Robot external expansion axis self-defined configuration method, teaching pendant and storage medium

Abstract

The application provides a robot external extension shaft self-defined configuration method, a teach pendant and a storage medium. The robot external extension shaft self-defined configuration method comprises the following steps: acquiring device image information of a robot and an external extension shaft; performing matching recognition on the device image information and reference device image information in a device database to acquire device information of the external extension shaft; and acquiring a configuration scheme of the external extension shaft according to the device information. The robot external extension shaft self-defined configuration method can enable the robot external extension shaft to be self-adapted, and can improve the system configuration efficiency.

Description

Technical Field

[0001] This invention relates to the field of robot teach pendant technology, specifically to a method for customizing the external extension axis of a robot, a teach pendant using the method, and a computer-readable storage medium using the method. Background Technology

[0002] Since industrial robots are mostly used in complex industrial environments such as material handling, palletizing, painting, welding, assembly, and machine tool loading and unloading, equipping them with external extension axes is particularly important considering factors such as cost control and production efficiency. External extension axes can save space, increase the working range, reduce equipment costs, and improve production efficiency. Configuring external extension axes for robots is technically specialized and is generally a manufacturer-provided solution. For example, manufacturers like ABB and FANUC have strict requirements for external extension axis configurations and typically ship them as standard equipment. However, due to the complexity of on-site conditions, situations may arise where users need to customize the external extension axis configuration themselves. However, the current method of configuring external extension axes involves configuring the parameters through a teach pendant, i.e., manually inputting detailed hardware data and parameters of the extension axis to complete the configuration. This method is inefficient and prone to errors.

[0003] Therefore, a more optimized configuration method for the external extension axis parameters needs to be considered. Summary of the Invention

[0004] The first objective of this invention is to provide a method for customizing the external extension axis of a robot, which enables the external extension axis of the robot to adapt autonomously and improves the system configuration efficiency.

[0005] The second objective of this invention is to provide a teach pendant that enables the robot's external extension axes to adapt autonomously, thereby improving system configuration efficiency.

[0006] A third objective of this invention is to provide a computer-readable storage medium that enables the robot's external extension axes to adapt autonomously, thereby improving system configuration efficiency.

[0007] To achieve the aforementioned first objective, the robot external extension axis custom configuration method provided by the present invention includes: acquiring device image information of the robot and the external extension axis; matching and identifying the device image information with the reference device image information in the device database to acquire device information of the external extension axis; and acquiring a configuration scheme for the external extension axis based on the device information.

[0008] As can be seen from the above scheme, the robot external extension axis custom configuration method of the present invention obtains the equipment image information of the robot and the external extension axis and matches the equipment information of the robot and the external extension axis to obtain the configuration scheme of the corresponding external extension axis in the equipment database. It realizes image recognition, autonomous adaptation, and can improve the on-site setup efficiency in industrial sites, improve system configuration efficiency, reduce time and capital costs, and obtain a robot external extension axis system that meets the needs with the most limited resources. It also improves efficiency in production line modification and process flow change in industrial sites.

[0009] In a further embodiment, the step of acquiring device image information of the robot and the external extension axis includes: acquiring image information of the robot and the external extension axis from a preset perspective after installation.

[0010] Therefore, by acquiring image information from a preset perspective after the robot and the external extension axis are installed, it is easy to show the installation relationship between the robot and the external extension axis, which is beneficial to the accuracy of identification and matching.

[0011] In a further embodiment, the step of acquiring device image information of the robot and the external extended axis also includes: acquiring auxiliary marker image information of the robot and the external extended axis.

[0012] Therefore, obtaining auxiliary sign image information can help improve the accuracy of equipment information recognition.

[0013] In a further embodiment, the equipment image information includes dimensional reference information for the robot and the external extension axis.

[0014] Therefore, in order to avoid the inability to accurately identify the size of components due to low-quality external extension axis images, it is necessary to obtain size reference information to improve the recognition rate of accurately identifying the size features of each component.

