Industrial robot control method and system

Abstract

The present invention is applicable to the computer field and provides an industrial robot control method and system, the method comprising: obtaining regional inspection information of an operating area through a regional device, identifying a robot with an operating fault based on the regional inspection information and image information of a non-operating area, marking the robot with an operating fault as a first robot, wherein the regional inspection information is related to a channel inspection position of an operating sub-area, and the operating sub-area includes several operating sub-areas; identifying the remaining operating tasks of the first robot, and sending the remaining operating tasks to the regional device so that the regional device generates feedback information based on the remaining operating tasks and reports the feedback information. The technical solution of the embodiment of the present application can complete the identification of the faulty robot and the reallocation of unfinished tasks without intervening in the robot body, and can meet the needs of efficient and stable operation in industry.

Description

Technical Field

[0001] The present invention belongs to the field of computers, and in particular relates to an industrial robot control method and system. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in industrial fields. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals.

[0003] As the functional applications of industrial robots increase, the probability of robot failure also increases. Especially during operation, when a robot fails and loses power, its communication may be disconnected. In this case, the existing technology uses a dispatching robot to handle the problem and tow the faulty robot.

[0004] It is noted that in the above existing technologies, after a robot fails, especially for multiple work areas, its detailed work task and other information may still be stored within its area. Therefore, the failed robot needs to be maintained before the work task and other information can be obtained. In another solution, some robots synchronize work task and other information to the cloud, but this places relatively high requirements and costs on communication and cloud construction, and after dispatching the information on the cloud, the robot needs to be re-called for task allocation, which affects the efficiency of completing industrial tasks. Summary of the Invention

[0005] The purpose of the embodiments of the present invention is to provide an industrial robot control method and system, aiming to solve the problems raised in the above background technology.

[0006] The embodiment of the present invention is implemented as follows: on the one hand, a method for controlling an industrial robot, the method comprising the following steps:

[0007] Acquiring regional inspection information of an operating area through a regional device, identifying a robot with an operating fault based on the regional inspection information and image information of a non-operating area, and marking the robot with the operating fault as a first robot, wherein the regional inspection information is associated with a channel inspection position of an operating sub-area, the operating sub-area including a plurality of operating sub-areas;

[0008] Identifying remaining work tasks of the first robot, and sending the remaining work tasks to the regional device, so that the regional device generates feedback information according to the remaining work tasks and reports the feedback information;

[0009] receiving feedback information reported by a regional device, wherein the feedback information includes a local area communication range and a device identifier of the regional device;

[0010] establishing, based on the feedback information and the real-time operation information of the plurality of second robots, a communication indication channel between the regional device and at least one second robot under set conditions, the at least one second robot being at least one of the plurality of second robots, the set conditions including detecting that an operation route of the at least one second robot is associated with the local communication range;

[0011] controlling at least one second robot to perform the remaining task according to the communication instruction channel;

[0012] Among them, the robots that identify operating faults based on regional inspection information and image information of non-operating areas specifically include:

[0013] Acquire channel interaction information collected by a first area device in an operation area, where the area device includes the first area device;

[0014] Acquire image information of a non-operating area, identify the robot in a set state in the non-operating area according to the image information, and generate an identification result, wherein the set state includes a moving state;

[0015] Summarize all channel interaction information to obtain summary results, and count all robots in the same time period in the summary results and identification results to obtain statistical results;

[0016] Fault identification information is obtained based on the statistical results and the original planned operation information of the robots. The fault identification information is used to indicate that at least one robot has a regional operation fault or an operation travel fault.

[0017] As a further solution of the present invention, a preset instruction is stored in the regional device, and the preset instruction is used to instruct the regional device to send a passing handshake signal when it detects that a certain active target is in the channel inspection position.

[0018] As a further aspect of the present invention, the method further comprises:

[0019] After receiving the handshake signal, the instructing robot feeds back handshake feedback information according to the handshake signal;

[0020] The indication area device generates channel interaction information according to the handshake feedback information, wherein the handshake feedback carries the working status information of the robot.

