method of the industrial robot control system includes: the process of controlling the target industrial robot to perform a target action based on the operation control instruction of the target industrial robot, specifically including: steps S110 to step S130.

[0035] In step S110, on the cloud server side, for each of the n industrial robots, a virtual controller for each industrial robot is pre-generated, resulting in n virtual controllers. Among these, the industrial robot that currently needs motion control among the n industrial robots is designated as the target industrial robot, i.e., the target industrial robot is one of the n industrial robots. The virtual controller among the n virtual controllers that corresponds to the target industrial robot is designated as the target virtual controller. And the servo driver among the n servo drivers that corresponds to the target industrial robot is designated as the target servo driver.

[0036] In some implementations, in step S110, on the cloud server side, for each of the n industrial robots, a virtual controller for each industrial robot is pre-generated, resulting in n virtual controllers. This includes: on the cloud server side, simulating and training the functions of the teach pendant and controller for any one of the n industrial robots to generate a virtual controller for that industrial robot; thus, obtaining the n virtual controllers corresponding to the n industrial robots. In other words, on the cloud server side, the functions of the teach pendant and controller of the industrial robots are simulated and trained to generate virtual controllers for the industrial robots, thereby replacing the teach pendant and controller in the control equipment of the industrial robots with these virtual controllers.

[0037] In step S120, on the cloud server side, upon receiving a motion control command for the target industrial robot sent by a human-machine interface (such as a smart terminal), the motion control command is recorded as the target motion control command; and the target virtual controller generates a target servo drive signal according to the target motion control command.

[0038] In step S130, on the cloud server side, the target servo drive signal is sent to the target servo driver so that the target servo driver generates a target drive signal according to the target servo drive signal, and drives the target industrial robot to perform a preset target action through the target drive signal, so as to realize the control of the target industrial robot to perform the preset target action according to the target motion control command.

[0039] Specifically, Figure 5 This is a flowchart illustrating an embodiment of the cloud server-side control method in a control method for an industrial robot control system according to the present invention. Figure 5 As shown, a cloud server-side control method in a control method for an industrial robot control system includes:

[0040] Step 11: The operator edits the motion control commands for the target industrial robot through a human-machine interface (such as a smart terminal) and sends them to the cloud server, then executes step 12. The control terminal for the cloud server can be a computer host, a large service base station, etc. The human-machine interface (such as a smart terminal) can be a mobile phone, tablet, desktop computer screen, mouse, and keyboard.

[0041] Step 12: In the cloud server, a virtual controller for the target industrial robot is pre-generated. For example, on the cloud server side, the functions of the teach pendant and the controller of the target industrial robot are simulated and trained to generate a virtual controller for the target industrial robot.

[0042] The virtual controller in the cloud server receives motion control commands sent by the human-machine interface (such as a smart terminal), compiles them, generates servo signals such as pulse signals or analog signals, and sends them to the servo driver of the target industrial robot, and then executes step 13.

[0043] In this invention, a cloud server is used to generate multiple virtual controllers for multiple industrial robots, and then a series of controls are performed on the industrial robots. For example, a 4-core processor on a computer motherboard is virtually simulated into 20 virtual cores, and each of the 20 virtual cores is defined as a virtual controller for an industrial robot (i.e., the control system of the industrial robot). Finally, the operation of the 20 industrial robots is controlled and monitored by the corresponding virtual controllers of the 20 industrial robots.

[0044] Step 13: After receiving the servo signals such as pulse signals or analog signals generated and sent by the virtual controller, the servo driver of the target industrial robot performs calculations to obtain the drive signal, and sends the drive signal to the target industrial robot to control the motion actions performed by the target industrial robot to execute motion control commands. Then, step 14 is executed.

[0045] The drive signal is obtained by calculating the servo signal, which can be done using the following formula:

[0046] ;

[0047] .

[0048] Where, ω m Let J be the mechanical angular velocity of the motor, B be the moment of inertia, and T be the damping coefficient. L For the load torque, T e p is the electromagnetic torque. n For extreme logarithms; i d i q i is the stator current of the motor. dLet i be the d-axis current of the motor. q L is the q-axis current of the motor. d L q L is the stator inductance of the motor. d L is the d-axis inductance of the motor. q ψ is the q-axis inductance of the motor; f It is a magnetic flux.

[0049] Step 14: After receiving the drive signal from the servo driver, the target industrial robot performs a series of motion actions corresponding to the drive signal in order to execute the motion control command.

[0050] Figure 7 This is a schematic diagram illustrating the control flow of a single industrial robot controlled by a cloud server in an industrial robot control system according to the present invention. In the solution of the present invention, to execute... Figure 5 The cloud server-side control method in the control method of the industrial robot control system shown can adopt, for example... Figure 7 The control device of the industrial robot control system shown executes the following: it edits and generates motion control instructions for the target industrial robot through a human-machine interface (such as a smart terminal) and sends them to the cloud server; the virtual controller of the cloud server compiles the instructions and generates servo signals such as pulse signals or analog signals, and sends them to the servo driver; the servo driver receives the servo signals such as pulse signals or analog signals and performs calculations to drive the industrial robot to perform a series of motion actions.

[0051] like Figure 7 The control device of the industrial robot control system shown includes: a human-machine interface (such as a smart terminal), a virtual controller, and a servo driver. The human-machine interface (such as the smart terminal) can communicate with the virtual controller, and the virtual controller can communicate with the servo driver. The human-machine interface (such as the smart terminal) includes: a first receiving module, a first generating module, and a first transmitting module. The virtual controller includes: a second receiving module, a second generating module, and a second transmitting module. The servo driver includes: a third receiving module, a third generating module, and a third transmitting module.