[0015] In a further embodiment, the steps for obtaining the device information of the external extension axis by matching and identifying the device image information with the reference device image information in the device database include: when two or more similar external extension axis device information are identified, displaying the identified device information option; when a confirmation message for selecting the device information option is obtained, using the selected device information as the device information of the external extension axis.

[0016] Therefore, since image recognition technology may be unstable and its accuracy may decrease in complex industrial environments, it may not be able to accurately locate whether the external extension shaft device in the image meets the user's needs in one go. Therefore, the equipment database will filter out multiple similar external extension shaft devices, and finally recommend multiple candidate external extension shaft device solutions for the user to choose from according to their similarity from high to low.

[0017] In a further scheme, the step of matching and recognizing the device information of the external extension axis based on the device image information and the reference device image information in the device database to obtain the device information includes: if the device information of the external extension axis cannot be matched in the device database, the network server is used to match and recognize the device image information, and the device information of the successfully matched external extension axis is saved to the device database.

[0018] Therefore, in order to prevent the device database from not storing the current configuration scheme of the external extended axis, when the device information of the external extended axis cannot be matched in the device database, the network server is used to match and identify the device image information, thereby expanding the matching database and improving the matching rate.

[0019] In a further proposed solution, after obtaining the configuration scheme of the external extension shaft based on the equipment information, the solution also includes: performing 3D simulation based on the configuration scheme to obtain simulation results.

[0020] Therefore, 3D simulation of the configuration scheme can facilitate user verification of the configuration scheme and improve its adaptability.

[0021] In a further proposed solution, the steps for performing 3D simulation based on the configuration scheme include: obtaining information on the changes to the external extension axis parameters, and modifying the parameters of the configuration scheme based on the changed parameter information.

[0022] Therefore, after obtaining the simulation results, users can also view the operating status of the external extension shaft under different process requirements and cycle time requirements, and make fine adjustments to make the configuration of the external extension shaft reach the most reasonable state.

[0023] To achieve the second objective of the present invention, the present invention provides a teach pendant including a processor and a memory, the memory storing a computer program, which, when executed by the processor, implements the steps of the above-described method for customizing the external extended axis of a robot.

[0024] To achieve the third objective of the present invention, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a controller, implements the steps of the above-described method for customizing the external extended axis of a robot. Attached Figure Description

[0025] Figure 1 This is a flowchart of an embodiment of the robot external extension axis custom configuration method of the present invention.

[0026] Figure 2 This is a schematic diagram of the installation structure of a linear ground rail type extension axis and a robot in an embodiment of the robot external extension axis custom configuration method of the present invention.

[0027] Figure 3 This is a schematic diagram of the installation structure after the relative displacement between the linear ground rail type extension axis and the robot in an embodiment of the robot external extension axis custom configuration method of the present invention.

[0028] Figure 4 This is a flowchart of the steps in the embodiment of the robot external extended axis custom configuration method of the present invention, which involves matching and recognizing device image information with device image information in the device database.

[0029] The present invention will be further described below with reference to the accompanying drawings and embodiments. Detailed Implementation

[0030] The robot external extended axis custom configuration method of the present invention is an application program in a teach pendant used to configure custom parameters for the robot's external extended axis.

[0031] Example of a method for customizing the external extended axis of a robot:

[0032] For example Figure 1 As shown in this embodiment, the custom configuration method for the robot's external extended axis first executes step S1 to acquire device image information of the robot and the external extended axis. After the user installs the industrial robot and its external extended axis selected on-site, the external extended axis needs to be configured with parameters in order to control it. To achieve autonomous parameter configuration, it is necessary to identify the device information of the robot and the external extended axis. Therefore, in this embodiment, the device information of the robot and the external extended axis is confirmed by image recognition. When acquiring the device image information of the robot and the external extended axis, the camera module of the teach pendant can capture the image information of the external extended axis. The device image information consists of a set of multiple different pictures of the robot and the external extended axis.