[0021] As a further solution of the present invention, identifying the remaining task of the first robot specifically includes:

[0022] According to the operation planning route of the first robot, the channel inspection positions that the robot may pass through are identified;

[0023] Positioning corresponding second area equipment according to the possible channel inspection position, wherein the area equipment includes the second area equipment;

[0024] Obtain the job completion information reported by all devices in the second area, summarize the job completion information, and generate the total job completion task;

[0025] The remaining task of the first robot is determined according to the total set task and the total completed task of the first robot.

[0026] As a further solution of the present invention, when it is detected that the first robot completes the operation task in the operation sub-area where the channel inspection position is located, the second area equipment in the operation sub-area is instructed to record the operation completion information of the first robot.

[0027] As a further solution of the present invention, controlling at least one second robot to perform the remaining task according to the communication indication channel includes:

[0028] Determining, based on the communication indication channel, a second robot that has a location-task substitution relationship with the remaining task, wherein the location-task substitution relationship is used to indicate that a first condition and a second condition are satisfied between the second robot and the first robot, the first condition including that the distance between the task locations is within a preset distance range, and the second condition including task substitutability;

[0029] Instruct the second robot to perform the remaining task.

[0030] As a further embodiment of the present invention, the method further comprises:

[0031] The second robot is instructed to pick up the operation-required materials corresponding to the location-task substitution relationship, and transport the operation-required materials to the operation sub-area corresponding to the location-task substitution relationship.

[0032] As a further embodiment of the present invention, in another aspect, an industrial robot control system using any of the aforementioned industrial robot control methods is provided, the system comprising:

[0033] a faulty robot identification module, configured to obtain regional inspection information of an operating area through regional equipment, identify a robot with an operating fault based on the regional inspection information and image information of a non-operating area, and mark the robot with the operating fault as a first robot, wherein the regional inspection information is associated with a channel inspection position of an operating sub-area, and the operating sub-area includes a plurality of operating sub-areas;

[0034] a remaining task identification and sending module, configured to identify the remaining operation tasks of the first robot and send the remaining operation tasks to the regional device, so that the regional device generates feedback information based on the remaining operation tasks and reports the feedback information;

[0035] A feedback information receiving module, configured to receive feedback information reported by a regional device, wherein the feedback information includes a local area communication range and a device identifier of the regional device;

[0036] a conditional communication module, configured to establish, based on the feedback information and the real-time operation information of the plurality of second robots, a communication indication channel between the regional device and at least one second robot under set conditions, the at least one second robot being at least one of the plurality of second robots, the set conditions including detecting that an operation route of the at least one second robot is associated with the local communication range;

[0037] A control module is used to control at least one second robot to perform the remaining task according to the communication instruction channel.

[0038] An embodiment of the present invention provides an industrial robot control method and system, which identifies robots with operating faults and the remaining operating tasks of a first robot based on regional inspection information and image information of non-operating areas, and then instructs regional equipment to generate feedback information based on the remaining operating tasks and report the feedback information. In addition, by receiving the feedback information reported by the regional equipment, a communication indication channel is established between the regional equipment and at least one second robot under set conditions based on the feedback information and the real-time operating information of several second robots. This method and system can complete the identification of faulty robots and the reallocation of unfinished tasks without intervening in the robot body, and can meet the needs of efficient and stable operations in industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a main flow chart of an industrial robot control method.

[0040] Figure 2 The present invention is a flow chart of an industrial robot control method for identifying a robot having an operation fault.

[0041] Figure 3 The present invention is a flow chart for identifying remaining work tasks of a first robot in an industrial robot control method.

[0042] Figure 4 The invention relates to a flow chart of an industrial robot control method for controlling at least one second robot to perform the remaining operation tasks according to a communication indication channel.

[0043] Figure 5 It is the main structure diagram of an industrial robot control system.

[0044] Figure 6 It is a structural diagram of the remaining task identification and sending module in an industrial robot control system. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0046] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0047] The present invention provides an industrial robot control method and system, which solve the technical problems in the background technology.