[0052] See Figure 5 and Figure 7In the example shown, in the control process of a single industrial robot controlled by a cloud server in an industrial robot control system, the motion control commands input by the operator are edited by a first generation module in a human-machine interface (such as a smart terminal), generating motion control commands for the target industrial robot. The motion control commands generated by the first generation module are then sent to a second receiving module of the virtual controller via a first sending module in the human-machine interface (such as a smart terminal). The first receiving module in the human-machine interface (such as a smart terminal) receives and reads the motion state data of the target industrial robot fed back by the servo driver. The motion control commands from the first sending module are received by the second receiving module in the virtual controller. The motion control commands are then compiled by the second generation module in the virtual controller, generating servo signals such as pulse signals or analog signals. Finally, the servo signals are sent to a third receiving module of the servo driver via the second sending module in the virtual controller. The servo driver receives servo signals such as pulse signals or analog signals through a third receiving module; it then calculates and generates drive signals from these signals through a third generating module. Finally, the servo driver's third transmitting module uses these drive signals to drive the target industrial robot, enabling it to perform a series of motion actions. Additionally, the servo driver's third transmitting module can send the target industrial robot's servo status data to a second receiving module. The second generating module converts this servo status data into motion status data, which is then fed back to the first receiving module in a human-machine interface (such as a smart terminal) via the second transmitting module. This allows the human-machine interface to monitor the target industrial robot's operational status, thus achieving monitoring of the target industrial robot.

[0053] Thus, in the solution of this invention, by sending motion control commands to the target industrial robot from the human-machine interface (such as a smart terminal), the operator does not need to go to the workspace of the target industrial robot, reducing the operator's labor intensity and achieving operational convenience. Through the virtual controller of the target industrial robot generated on the server side, the motion control commands are compiled and servo signals are generated, so that the servo driver on the target industrial robot side generates drive signals to drive the target industrial robot to move according to the servo signals. This replaces the controller in the control equipment of the industrial robot in related solutions, saving hardware costs and making maintenance and updates more convenient. It solves the problems of complex integrated control and low maintenance and update efficiency of industrial robot control systems.

[0054] The present invention provides a control method for an industrial robot control system. Based on the control equipment of the industrial robot (i.e., teach pendant, controller, and servo driver), it replaces the teach pendant and controller of the industrial robot in related solutions with a virtual controller generated on the cloud server side. The industrial robot is controlled and monitored through this virtual controller. This enables simultaneous and rapid configuration of a large number of industrial robots, rapid issuance of action commands, and real-time monitoring of the working status of all industrial robots. It also saves on the installation and configuration costs of hardware controllers and solves the problem of complex integrated control and monitoring of industrial robots. Furthermore, it allows for remote and rapid maintenance and updates of software functions for industrial robots at different workstations, saving on-site maintenance costs for technical service personnel and solving the problem of low efficiency in the development, maintenance, and updates of industrial robot software functions.

[0055] In some implementations, on the cloud server side, the control method of the industrial robot control system further includes: a process of monitoring the operating status data of the target industrial robot.

[0056] The following is combined Figure 2 The flowchart shown is a schematic diagram of an embodiment of the method of the present invention for monitoring the operating status data of a target industrial robot. It further illustrates the specific process of monitoring the operating status data of the target industrial robot, including steps S210 to S230.

[0057] Step S210: On the cloud server side, the servo feedback signal of the target industrial robot fed back by the target servo driver is received.

[0058] Step S220: On the cloud server side, upon receiving the servo feedback signal of the target industrial robot from the target servo driver, motion state data of the target industrial robot is generated based on the servo feedback signal of the target industrial robot; wherein, when the target industrial robot performs a preset target action based on the target drive signal, the target servo driver receives the servo state data returned by the target industrial robot, generates a servo feedback signal based on the servo state data of the target industrial robot, and feeds it back to the target virtual controller.

[0059] Step S230: On the cloud server side, the motion state data of the target industrial robot is sent to the human-machine interface (such as a smart terminal) so that the human-machine interface (such as a smart terminal) can display the motion state data of the target industrial robot and realize the monitoring of the target industrial robot performing preset target actions on the human-machine interface (such as a smart terminal).

[0060] Specifically, Figure 6 This is a flowchart illustrating an embodiment of the industrial server-side control method in a control method for an industrial robot control system according to the present invention. Figure 6 As shown, a control method for the industrial service side of an industrial robot control system includes:

[0061] Step 21: The servo driver of the target industrial robot collects the servo status data of the target industrial robot in motion, generates a servo feedback signal, and sends it to the virtual controller of the target industrial robot on the cloud server side, and then executes step 22.

[0062] After the target industrial robot moves, servo state data is generated. This servo state data includes, for example, the current speed, acceleration, position, torque, and current of the servo motor.

[0063] Step 22: After receiving the servo feedback signal, the virtual controller of the target industrial robot on the cloud server side generates motion state data of the target industrial robot and sends it to the human-machine interface (such as a smart terminal), and then executes step 23.

[0064] Step 23: The human-machine interface (such as a smart terminal) receives the motion state data of the target industrial robot, generates and displays the motion state parameters of the target industrial robot, so as to realize the monitoring of the motion state of the target industrial robot.