[0033] To improve the efficiency and quality of image analysis, the captured image information should include as much information as possible about the external extension shaft and its surrounding devices. In this embodiment, the step of acquiring device image information of the robot and the external extension shaft includes: acquiring image information from a preset viewpoint after the robot and the external extension shaft have been installed. To clearly demonstrate the installation relationship between the robot and the external extension shaft, images are captured after the robot and the external extension shaft have been installed, ensuring that the extension shaft parameters identified in the images meet the requirements of the on-site application. The installation method of the external extension shaft varies depending on the type of external extension shaft and the application requirements; for example, see [link to relevant documentation]. Figure 2 The external extension shaft is a linear ground rail type, 1, installed parallel to the ground in the application site. Robot 2 is installed to the left of extension shaft 1. The relative positional relationship between extension shaft 1 and robot 2 is determined so that robot 2 moves in the positive right direction. Preset viewing angles can be selected as needed; for example, photos can be taken of the front, left, and right views of the robot and external extension shaft after installation, as well as views after relative displacement of the robot and external extension shaft. Figure 3 As shown, Figure 3 This is a front view of robot 2 after it has moved to the middle part to the right along the extension axis 1.

[0034] To improve the accuracy of equipment information recognition, in this embodiment, the step of acquiring equipment image information of the robot and its external extension axis further includes: acquiring auxiliary marker image information of the robot and its external extension axis. Auxiliary marker image information includes auxiliary marker content that can accurately provide equipment information, such as equipment identification nameplates, barcodes, and QR codes.

[0035] Furthermore, to avoid inaccurate component size identification due to low-quality external extension axis images, this embodiment includes dimensional reference information for the robot and the external extension axis in the device image information. To more accurately identify the dimensional characteristics of each component, reference objects such as rulers can be placed on the shooting site. By inputting the specific data of the rulers and comparing the device in the captured image with the reference objects, the dimensional characteristics of each component can be obtained more accurately. Alternatively, a ruler can be equipped or marked on the camera module, and the dimensional characteristics of the components can be obtained more precisely through geometric calculations.

[0036] Of course, in order to improve the adaptability of the robot to the field environment, it is also necessary to simultaneously photograph the overall field environment, including the robot and the auxiliary equipment around the extension axis, such as the clamps used by the robot, safety railings, loading and unloading machines, etc. The photographed images must include the combined equipment of the external extension axis and the robot, which are used to identify its final workspace range and the use of the virtual simulation module.

[0037] In the preceding steps, the external extension axis and robot system parameters have been identified and configured. This allows us to obtain the maximum movable lead of the external extension axis (such as a linear guide), and the robot's maximum arm span and maximum attitude transformation angle from the robot body parameters. From these two parameters, the maximum workspace range of the external extension axis and robot system can be determined. Due to the limitations of the work site environment, based on the photographed surrounding auxiliary equipment and in conjunction with the equipment database, the style and size of the surrounding auxiliary equipment are identified. Since the photographed images of surrounding auxiliary equipment (such as loading / unloading machines, safety railings, etc.) include the combined external extension axis and robot equipment, the relative positional distance between the robot and external extension axis combined system and the surrounding auxiliary equipment can be determined by comparing the dimensions of the surrounding auxiliary equipment with the images in the equipment database. Therefore, when generating the robot and external extension axis parameters, this positional distance data is added to determine the maximum workspace range, ensuring that the parameters are set so that the robot and external extension axis do not touch the surrounding auxiliary equipment. In other words, it achieves the maximum operable workspace while ensuring safe operation.