[0048] like Figure 1 FIG. 1 is a main flow chart of an industrial robot control method provided by an embodiment of the present invention, wherein the industrial robot control method includes:

[0049] Step S10: Acquire regional inspection information of the operating area through the regional equipment, identify the robot with the operating fault based on the regional inspection information and the image information of the non-operating area, and mark the robot with the operating fault as the first robot. The regional inspection information is related to the channel inspection position of the operating sub-area, that is, the regional inspection information can be obtained in the channel inspection position;

[0050] The operation sub-area includes several operation sub-areas; the regional equipment is generally set up in the operation area and is located on the necessary path of the robot to obtain inspection information about the robot operation; the non-operation area is generally connected to the operation area, and the non-operation area and the operation area constitute the location of the entire industrial operation; the first robot identified based on the regional inspection information and image information does not need to be identified by other means or excluded and identified one by one;

[0051] Step S11: Identify the remaining tasks of the first robot and send the remaining tasks to the regional device, so that the regional device generates feedback information based on the remaining tasks and reports the feedback information. When the first robot fails, it may still have unfinished tasks. In this case, the first robot is generally in an unresponsive state, such as power failure or loss of communication connection. There are generally multiple regional devices, and the regional device used for feedback information includes the regional device closest to or relatively close to the first robot.

[0052] Step S12: receiving feedback information reported by the regional device, the feedback information including the local communication range and device identification of the regional device; if the regional device can return the feedback information, it indicates that it can not only respond to the sending of the remaining job tasks, but also has the basis for subsequently establishing a communication indication channel;

[0053] Step S13: Based on the feedback information and the real-time operation information of the plurality of second robots, a communication indication channel is established between the regional equipment and at least one second robot under set conditions, wherein the at least one second robot is at least one of the plurality of second robots, and the set conditions include detecting that the operation route of the at least one second robot is associated with the local communication range; the second robot includes a robot that has not experienced a malfunction, and generally multiple robots are provided in the non-operation area and the operation area, and at least every two robots have functions that can replace each other, such as painting, dispensing, spray painting, and welding.

[0054] Step S14: Control at least one second robot to perform the remaining work tasks according to the communication instruction channel. Within the local communication range of the regional device, when it detects the entry of a second robot that can replace the functions of the first robot, it will establish a communication instruction channel with the corresponding second robot and send the remaining work tasks to the corresponding second robot, so that the second robot can perform the remaining work tasks. There can be multiple regional devices, and the regional device that obtains regional inspection information and the regional device that establishes the communication instruction channel do not need to be the same. When there are multiple regional devices, data is shared between the regional devices. Therefore, the regional devices that establish the communication instruction channel can exist in the several work sub-areas corresponding to the remaining work tasks of the first robot.

[0055] When this embodiment is applied, it identifies robots with operating faults and the remaining operating tasks of the first robot based on regional inspection information and image information of non-operating areas, and then instructs the regional equipment to generate feedback information based on the remaining operating tasks and report the feedback information. It also receives the feedback information reported by the regional equipment, and establishes a communication indication channel between the regional equipment and at least one second robot under set conditions based on the feedback information and the real-time operating information of several second robots. It can complete the identification of faulty robots and the reallocation of unfinished tasks without intervening in the robot body, and can meet the needs of efficient and stable operations in industry.

[0056] like Figure 2 As shown, as a preferred embodiment of the present invention, identifying a robot with an operating fault based on regional inspection information and image information of a non-operating area specifically includes:

[0057] Step S101: Acquire channel interaction information collected by the first area device of the working area, where the area device includes the first area device; the channel interaction information is used to represent the interaction information generated by the robot interacting with the first area device after working in different working sub-areas, and the interaction information is used to represent the normal working conditions of the robot in the working sub-area.