[0065] In the solution of the present invention, in order to perform as follows Figure 5 The cloud server-side control method in the control method of the industrial robot control system shown can adopt, for example... Figure 7 The control device of the industrial robot control system shown executes the following: the servo driver collects servo state data of the target industrial robot in motion, generates servo feedback signals, and sends them to the virtual controller of the target industrial robot on the cloud server. The controller on the cloud server receives the servo feedback signals of the target industrial robot, generates motion state data of the target industrial robot, and sends it to the human-machine interface (such as a smart terminal). The human-machine interface (such as a smart terminal) receives the motion state data of the target industrial robot, generates and displays the motion state parameters of the target industrial robot, realizing control feedback and monitoring of the motion of the target industrial robot. This servo state data includes data such as the current speed, acceleration, position, torque, and current of the servo motor.

[0066] Specifically, such as Figure 7As shown, the target industrial robot moves and generates servo state data, which is then sent to the third receiving module of the servo driver. The third generating module of the servo driver generates a servo feedback signal from the servo state data and sends the servo feedback signal to the second receiving module of the virtual controller of the target industrial robot through the third sending module. The second generating module of the virtual controller of the target industrial robot generates motion state data of the target industrial robot from the servo feedback signal and sends the motion state data of the target industrial robot to the first receiving module of the human-machine interface (such as a smart terminal) through the second sending module. The first generating module of the human-machine interface (such as a smart terminal) generates motion state parameters of the target industrial robot from the motion state data and displays the motion state parameters of the target industrial robot.

[0067] Thus, in the solution of this invention, when the target industrial robot is in motion, the servo driver of the target industrial robot collects the servo status data of the target industrial robot, and then feeds it back to the target controller of the target industrial robot on the cloud server side. After the target controller converts it into motion status data of the target industrial robot, it feeds it back to the human-machine interface (such as a smart terminal) for display, so as to realize the monitoring of the motion status of the target industrial robot. This facilitates the operator's monitoring of the operating status of the target industrial robot, improves the efficiency of maintenance and updating of the target industrial robot, and saves the cost of on-site maintenance of the target industrial robot.

[0068] In some implementations, on the cloud server side, the control method of the industrial robot control system further includes: a process of updating the program of the virtual controller of the target industrial robot.

[0069] The following is combined Figure 3 The flowchart shown is a schematic diagram of an embodiment of the method of the present invention for updating the program of the virtual controller of the target industrial robot. It further illustrates the specific process of updating the program of the virtual controller of the target industrial robot, including steps S310 to S320.

[0070] Step S310: On the cloud server side, when it is necessary to update the program of the target virtual controller, an update instruction for the program of the target virtual controller is received from the human-computer interaction terminal (such as a smart terminal).

[0071] Step S320: On the cloud server side, when it is necessary to update the program of the target virtual controller, upon receiving an update instruction for the program of the target virtual controller sent by the human-computer interaction terminal (such as a smart terminal), the program of the target virtual controller is updated according to the update instruction, and then the update result is fed back to the human-computer interaction terminal (such as a smart terminal) so as to display the update result on the human-computer interaction terminal (such as a smart terminal), thereby realizing the update of the program of the target virtual controller and the monitoring of the update result.

[0072] Specifically, Figure 8 This is a schematic diagram illustrating the control flow of 10 industrial robots controlled by a cloud server in a control device of an industrial robot control system according to the present invention. Figure 8 As shown, for an industrial robot system consisting of 10 industrial robots, such as industrial robot 1, industrial robot 2, ..., industrial robot 9 and industrial robot 10, there are corresponding 10 servo drives, such as servo drive 1, servo drive 2, ..., servo drive 9 and servo drive 10. The control device for each industrial robot in the entire industrial robot system is replaced by a corresponding virtual controller generated on the cloud server side. For example, 10 virtual controllers, such as virtual controller 1, virtual controller 2, ..., virtual controller 9 and virtual controller 10, are generated on the cloud server side. After receiving motion control commands for the corresponding industrial robot on the human-machine interface (such as a smart terminal), the 10 virtual controllers on the cloud server side control the corresponding industrial robot's servo drive to control the corresponding industrial robot's motion. Thus, integrated control and monitoring of the industrial robot system are achieved through the human-machine interface (such as a smart terminal) and the cloud server. That is, using the cloud server to generate multiple software-based virtual controllers for the target industrial robots to replace the hardware-based virtual controllers for the target industrial robots in related solutions is a way to achieve software-integrated control without hardware.

[0073] In existing solutions, the controllers of industrial robots differ in brand, protocol, and configuration data, leading to complex integrated control of the entire production line and reduced efficiency in later maintenance and software updates. The solution of this invention, however, virtualizes the industrial robot's controller on a cloud server, replacing the teach pendant and controller in the robot's control equipment. Operators can control the industrial robot and adjust the virtual controller from the cloud server, simplifying the operation process and reducing operator workload. This solves the problems of complex integrated control of the entire industrial robot's control equipment and low efficiency in software function development, maintenance, and updates.

[0074] Adopting the technical solution of this embodiment, for the control device of an industrial robot composed of a teaching pendant, a controller, and a servo driver, on the cloud server side, the functions of the teaching pendant and the controller of the industrial robot are simulated and trained to generate a virtual controller of the industrial robot, so as to use the virtual controller of the industrial robot to replace the teaching pendant and the controller in the control device of the industrial robot; on the cloud server side, corresponding virtual controllers can be generated for multiple industrial robots, so as to remotely control each industrial robot, monitor the operating status of each industrial robot, and maintain the virtual controller of each industrial robot through the virtual controller of each industrial robot on the cloud server side. Thus, by virtually generating the virtual controller of the industrial robot on the cloud server side to replace the teaching pendant and the controller in the control device of the industrial robot, an operator can control the industrial robot and adjust the virtual controller of the industrial robot on the cloud server side, simplifying the operation process and reducing the labor intensity of the operator.