[0038] After acquiring the device image information of the robot and its external extension axis, step S2 is executed. The device image information is matched and identified against the baseline device image information in the device database to obtain the device information of the external extension axis. The device database stores detailed data on the robot, external extension axis, and peripheral auxiliary equipment, including device model and various parameters such as structure, wiring interfaces, working range, working speed, load capacity, functional characteristics, and labels. The device database also stores multi-view image information features of various devices.

[0039] When matching and identifying equipment image information with reference equipment image information in the equipment database, feature comparison is required between the equipment image information and the reference equipment image information in the equipment database.

[0040] During the recognition and matching process, the captured images are first actively classified into several image types based on the shooting order: frontal images, left and right side images, frontal images after movement, left and right side images after movement, key equipment information images, and images of surrounding auxiliary equipment.

[0041] Secondly, priority is given to acquiring key equipment information images. Images containing key equipment information, such as nameplates, QR codes, and barcodes, are captured and matched in the equipment database. QR codes and barcodes can be directly scanned and identified by the system to obtain the equipment information they contain. For nameplates, image feature extraction algorithms are used to extract key information from the images and match and identify the information data in the equipment database.

[0042] Then, by analyzing the forward image and the forward image after motion, and by comparing the image features and the position of the robot with the external extension axis, the relative positional relationship between the robot and the external extension axis, the coordinate system, and the lead information of the linear extension axis will also be obtained. For example, it can be obtained that the linear extension axis is installed horizontally on the ground, the robot is installed at 0° to the left, the lead of the external extension axis is 10 meters, and the robot uses a Class A gripper, etc.

[0043] Then, the images in the left and right directions, and the images in the left and right directions after motion, are analyzed. Through image feature comparison and posture comparison, the position and posture relationship between the robot and the external extension axis, and the coordinate relationship are obtained. Rotating the external extension axis will also yield the relative relationship between its posture change and the robot's posture change. For example, the external extension axis may be a rotary axis installed at the end of the robot, using a Class B gripper; or the external extension axis may be a two-axis positioner system installed opposite to the robot. Finally, the images of the surrounding auxiliary equipment are analyzed. Through image comparison, the maximum workspace range of the combined equipment of the external extension axis and the robot, as well as the type of surrounding auxiliary equipment used, are determined.

[0044] To improve the accuracy and efficiency of data positioning in the equipment database, feature extraction can be performed on the equipment image information. The baseline equipment image information in the database also contains some key image feature information. Image feature comparison can be performed using various well-known image processing techniques, such as perceptual hashing algorithms, histogram methods, image template matching, and SSIM structural similarity. These are well-known techniques and will not be elaborated upon here. The most suitable image processing method should be adopted to maximize the effectiveness and efficiency of image recognition, feature extraction, and comparison. The equipment database stores commonly used external axis parameter data and equipment information. Storing feature data and images can improve image matching efficiency, but it is also necessary to store some original image information for feature matching to improve the flexibility of recognition and matching.

[0045] The device database can be hosted by a network server, integrated on a teach pendant, or integrated into a motion controller system. In this embodiment, the device database is integrated into the teach pendant. To prevent the device database from not storing the current configuration scheme of the external extended axis, in this embodiment, the step of matching and recognizing the device image information of the external extended axis with the device image information in the device database to obtain the device information of the external extended axis includes: if the device information of the external extended axis cannot be matched in the device database, then the device image information is matched and recognized from the network server, and the device information of the successfully matched external extended axis is saved to the device database. When the device information of the external extended axis cannot be matched in the device database, the device image information is matched and recognized from the network server to expand the matching database and improve the matching rate.

[0046] In addition, in this embodiment, see Figure 4 When matching and identifying the external extension shaft device information by matching the device image information with the reference device image information in the device database, step S21 is also executed. If two or more similar external extension shaft device information are identified, the identified device information options are displayed. Because image recognition technology may be unstable and its accuracy may decrease in complex industrial environments, it may be impossible to accurately locate whether the external extension shaft device in the image meets the user's needs in one go. Therefore, the device database will filter out multiple similar external extension shaft devices, and multiple candidate external extension shaft device options can be recommended to the user in descending order of similarity.