[0058] Step S102: Acquire image information of the non-operating area, identify the robot in a set state in the non-operating area based on the image information, and generate an identification result, wherein the set state includes a moving state; considering the operating sub-areas and the non-operating sub-areas existing between the operating sub-areas, and considering that the non-operating sub-areas may require non-essential operations such as resetting and charging of the robot, the image information is used to identify the robot's state in the non-operating area; if the robot's state is the set state, the set state includes a moving state and a resetting and charging state;

[0059] Step S103: All channel interaction information is aggregated to obtain an aggregated result. All robots in the same time period in the aggregated result and the identification result are counted to obtain a statistical result. The aggregated result is used to distinguish robots that do not have operating faults in different operating sub-areas. The identification result includes robots that meet the set functions in the non-operating sub-areas. The aggregated result and the statistical result are combined according to the same time period to obtain all robots that meet the set functions in the operating sub-areas and non-operating sub-areas. The same time period can include multiple time periods to verify whether operations in multiple operating sub-areas have faults, and the same time period is generally selected from the later time period.

[0060] Step S104: Based on the statistical results and the original planned operation information of the robot, fault identification information is obtained. The fault identification information is used to indicate that at least one robot has a regional operation fault or an operation travel fault. According to the above, the statistical results at least indicate that within the same time period, it is either in a set state in a non-operating area or in an operating state in an operating area. Therefore, if it is not in both states, the corresponding robot will be identified as faulty. The original planned operation information mainly includes information on all robots assigned to all operating areas and non-operating areas. The above combination of channel interaction information and image information can identify robots with regional operation faults or operation travel faults, and indirectly identify faulty robots without the need for direct intervention on the faulty robots.

[0061] In a possible embodiment, a preset instruction is stored in the regional device, and the preset instruction is used to instruct the regional device to send a passing handshake signal when detecting that a certain active target is in a channel inspection position.

[0062] In conjunction with the handshake signal, the method further includes:

[0063] Step S20: After receiving the handshake signal, the robot is instructed to feedback handshake feedback information according to the handshake signal;

[0064] Step S21: The instructing area device generates channel interaction information based on the handshake feedback information, wherein the handshake feedback carries the robot's working status information, which includes the working status of various structures and functions.

[0065] It should be understood that this embodiment provides a method for completing channel interaction information based on active detection by a regional device. In practical application, the regional device stores preset instructions. These preset instructions are used when the regional device detects an active target within its detection range. At this time, the active target is unclear, so the handshake signal is a tentative signal. If the robot receives this signal, it will feedback handshake feedback information. After receiving the handshake feedback information, the regional device will generate channel interaction information based on it. By generating channel interaction information, a summary of the working information of the working area can be obtained, which is used to distinguish robots capable of normal operation in the working area or working sub-area.

[0066] like Figure 3 As shown, as a preferred embodiment of the present invention, the identifying the remaining task of the first robot specifically includes:

[0067] Step S111: Based on the first robot's planned operation route, identify the possible channel inspection locations it may pass through. The planned operation route is initially planned for each robot. The so-called possible channel inspection locations are the channel inspection locations it passed through before the failure. Since the location of the failure is uncertain, it is necessary to determine the actual operation sub-area it passed through.

[0068] Step S112: Locating corresponding second area equipment based on the possible passage inspection positions, wherein the area equipment includes a second area equipment; the possible passage inspection positions are provided with a second area equipment to detect the completion status of the first robot's work before the failure; in some cases, the second area equipment may be the first area equipment;

[0069] Step S113: Obtain the job completion information reported by all devices in the second area, summarize the job completion information, and generate a total job completion task. Because the robot may have performed operations in multiple operation sub-areas before a failure, and the workload and type of operations in each operation sub-area may be different, the job completion information reported by the devices in the second area is summarized to obtain the total job completion task. For example, the robot organically connects the production, processing, workstations, automatic assembly and disassembly, and testing links in different operation sub-areas to reduce intermediate links, shorten the product logistics cycle, and integrate the production processes such as processing, assembly, testing, logistics, and material handling.

[0070] Step S114: Based on the first robot's total set tasks and the total completed tasks, the remaining tasks for the first robot are determined. These remaining tasks may be uncompleted tasks in unreached sub-areas or tasks that were missed completing in traversed sub-areas. This embodiment aggregates the task completion information reported by devices in the second area to clearly identify the uncompleted tasks of the first robot before the failure. Even if the first robot subsequently fails, the remaining tasks can be accurately determined without accessing the first robot's internal data.