[0075] According to an embodiment of the present invention, there is also provided a control device for an industrial robot control system corresponding to a control method of an industrial robot control system. Refer to Figure 4 The structural schematic diagram of an embodiment of the device of the present invention is shown. The industrial robot control system includes: a human-machine interaction terminal (such as a smart terminal), a cloud server, and an industrial robot system; the industrial robot system includes: n industrial robots, and n servo drivers provided in a supporting manner for the n industrial robots, where n is a positive integer; among them, one industrial robot is provided with one servo driver in a supporting manner. On the cloud server side, the control device of the industrial robot control system includes: a generating unit 102, an obtaining unit 104, and a control unit 106, which are used to execute the process of controlling a target industrial robot to perform a target action based on a running control instruction of the target industrial robot.

[0076] Among them, the generating unit 102 is configured to pre-generate a virtual controller for each of the n industrial robots on the cloud server side, obtaining n virtual controllers; among them, one industrial robot that currently needs to perform motion control among the n industrial robots is denoted as the target industrial robot, that is, the target industrial robot is one of the n industrial robots; one virtual controller corresponding to the target industrial robot among the n virtual controllers is denoted as the target virtual controller; and one servo driver corresponding to the target industrial robot among the n servo drivers is denoted as the target servo driver. The specific functions and processes of this generating unit 102 are referred to step S110.

[0077] In some embodiments, the control unit 106, on the cloud server side, pre-generates a virtual controller for each of the n industrial robots, resulting in n virtual controllers. Specifically, the generation unit 102 is further configured on the cloud server side to simulate and train the functions of the teach pendant and controller of any one of the n industrial robots, generating a virtual controller for that industrial robot. This yields the n virtual controllers corresponding to the n industrial robots. In other words, on the cloud server side, the functions of the teach pendant and controller of the industrial robots are simulated and trained to generate virtual controllers for the industrial robots, thus replacing the teach pendant and controller in the control equipment of the industrial robots.

[0078] The acquisition unit 104 is configured to, on the cloud server side, upon receiving a motion control command for the target industrial robot sent from a human-machine interface (such as a smart terminal), record the motion control command as a target motion control command; and cause the target virtual controller to generate a target servo drive signal according to the target motion control command. The specific functions and processing of the acquisition unit 104 are described in step S120.

[0079] The control unit 106 is configured to send the target servo drive signal to the target servo driver on the cloud server side, so that the target servo driver generates a target drive signal based on the target servo drive signal, and drives the target industrial robot to execute a preset target action through the target drive signal, thereby realizing the control of the target industrial robot to execute the preset target action according to the target motion control command. For the specific functions and processing of the control unit 106, please refer to step S130.

[0080] Specifically, Figure 5 This is a flowchart illustrating an embodiment of the control device on the cloud server side of a control apparatus in an industrial robot control system according to the present invention. Figure 5 As shown, a cloud server-side control device in an industrial robot control system includes:

[0081] Step 11: The operator edits the motion control commands for the target industrial robot through a human-machine interface (such as a smart terminal) and sends them to the cloud server, then executes step 12. The control terminal for the cloud server can be a computer host, a large service base station, etc. The human-machine interface (such as a smart terminal) can be a mobile phone, tablet, desktop computer screen, mouse, and keyboard.

[0082] Step 12: In the cloud server, a virtual controller for the target industrial robot is pre-generated. For example, on the cloud server side, the functions of the teach pendant and the controller of the target industrial robot are simulated and trained to generate a virtual controller for the target industrial robot.

[0083] The virtual controller in the cloud server receives motion control commands sent by the human-machine interface (such as a smart terminal), compiles them, generates servo signals such as pulse signals or analog signals, and sends them to the servo driver of the target industrial robot, and then executes step 13.

[0084] Step 13: After receiving the servo signals such as pulse signals or analog signals generated and sent by the virtual controller, the servo driver of the target industrial robot performs calculations to obtain the drive signal, and sends the drive signal to the target industrial robot to control the motion actions performed by the target industrial robot to execute motion control commands. Then, step 14 is executed.

[0085] Step 14: After receiving the drive signal from the servo driver, the target industrial robot performs a series of motion actions corresponding to the drive signal in order to execute the motion control command.

[0086] Figure 7 This is a schematic diagram illustrating the control flow of a single industrial robot controlled by a cloud server in an industrial robot control system according to the present invention. In the solution of the present invention, to execute... Figure 5 The cloud server-side control device in the control unit of the industrial robot control system shown can adopt, for example... Figure 7 The control device of the industrial robot control system shown executes the following: it edits and generates motion control instructions for the target industrial robot through a human-machine interface (such as a smart terminal) and sends them to the cloud server; the virtual controller of the cloud server compiles the instructions and generates servo signals such as pulse signals or analog signals, and sends them to the servo driver; the servo driver receives the servo signals such as pulse signals or analog signals and performs calculations to drive the industrial robot to perform a series of motion actions.

[0087] like Figure 7 The control device of the industrial robot control system shown includes: a human-machine interface (such as a smart terminal), a virtual controller, and a servo driver. The human-machine interface (such as the smart terminal) can communicate with the virtual controller, and the virtual controller can communicate with the servo driver. The human-machine interface (such as the smart terminal) includes: a first receiving module, a first generating module, and a first transmitting module. The virtual controller includes: a second receiving module, a second generating module, and a second transmitting module. The servo driver includes: a third receiving module, a third generating module, and a third transmitting module.