[0047] After displaying the identified device information options, proceed to step S22 to determine whether confirmation information for selecting a device information option has been obtained. After displaying the identified device information options, the user can select an external extension axis device according to the actual situation of the on-site equipment. Confirmation information for selecting a device information option can be obtained through a touch screen or by pressing a button.

[0048] If no confirmation message is received regarding the selection of the device information option, proceed to step S22 for continuous detection. When confirmation message is received, proceed to step S23 to use the selected device information as the device information for the external extended axis. After the user selects appropriate device information, it can be used as the device information for the external extended axis.

[0049] After obtaining the device information for the external extension axis, proceed to step S3 to obtain the configuration scheme for the external extension axis based on the device information. After obtaining the device information for the external extension axis, the configuration scheme for the external extension axis stored in the device database can be retrieved accordingly.

[0050] After confirming the device information of the external extension axis, the following information can be obtained: the type of external extension axis (e.g., linear or rotary), its installation direction, its relative position to the robot, the coordinate system of its base, its hardware data, the maximum length of the linear extension axis, and the maximum speed of the rotary extension axis. It is also necessary to configure the acceleration / deceleration parameters, positive and negative limit parameters, and joint speed limits of the external extension axis's mechanical unit, as well as all alarm information from the external extension axis servo driver and its communication configuration file. This allows different robots to be configured with different external extension axes. Specifically, the corresponding communication configuration file for the external extension axis is obtained from the device database, matched with the robot's motion control system, the servo driver's configuration file is identified, and the robot's main station communication topology is expanded to enable normal communication with the external extension axis. Furthermore, alarm information uploaded by the external extension axis servo driver can be obtained.

[0051] After obtaining the configuration scheme for the external extended axis, proceed to step S4 to perform 3D simulation based on the configuration scheme and obtain the simulation results. Selecting a configuration scheme allows importing it into a 3D simulation model provided by the equipment database for simulation, facilitating user verification and improving the scheme's adaptability. The corresponding 3D models of the selected robot and external extended axis components can be retrieved from the equipment database, and these models can be combined to obtain the final simulation model of the robot. The equipment models can be 3D model drawings, such as STP or DWG format models. These model drawings can be stored in the equipment database and can be retrieved by equipment model. The final display effect is shown in the teach pendant.

[0052] In this embodiment, the steps of performing 3D simulation according to the configuration scheme include: obtaining the change parameter information for the external extended axis, and modifying the parameters of the configuration scheme according to the change parameter information. When performing 3D simulation according to the configuration scheme, the on-site installation environment can be simulated. A virtual simulation interface can be displayed on the teach pendant, allowing users to view the data of the external extended axis and modify or set its parameters. If the user feels that some parameters are unreasonable, they can modify them through the virtual simulation interface. Through 3D simulation, forward-looking analysis of system operation can be performed. The process operation of the robot and the external extended axis is simulated on the virtual simulation interface of the teach pendant. Users can view the operating status of the external extended axis under different process requirements and cycle time requirements through the virtual simulation results, and can make fine adjustments to achieve the most reasonable configuration of the external extended axis.

[0053] As described above, the robot external extension axis custom configuration method of the present invention obtains the device image information of the robot and the external extension axis and matches the device information of the robot and the external extension axis to obtain the corresponding configuration scheme of the external extension axis in the device database. It realizes image recognition, autonomous adaptation, and can improve the on-site setup efficiency in industrial sites, improve system configuration efficiency, reduce time and capital costs, and obtain a robot external extension axis system that meets the needs with the most limited resources. It also improves efficiency in production line modification and process flow change in industrial sites.

[0054] Teach pendant example:

[0055] The teach pendant in this embodiment includes a controller, which executes a computer program to implement the steps in the above embodiment of the custom configuration method for external extended axes of a robot.