[0071] In a possible embodiment, the method further includes:

[0072] Step S30: When the first robot completes the task within the operation sub-area where the channel inspection position is located, the second area device within the operation sub-area is instructed to record the task completion information of the first robot. The task completion information recorded by each second area device is conveniently aggregated and recorded.

[0073] Specifically, when the first robot completes the operation task before the failure, since there is a channel inspection position in each operation sub-area, after completing the corresponding operation task, the corresponding second area equipment will record its operation process and progress completion status. This record can be reflected through the parameters of the relevant operation stations in the operation sub-area (that is, the relevant operation parameter detection equipment, such as sensors, will feed back the relevant parameters to the second area equipment, or the first robot records the process information of the operation, including the operation content and operation procedures, and will send the process information to the second area equipment when passing through the channel inspection position).

[0074] like Figure 4 As shown, as a preferred embodiment of the present invention, controlling at least one second robot to perform the remaining task according to the communication instruction channel includes:

[0075] Step S141: Based on the communication indication channel, determine the second robot that has a location-task substitution relationship with the remaining work task, and the location-task substitution relationship is used to characterize that the second robot and the first robot meet the first condition and the second condition, the first condition includes that the distance between the work locations is within a preset distance range, and the second condition includes the work substitutability; exemplarily, the work substitutability includes that the corresponding second robot and the first robot are respectively reflected by different end-effector (grip) structures and functions, and the first robot and the second robot have one or more of the same independent or complex work functions such as loading and unloading, assembly, processing, detection and intelligent judgment.

[0076] Step S142: instructing the second robot to perform the remaining task.

[0077] It should be understood that the meaning of the location-task substitution relationship is: first, the second robot can have the same or similar operating functions as the first robot, that is, it can realize operation substitution; second, the actual operating locations of the second robot and the first robot are not far apart, such as the actual operating locations are the same, or the actual operating locations are within 1 / 10 of the regional path range; in this way, the impact on the operation of the second robot itself can be minimized, which is in line with the principle of proximity scheduling.

[0078] As a preferred embodiment of the present invention, the method further includes:

[0079] Step S40: Instruct the second robot to pick up the necessary materials for the operation corresponding to the location-task substitution relationship and transport them to the corresponding operation sub-area. For example, the necessary materials include welding guns, spray guns, cutting tools, grinding wheels, and polishing wheels to enable production processes such as welding, painting, grinding, testing, and assembly.

[0080] It should be understood that, considering that industrial robots may need to use materials necessary for the operation to complete the operation or that transporting materials necessary for the operation is part of the operation in actual operation, the second robot is also controlled in this embodiment to pick up the corresponding materials necessary for the operation and perform the transportation process. It should be noted that different operation sub-areas may require different materials necessary for the operation, and thus this embodiment generally involves multiple picking up and transporting of materials necessary for the operation, and the locations of picking up and transporting include the original storage location and the fault point where the first robot is located.

[0081] like Figure 5 As shown, as another preferred embodiment of the present invention, on the other hand, an industrial robot control system includes:

[0082] A faulty robot identification module 100 is configured to obtain regional inspection information of an operating area through regional equipment, identify a robot with an operating fault based on the regional inspection information and image information of a non-operating area, and mark the robot with the operating fault as a first robot, wherein the regional inspection information is associated with a channel inspection position of an operating sub-area, and the operating sub-area includes a plurality of operating sub-areas;

[0083] The remaining task identification and sending module 200 is used to identify the remaining work tasks of the first robot and send the remaining work tasks to the regional device, so that the regional device generates feedback information based on the remaining work tasks and reports the feedback information;

[0084] A feedback information receiving module 300 is configured to receive feedback information reported by a regional device, wherein the feedback information includes a local area communication range and a device identifier of the regional device;

[0085] a conditional communication module 400 for establishing, based on the feedback information and the real-time operation information of the plurality of second robots, a communication indication channel between the local device and at least one second robot under set conditions, wherein the at least one second robot is at least one of the plurality of second robots, the set conditions including detecting that the operation route of the at least one second robot is associated with the local communication range;

[0086] The control module 500 is used to control at least one second robot to perform the remaining task according to the communication instruction channel.