[0088] See Figure 5 and Figure 7 In the example shown, in the control process of a single industrial robot controlled by a cloud server in an industrial robot control system, the motion control commands input by the operator are edited by a first generation module in a human-machine interface (such as a smart terminal), generating motion control commands for the target industrial robot. The motion control commands generated by the first generation module are then sent to a second receiving module of the virtual controller via a first sending module in the human-machine interface (such as a smart terminal). The first receiving module in the human-machine interface (such as a smart terminal) receives and reads the motion state data of the target industrial robot fed back by the servo driver. The motion control commands from the first sending module are received by the second receiving module in the virtual controller. The motion control commands are then compiled by the second generation module in the virtual controller, generating servo signals such as pulse signals or analog signals. Finally, the servo signals are sent to a third receiving module of the servo driver via the second sending module in the virtual controller. The servo driver receives servo signals such as pulse signals or analog signals through a third receiving module; it then calculates and generates drive signals from these signals through a third generating module. Finally, the servo driver's third transmitting module uses these drive signals to drive the target industrial robot, enabling it to perform a series of motion actions. Additionally, the servo driver's third transmitting module can send the target industrial robot's servo status data to a second receiving module. The second generating module converts this servo status data into motion status data, which is then fed back to the first receiving module in a human-machine interface (such as a smart terminal) via the second transmitting module. This allows the human-machine interface to monitor the target industrial robot's operational status, thus achieving monitoring of the target industrial robot.

[0089] Thus, in the solution of this invention, by sending motion control commands to the target industrial robot from the human-machine interface (such as a smart terminal), the operator does not need to go to the workspace of the target industrial robot, reducing the operator's labor intensity and achieving operational convenience. Through the virtual controller of the target industrial robot generated on the server side, the motion control commands are compiled and servo signals are generated, so that the servo driver on the target industrial robot side generates drive signals to drive the target industrial robot to move according to the servo signals. This replaces the controller in the control equipment of the industrial robot in related solutions, saving hardware costs and making maintenance and updates more convenient. It solves the problems of complex integrated control and low maintenance and update efficiency of industrial robot control systems.

[0090] The present invention provides a control device for an industrial robot control system. Based on the industrial robot's control equipment (i.e., teach pendant, controller, and servo driver), it replaces the teach pendant and controller in related solutions with a virtual controller generated on a cloud server side. The industrial robot is controlled and monitored through this virtual controller. This enables simultaneous and rapid configuration of a large number of industrial robots, rapid issuance of action commands, and real-time monitoring of the working status of all industrial robots. It also saves on the installation and configuration costs of hardware controllers and solves the problem of complex integrated control and monitoring of industrial robots. Furthermore, it allows for remote and rapid maintenance and updates of software functions for industrial robots at different workstations, saving on-site maintenance costs for technical service personnel and solving the problem of low efficiency in the development, maintenance, and updates of industrial robot software functions.

[0091] In some implementations, on the cloud server side, the control device of the industrial robot control system further includes a process for monitoring the operating status data of the target industrial robot, as detailed below:

[0092] The acquisition unit 104 is further configured to receive the servo feedback signal of the target industrial robot from the target servo driver on the cloud server side. The specific functions and processing of the acquisition unit 104 are further described in step S210.

[0093] The control unit 106 is further configured to, on the cloud server side, upon receiving a servo feedback signal from the target industrial robot fed back by the target servo driver, generate motion state data of the target industrial robot based on the servo feedback signal; wherein, when the target industrial robot performs a preset target action based on the target drive signal, the target servo driver receives the servo state data returned by the target industrial robot, generates a servo feedback signal based on the servo state data of the target industrial robot, and feeds it back to the target virtual controller. The specific functions and processing of this control unit 106 are further described in step S220.

[0094] The control unit 106 is further configured to send the motion state data of the target industrial robot to the human-machine interface (such as a smart terminal) on the cloud server side, so as to enable the human-machine interface (such as a smart terminal) to display the motion state data of the target industrial robot and realize the monitoring of the target industrial robot performing preset target actions on the human-machine interface (such as a smart terminal). The specific functions and processing of the control unit 106 are further described in step S230.

[0095] Specifically, Figure 6This is a schematic flowchart illustrating an embodiment of the industrial service-side control device in a control apparatus for an industrial robot control system according to the present invention. Figure 6 As shown, a control device for the industrial service side of an industrial robot control system includes:

[0096] Step 21: The servo driver of the target industrial robot collects the servo status data of the target industrial robot in motion, generates a servo feedback signal, and sends it to the virtual controller of the target industrial robot on the cloud server side, and then executes step 22.

[0097] After the target industrial robot moves, servo state data is generated. This servo state data includes, for example, the current speed, acceleration, position, torque, and current of the servo motor.

[0098] Step 22: After receiving the servo feedback signal, the virtual controller of the target industrial robot on the cloud server side generates motion state data of the target industrial robot and sends it to the human-machine interface (such as a smart terminal), and then executes step 23.

[0099] Step 23: The human-machine interface (such as a smart terminal) receives the motion state data of the target industrial robot, generates and displays the motion state parameters of the target industrial robot, so as to realize the monitoring of the motion state of the target industrial robot.