[0056] For example, a computer program can be divided into one or more modules, one or more of which are stored in memory and executed by a controller to perform the present invention. One or more modules can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the teach pendant.

[0057] The teach pendant may include, but is not limited to, a controller and memory. Those skilled in the art will understand that the teach pendant may include more or fewer components, or a combination of certain components, or different components; for example, the teach pendant may also include input / output devices, network access devices, buses, etc.

[0058] For example, the controller can be a Central Processing Unit (CPU), or other general-purpose controllers, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose controller can be a microcontroller or any conventional controller. The controller is the control center of the teach pendant, connecting all parts of the teach pendant through various interfaces and lines.

[0059] The memory can be used to store computer programs and / or modules. The controller implements various functions of the teach pendant by running or executing the computer programs and / or modules stored in the memory, and by calling data stored in the memory. For example, the memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (e.g., sound receiving function, sound-to-text function, etc.); the data storage area may store data created according to the use of the mobile phone (e.g., audio data, text data, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0060] Examples of computer-readable storage media:

[0061] If the modules integrated into the teach pendant in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above embodiments of the robot external extended axis custom configuration method can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by the controller, it can implement the steps of the above embodiments of the robot external extended axis custom configuration method. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The storage medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0062] It should be noted that the above are only preferred embodiments of the present invention, but the design concept of the invention is not limited thereto. Any non-substantial modifications made to the present invention using this concept also fall within the protection scope of the present invention.

Claims

1. A method for customizing the configuration of an external extended axis of a robot, characterized in that, include: Acquire equipment image information of the robot and its external extended axes; The device information of the external extension shaft is obtained by matching and identifying the device image information with the reference device image information in the device database. The configuration scheme of the external extension shaft is obtained based on the device information; The steps for acquiring device image information of the robot and its external extended axis include: Acquire image information from a preset perspective after the robot and the external extension axis have been installed.

2. The method for customizing the external extended axis of a robot according to claim 1, characterized in that: The steps for acquiring device image information of the robot and its external extended axes also include: Obtain auxiliary marker image information of the robot and the external extension axis.

3. The method for customizing the external extended axis of a robot according to claim 2, characterized in that: The device image information includes dimensional reference information for the robot and the external extension axis.

4. The method for customizing the external extended axis of a robot according to any one of claims 1 to 3, characterized in that: The step of matching and identifying the device image information with the reference device image information in the device database to obtain the device information of the external extension axis includes: When two or more similar external extension axes are identified, the identified device information options are displayed. When a confirmation message is received regarding the selection of the device information option, the selected device information is used as the device information of the external extension shaft.

5. The method for customizing the external extended axis of a robot according to any one of claims 1 to 3, characterized in that: The step of matching and identifying the device image information with the reference device image information in the device database to obtain the device information of the external extension axis includes: If the device information of the external extension axis cannot be matched in the device database, the application network server performs matching and recognition of the device image information, and saves the successfully matched device information of the external extension axis to the device database.

6. The method for customizing the external extended axis of a robot according to any one of claims 1 to 3, characterized in that: After obtaining the configuration scheme of the external extension shaft based on the device information, the method further includes: Perform 3D simulation based on the configuration scheme to obtain simulation results.

7. The method for customizing the external extended axis of a robot according to claim 6, characterized in that: The steps for performing 3D simulation based on the configuration scheme include: Obtain the change parameter information for the external extended axis, and modify the parameters of the configuration scheme according to the change parameter information.

8. A teach pendant, comprising a processor and a memory, characterized in that: The memory stores a computer program that, when executed by the processor, implements the steps of the robot external extension axis custom configuration method as described in any one of claims 1 to 7.

9. A computer readable storage medium having stored thereon a computer program, characterized in that: When the computer program is executed by the controller, it implements the steps of the robot external extension axis custom configuration method as described in any one of claims 1 to 7.

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