[0087] like Figure 6 As shown, the remaining task identification and sending module 200 specifically includes:

[0088] The first recognition unit 2001 is used to identify the channel inspection positions that the first robot may pass through according to the operation planning route of the first robot;

[0089] The regional device positioning unit 2002 is used to locate the corresponding second regional device according to the channel inspection position that may be passed through, and the regional device includes the second regional device;

[0090] The job task summary unit 2003 is used to obtain the job completion information reported by all the second area devices, summarize the job completion information, and generate a total job completion task;

[0091] The remaining task determining unit 2004 is configured to determine the remaining operation tasks of the first robot according to the set total tasks and the total completed operation tasks of the first robot.

[0092] It should be noted that the embodiments corresponding to this system and each module in the system realize the various processes in the embodiments of the above-mentioned industrial robot control method when implemented, and can achieve the same technical effects. To avoid repetition, they will not be described here.

[0093] The above-mentioned embodiment of the present invention provides an industrial robot control method, and based on the industrial robot control method, provides an industrial robot control system, which identifies robots with operating faults and the remaining operating tasks of the first robot based on regional inspection information and image information of non-operating areas, and then generates feedback information based on the remaining operating tasks by instructing regional equipment and reporting the feedback information, and establishes a communication indication channel between the regional equipment and at least one second robot under set conditions based on the feedback information and real-time operating information of several second robots by receiving the feedback information reported by the regional equipment. It can complete the identification of faulty robots and the reallocation of unfinished tasks without intervening in the robot body, and can meet the needs of efficient and stable operations in industry.

[0094] In order to enable the above-mentioned method and system to be loaded and run smoothly, in addition to the various modules mentioned above, the system may also include more or fewer components than described above, or a combination of certain components, or different components, for example, it may include input and output devices, network access devices, buses, processors and memories, etc.

[0095] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the system, connecting various parts using various interfaces and lines.

[0096] The above-mentioned memory can be used to store computer and system programs and / or modules. The above-mentioned processor implements the above-mentioned various functions by running or executing the computer programs and / or modules stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function (such as an information collection template display function, a product information release function, etc.). The data storage area can store data created based on the use of the berth status display system (such as product information collection templates corresponding to different product types, product information that different product providers need to release, etc.). In addition, the memory can include high-speed random access memory and can also include non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a smart memory card (SmartMediaCard, SMC), a secure digital (SecureDigital, SD) card, a flash card (FlashCard), at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0097] It should be understood that although the various steps in the flow charts of the various embodiments of the present invention are shown in sequence according to the instructions of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless clearly stated herein, the execution of these steps is not strictly limited in order, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the various embodiments may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0098] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0099] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

[0100] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for controlling an industrial robot, characterized in that: The method comprises: Acquiring regional inspection information of an operating area through a regional device, identifying a robot with an operating fault based on the regional inspection information and image information of a non-operating area, and marking the robot with the operating fault as a first robot, wherein the regional inspection information is associated with a channel inspection position of an operating sub-area, the operating sub-area including a plurality of operating sub-areas; Identifying remaining work tasks of the first robot, and sending the remaining work tasks to the regional device, so that the regional device generates feedback information according to the remaining work tasks and reports the feedback information; receiving feedback information reported by a regional device, wherein the feedback information includes a local area communication range and a device identifier of the regional device; establishing, based on the feedback information and the real-time operation information of the plurality of second robots, a communication indication channel between the regional device and at least one second robot under set conditions, the at least one second robot being at least one of the plurality of second robots, the set conditions including detecting that an operation route of the at least one second robot is associated with the local communication range; controlling at least one second robot to perform the remaining task according to the communication instruction channel; Among them, the robots that identify operating faults based on regional inspection information and image information of non-operating areas specifically include: Acquire channel interaction information collected by a first area device in an operation area, where the area device includes the first area device; Acquire image information of a non-operating area, identify the robot in a set state in the non-operating area according to the image information, and generate an identification result, wherein the set state includes a moving state; Summarize all channel interaction information to obtain summary results, and count all robots in the same time period in the summary results and identification results to obtain statistical results; Fault identification information is obtained based on the statistical results and the original planned operation information of the robots. The fault identification information is used to indicate that at least one robot has a regional operation fault or an operation travel fault.