[0100] In the solution of the present invention, in order to perform as follows Figure 5 The cloud server-side control device in the control unit of the industrial robot control system shown can adopt, for example... Figure 7 The control device of the industrial robot control system shown executes the following: the servo driver collects servo state data of the target industrial robot in motion, generates servo feedback signals, and sends them to the virtual controller of the target industrial robot on the cloud server. The controller on the cloud server receives the servo feedback signals of the target industrial robot, generates motion state data of the target industrial robot, and sends it to the human-machine interface (such as a smart terminal). The human-machine interface (such as a smart terminal) receives the motion state data of the target industrial robot, generates and displays the motion state parameters of the target industrial robot, realizing control feedback and monitoring of the motion of the target industrial robot. This servo state data includes data such as the current speed, acceleration, position, torque, and current of the servo motor.

[0101] Specifically, such as Figure 7As shown, the target industrial robot moves and generates servo state data, which is then sent to the third receiving module of the servo driver. The third generating module of the servo driver generates a servo feedback signal from the servo state data and sends the servo feedback signal to the second receiving module of the virtual controller of the target industrial robot through the third sending module. The second generating module of the virtual controller of the target industrial robot generates motion state data of the target industrial robot from the servo feedback signal and sends the motion state data of the target industrial robot to the first receiving module of the human-machine interface (such as a smart terminal) through the second sending module. The first generating module of the human-machine interface (such as a smart terminal) generates motion state parameters of the target industrial robot from the motion state data and displays the motion state parameters of the target industrial robot.

[0102] Thus, in the solution of this invention, when the target industrial robot is in motion, the servo driver of the target industrial robot collects the servo status data of the target industrial robot, and then feeds it back to the target controller of the target industrial robot on the cloud server side. After the target controller converts it into motion status data of the target industrial robot, it feeds it back to the human-machine interface (such as a smart terminal) for display, so as to realize the monitoring of the motion status of the target industrial robot. This facilitates the operator's monitoring of the operating status of the target industrial robot, improves the efficiency of maintenance and updating of the target industrial robot, and saves the cost of on-site maintenance of the target industrial robot.

[0103] In some implementations, on the cloud server side, the control device of the industrial robot control system further includes a process for updating the program of the virtual controller of the target industrial robot, as detailed below:

[0104] The acquisition unit 104 is further configured to, on the cloud server side, receive an update instruction for the program of the target virtual controller sent by the human-computer interaction terminal (such as a smart terminal), when an update of the program of the target virtual controller is required. The specific functions and processing of the acquisition unit 104 are further described in step S310.

[0105] The control unit 106 is further configured, on the cloud server side, when it is necessary to update the program of the target virtual controller, upon receiving an update instruction for the program of the target virtual controller sent by the human-machine interface (such as a smart terminal), to update the program of the target virtual controller according to the update instruction, and then feed back the update result to the human-machine interface (such as the smart terminal) so as to display the update result on the human-machine interface (such as the smart terminal), thereby realizing the update of the program of the target virtual controller and the monitoring of the update result. The specific functions and processing of the control unit 106 are also described in step S320.

[0106] Specifically, Figure 8 This is a schematic diagram illustrating the control flow of 10 industrial robots controlled by a cloud server in a control device of an industrial robot control system according to the present invention. Figure 8 As shown, for an industrial robot system consisting of 10 industrial robots, such as industrial robot 1, industrial robot 2, ..., industrial robot 9 and industrial robot 10, there are corresponding 10 servo drives, such as servo drive 1, servo drive 2, ..., servo drive 9 and servo drive 10. The control device for each industrial robot in the entire industrial robot system is replaced by a corresponding virtual controller generated on the cloud server side. For example, 10 virtual controllers, such as virtual controller 1, virtual controller 2, ..., virtual controller 9 and virtual controller 10, are generated on the cloud server side. After receiving motion control commands for the corresponding industrial robot on the human-machine interface (such as a smart terminal), the 10 virtual controllers on the cloud server side control the corresponding industrial robot's servo drive to control the corresponding industrial robot's motion. Thus, integrated control and monitoring of the industrial robot system are achieved through the human-machine interface (such as a smart terminal) and the cloud server. That is, using the cloud server to generate multiple software-based virtual controllers for the target industrial robots to replace the hardware-based virtual controllers for the target industrial robots in related solutions is a way to achieve software-integrated control without hardware.

[0107] In existing solutions, the controllers of industrial robots differ in brand, protocol, and configuration data, leading to complex integrated control of the entire production line and reduced efficiency in later maintenance and software updates. The solution of this invention, however, virtualizes the industrial robot's controller on a cloud server, replacing the teach pendant and controller in the robot's control equipment. Operators can control the industrial robot and adjust the virtual controller from the cloud server, simplifying the operation process and reducing operator workload. This solves the problems of complex integrated control of the entire industrial robot's control equipment and low efficiency in software function development, maintenance, and updates.

[0108] Since the processing and functions implemented by the device in this embodiment are basically the same as the embodiments, principles and examples of the aforementioned methods, any details not covered in the description of this embodiment can be found in the relevant descriptions in the aforementioned embodiments, and will not be repeated here.

[0109] By employing the technical solution of this invention, for the control equipment of an industrial robot consisting of a teach pendant, a controller, and a servo driver, the functions of the teach pendant and the controller of the industrial robot are simulated and trained on the cloud server side to generate a virtual controller for the industrial robot. This virtual controller replaces the teach pendant and controller in the control equipment of the industrial robot. On the cloud server side, corresponding virtual controllers can be generated for multiple industrial robots. Through the virtual controller of each industrial robot, each industrial robot can be remotely controlled, its operating status monitored, and its virtual controller maintained. This solves the problems of complex integrated control of the entire industrial robot control equipment and low efficiency in software function development, maintenance, and updates, simplifies the complex process of robot control, and improves efficiency.