2. The industrial robot control method according to claim 1, characterized in that: The regional device stores a preset instruction, which is used to instruct the regional device to send a passing handshake signal when it detects that a certain active target is in the channel inspection position.

3. The industrial robot control method according to claim 2, characterized in that: The method further comprises: After receiving the handshake signal, the instructing robot feeds back handshake feedback information according to the handshake signal; The indication area device generates channel interaction information according to the handshake feedback information, wherein the handshake feedback carries the working status information of the robot.

4. The industrial robot control method according to claim 1, characterized in that: The identifying of the remaining tasks of the first robot specifically includes: According to the operation planning route of the first robot, the channel inspection positions that the robot may pass through are identified; Positioning corresponding second area equipment according to the possible channel inspection position, wherein the area equipment includes the second area equipment; Obtain the job completion information reported by all devices in the second area, summarize the job completion information, and generate the total job completion task; The remaining task of the first robot is determined according to the total set task and the total completed task of the first robot.

5. The industrial robot control method according to claim 4, characterized in that: When it is detected that the first robot completes the operation task in the operation sub-area where the channel inspection position is located, the second area equipment in the operation sub-area is instructed to record the operation completion information about the first robot.

6. The industrial robot control method according to claim 1, characterized in that: The controlling of at least one second robot to perform the remaining task according to the communication instruction channel includes: Determining, based on the communication indication channel, a second robot that has a location-task substitution relationship with the remaining task, wherein the location-task substitution relationship is used to indicate that a first condition and a second condition are satisfied between the second robot and the first robot, the first condition including that the distance between the task locations is within a preset distance range, and the second condition including task substitutability; Instruct the second robot to perform the remaining task.

7. The industrial robot control method according to claim 6, characterized in that: The method further comprises: The second robot is instructed to pick up the operation-required materials corresponding to the location-task substitution relationship, and transport the operation-required materials to the operation sub-area corresponding to the location-task substitution relationship.

8. An industrial robot control system using the industrial robot control method according to any one of claims 1 to 7, characterized in that: The system comprises: a faulty robot identification module, configured to obtain regional inspection information of an operating area through regional equipment, identify a robot with an operating fault based on the regional inspection information and image information of a non-operating area, and mark the robot with the operating fault as a first robot, wherein the regional inspection information is associated with a channel inspection position of an operating sub-area, and the operating sub-area includes a plurality of operating sub-areas; a remaining task identification and sending module, configured to identify the remaining operation tasks of the first robot and send the remaining operation tasks to the regional device, so that the regional device generates feedback information based on the remaining operation tasks and reports the feedback information; A feedback information receiving module, configured to receive feedback information reported by a regional device, wherein the feedback information includes a local area communication range and a device identifier of the regional device; a conditional communication module, configured to establish, based on the feedback information and the real-time operation information of the plurality of second robots, a communication indication channel between the regional device and at least one second robot under set conditions, the at least one second robot being at least one of the plurality of second robots, the set conditions including detecting that an operation route of the at least one second robot is associated with the local communication range; A control module is used to control at least one second robot to perform the remaining task according to the communication instruction channel.

9. The industrial robot control system according to claim 8, characterized in that: The remaining task identification and sending module specifically includes: A first identification unit is configured to identify channel inspection positions that the first robot may pass through based on the operation planning route of the first robot; A regional equipment positioning unit, configured to locate corresponding second regional equipment according to a possible channel inspection position, wherein the regional equipment includes the second regional equipment; The job task summary unit is used to obtain the job completion information reported by all the second area devices, summarize the job completion information, and generate a total job completion task; The remaining task determining unit is used to determine the remaining operation tasks of the first robot according to the set total tasks and the total completed operation tasks of the first robot.

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