[0110] According to an embodiment of the present invention, an industrial robot control system corresponding to a control device for an industrial robot control system is also provided. This industrial robot control system may include the control device described above for the industrial robot control system.

[0111] Since the processing and functions implemented by the industrial robot control system in this embodiment are basically the same as those in the embodiments, principles and examples of the aforementioned device, any details not covered in this embodiment can be found in the relevant descriptions in the aforementioned embodiments, and will not be repeated here.

[0112] By employing the technical solution of this invention, for the control equipment of an industrial robot consisting of a teach pendant, a controller, and a servo driver, the functions of the teach pendant and the controller of the industrial robot are simulated and trained on the cloud server side to generate a virtual controller for the industrial robot. This virtual controller replaces the teach pendant and controller in the control equipment of the industrial robot. On the cloud server side, corresponding virtual controllers can be generated for multiple industrial robots. Through the virtual controller of each industrial robot, each industrial robot can be remotely controlled, its operating status monitored, and its virtual controller maintained. This enables rapid remote maintenance and updates of software functions for industrial robots at different workstations, saving on-site maintenance costs for technical service personnel.

[0113] According to an embodiment of the present invention, a storage medium corresponding to a control method for an industrial robot control system is also provided. The storage medium includes a stored program, wherein the program, when running, controls the device where the storage medium is located to execute the control method of the industrial robot control system described above.

[0114] Since the processing and functions implemented by the storage medium in this embodiment are basically the same as the embodiments, principles and examples of the aforementioned methods, any details not covered in this embodiment can be found in the relevant descriptions in the aforementioned embodiments, and will not be repeated here.

[0115] By employing the technical solution of this invention, for the control equipment of an industrial robot consisting of a teach pendant, a controller, and a servo driver, the functions of the teach pendant and the controller of the industrial robot are simulated and trained on the cloud server side to generate a virtual controller for the industrial robot. This virtual controller replaces the teach pendant and controller in the control equipment of the industrial robot. On the cloud server side, corresponding virtual controllers can be generated for multiple industrial robots. Through the virtual controller of each industrial robot, each industrial robot can be remotely controlled, its operating status monitored, and its virtual controller maintained. This enables simultaneous and rapid configuration of a large number of industrial robots, rapid issuance of action commands, and real-time monitoring of the working status of all industrial robots, while saving the installation and configuration costs of hardware controllers.

[0116] In summary, it is readily understood by those skilled in the art that, without conflict, the aforementioned advantageous methods can be freely combined and superimposed.

[0117] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A control method for an industrial robot control system, characterized in that, The industrial robot control system includes: a human-machine interaction terminal, a cloud server, and an industrial robot system; the industrial robot system includes: n industrial robots, and n servo drivers configured with the n industrial robots, where n is a positive integer; on the cloud server side, the control method of the industrial robot control system includes: On the cloud server side, for the n industrial robots, virtual controllers for each industrial robot are pre-generated to obtain n virtual controllers; among them, one industrial robot that currently needs to perform motion control among the n industrial robots is denoted as the target industrial robot; one virtual controller corresponding to the target industrial robot among the n virtual controllers is denoted as the target virtual controller; and one servo driver corresponding to the target industrial robot among the n servo drivers is denoted as the target servo driver; a virtual controller of the industrial robot is virtually generated on the cloud server side to replace the teach pendant and controller in the control device of the industrial robot, and an operator can control the industrial robot and adjust the virtual controller of the industrial robot on the cloud server side. When receiving a motion control instruction for the target industrial robot sent by the human-machine interaction terminal, denote this motion control instruction as the target motion control instruction; make the target virtual controller generate a target servo drive signal according to the target motion control instruction. Send the target servo drive signal to the target servo driver to: make the target servo driver generate a target drive signal according to the target servo drive signal, and drive the target industrial robot to execute a preset target action through the target drive signal, so as to realize the control that the target industrial robot executes the preset target action according to the target motion control instruction; the operator edits the motion control instruction of the target industrial robot through the human-machine interaction terminal and sends it to the cloud server; on the cloud server side, simulate and train the functions of the teach pendant and controller of the target industrial robot to generate a virtual controller of the target industrial robot; after receiving the motion control instruction sent by the human-machine interaction terminal, the virtual controller in the cloud server compiles it to generate a servo signal such as a pulse signal or an analog signal, and sends it to the servo driver of the target industrial robot.

2. The control method for the industrial robot control system according to claim 1, characterized in that, On the cloud server side, pre-generating virtual controllers for each of the n industrial robots to obtain n virtual controllers includes: For any one of the n industrial robots, simulate and train the functions of the teach pendant and controller of this industrial robot to generate a virtual controller of this industrial robot; thus, obtain the n virtual controllers corresponding to the n industrial robots.

3. The control method for the industrial robot control system according to claim 1 or 2, characterized in that, On the cloud server side, the control method of the industrial robot control system further includes: Receiving the servo feedback signal of the target industrial robot fed back by the target servo driver; and, When receiving the servo feedback signal of the target industrial robot fed back by the target servo driver, generate the motion state data of the target industrial robot according to the servo feedback signal of the target industrial robot; wherein, when the target industrial robot executes a preset target action based on the target drive signal, the target servo driver receives the servo state data returned by the target industrial robot, and generates a servo feedback signal based on the servo state data of the target industrial robot, and then feeds it back to the target virtual controller; Send the motion state data of the target industrial robot to the human-machine interaction terminal, so that: the human-machine interaction terminal displays the motion state data of the target industrial robot, and realizes the monitoring of the situation where the target industrial robot executes a preset target action on the human-machine interaction terminal.

4. The control method for the industrial robot control system according to claim 1 or 2, characterized in that, On the cloud server side, the control method of the industrial robot control system further includes: Receiving an update instruction for the program of the target virtual controller sent by the human-machine interaction terminal; When receiving the update instruction for the program of the target virtual controller sent by the human-machine interaction terminal, update the program of the target virtual controller according to the update instruction, and then feed back the update result to the human-machine interaction terminal, so that: the update result is displayed on the human-machine interaction terminal to realize the update of the program of the target virtual controller and the monitoring of the update result.

5. The control method for the industrial robot control system according to claim 3, characterized in that, On the cloud server side, the control method of the industrial robot control system further includes: Receiving an update instruction for the program of the target virtual controller sent by the human-machine interaction terminal; When receiving the update instruction for the program of the target virtual controller sent by the human-machine interaction terminal, update the program of the target virtual controller according to the update instruction, and then feed back the update result to the human-machine interaction terminal, so that: the update result is displayed on the human-machine interaction terminal to realize the update of the program of the target virtual controller and the monitoring of the update result.

6. A control device for an industrial robot control system that uses the control method of any one of claims 1 to 5 to implement control of the industrial robot control system, characterized in that, The industrial robot control system includes: a human-machine interaction terminal, a cloud server and an industrial robot system; the industrial robot system includes: n industrial robots, and n servo drivers configured in a supporting manner with the n industrial robots, where n is a positive integer; on the cloud server side, the control device of the industrial robot control system includes: A generation unit, configured to pre-generate a virtual controller for each industrial robot on the cloud server side for n industrial robots, and obtain n virtual controllers; wherein, one industrial robot that needs to perform motion control currently among the n industrial robots is denoted as the target industrial robot; one virtual controller corresponding to the target industrial robot among the n virtual controllers is denoted as the target virtual controller; and one servo driver corresponding to the target industrial robot among the n servo drivers is denoted as the target servo driver; The acquisition unit is configured to, upon receiving a motion control command for the target industrial robot sent by a human-machine interface terminal, record the motion control command as a target motion control command; and enable the target virtual controller to generate a target servo drive signal based on the target motion control command. The control unit is configured to send the target servo drive signal to the target servo driver, so as to cause the target servo driver to generate a target drive signal according to the target servo drive signal, and drive the target industrial robot to perform a preset target action through the target drive signal, so as to realize the control of the target industrial robot to perform the preset target action according to the target motion control command.

7. The control device for the industrial robot control system according to claim 6, characterized in that, The control unit, on the cloud server side, pre-generates a virtual controller for each of the n industrial robots, resulting in n virtual controllers, including: For any one of the n industrial robots, the functions of the teach pendant and the controller of the industrial robot are simulated and trained to generate a virtual controller for the industrial robot; thus, the n virtual controllers corresponding to the n industrial robots are obtained.

8. The control device for the industrial robot control system according to claim 6 or 7, characterized in that, On the cloud server side, the control device of the industrial robot control system further includes: The acquisition unit is further configured to receive the servo feedback signal of the target industrial robot fed back by the target servo driver; The control unit is further configured to, upon receiving a servo feedback signal from the target industrial robot fed back by the target servo driver, generate motion state data of the target industrial robot based on the servo feedback signal of the target industrial robot; wherein, when the target industrial robot performs a preset target action based on the target drive signal, the target servo driver receives the servo state data returned by the target industrial robot, generates a servo feedback signal based on the servo state data of the target industrial robot, and feeds it back to the target virtual controller; The control unit is further configured to send the motion state data of the target industrial robot to the human-machine interface terminal, so as to enable the human-machine interface terminal to display the motion state data of the target industrial robot and realize the monitoring of the target industrial robot performing preset target actions on the human-machine interface terminal.

9. The control device for the industrial robot control system according to claim 6 or 7, characterized in that, On the cloud server side, the control device of the industrial robot control system further includes: The acquisition unit is further configured to receive an update instruction for the program of the target virtual controller sent by the human-computer interaction terminal; The control unit is further configured to, upon receiving an update instruction for the program of the target virtual controller sent by the human-machine interface terminal, update the program of the target virtual controller according to the update instruction, and then feed back the update result to the human-machine interface terminal so as to display the update result on the human-machine interface terminal, thereby realizing the update of the program of the target virtual controller and the monitoring of the update result.

10. The control device for the industrial robot control system according to claim 8, characterized in that, On the cloud server side, the control device of the industrial robot control system further includes: The acquisition unit is further configured to receive an update instruction for the program of the target virtual controller sent by the human-computer interaction terminal; The control unit is further configured to, upon receiving an update instruction for the program of the target virtual controller sent by the human-machine interface terminal, update the program of the target virtual controller according to the update instruction, and then feed back the update result to the human-machine interface terminal so as to display the update result on the human-machine interface terminal, thereby realizing the update of the program of the target virtual controller and the monitoring of the update result.

11. An industrial robot control system, characterized in that, include: The control device for an industrial robot control system as described in any one of claims 6 to 10.

12. A storage medium, characterized in that, The storage medium includes a stored program, wherein, when the program is executed, the device containing the storage medium is controlled to perform the control method of the industrial robot control system according to any one of claims 1 to 5.

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