Positioner disengagement control method and apparatus, electronic device, and storage medium

Abstract

Embodiments of the present application provide a positioner disengagement control method and device, electronic equipment and storage medium, wherein the method comprises: when receiving external control data, storing the external control data in an external control buffer and waiting for a control period of a program control buffer to arrive; when the control period of the program control buffer arrives, obtaining program control data and external control data corresponding to the control period from the program control buffer and the external control buffer respectively; the program control data comprises control data of an idle positioner among the two positioners; replacing the control data of the idle positioner with the external control data to obtain disengagement control data; and sending the disengagement control data to the idle positioner.

Description

Technical Field

[0001] This invention relates to the field of industrial equipment control technology, and more specifically, to a method, apparatus, electronic device, and storage medium for disengaging a positioner. Background Technology

[0002] Because robotic welding offers advantages over manual welding in terms of efficiency and quality, robots are now widely used in welding applications. In typical welding scenarios, one robot performs the welding while a positioner carries the workpiece, allowing the robot to perform multi-directional work on the workpiece. However, after welding one workpiece, the robot must stop while waiting for manual or other automated equipment to replace or add workpieces to the positioner. This means the robot is constantly idle during this process, reducing production efficiency.

[0003] To address the aforementioned issues, related technologies will equip a robot with two positioners. This allows the robot to work on the welding parts mounted on one positioner while the operator replaces or adds welding parts to the other positioner. This enables the robot to switch directly to the other positioner to work on another welding part after processing the welding parts mounted on one positioner, thereby improving production efficiency.

[0004] However, the inventors discovered that the robot and the two positioners were all planned and controlled by a unified program. Once the program started running, external control of the positioners was not allowed. In other words, the operators lost control of the positioners, which resulted in the positioners being unable to be flexibly controlled according to actual needs, limiting their use and affecting production efficiency to some extent. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a method, apparatus, electronic device and storage medium for disengaging a positioner.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0007] A first aspect of this invention provides a method for disengaging a positioner from control, applied in a control module for controlling a robot and at least two positioners. The control module includes a program control cache and an external control cache. The program control cache stores program control data for the robot and the two positioners, and the external control cache stores disengagement data for an idle positioner among the two positioners. The method includes:

[0008] Upon receiving external control data, the external control data is stored in the external control cache, and the system waits for the control cycle of the program control cache to arrive.

[0009] When the control cycle of the program control cache arrives, program control data and external control data corresponding to the control cycle are obtained from the program control cache and the external control cache, respectively; the program control data includes the control data of the idle positioner of the two positioners;

[0010] Replace the control data of the idle positioner with the external control data to obtain the disengaged control data;

[0011] Send the disengagement control data to the idle positioner.

[0012] A second aspect of the present invention provides a positioner disengagement control device for controlling a robot and at least two positioners. The positioner disengagement control device includes a program control cache and an external control cache. The program control cache stores program control data for the robot and the two positioners, and the external control cache stores disengagement control data for the idle positioner among the two positioners. The positioner disengagement control device comprises:

[0013] The external data processing module is configured to: upon receiving external control data, store the external control data through the external control cache, and wait for the control cycle of the program control cache to arrive;

[0014] The data acquisition module is configured to: when the control cycle of the program control cache arrives, acquire program control data and external control data corresponding to the control cycle from the program control cache and the external control cache, respectively; the program control data includes the control data of the idle positioner of the two positioners;

[0015] The data replacement module is configured to replace the control data of the idle positioner with the external control data to obtain disconnected control data;

[0016] The data transmission module is configured to send the disengagement control data to the idle positioner.

[0017] A third aspect of the present invention provides an electronic device including a processor and a memory, wherein the memory stores machine-executable instructions that can be executed by the processor, and the processor can execute the machine-executable instructions to implement the positioner disengagement control method provided in the first aspect above.

[0018] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the positioner disengagement control method provided in the first aspect.

[0019] The positioner disengagement method, apparatus, electronic device, and storage medium provided in this invention address the issue of operators losing control of positioners when the robot and all positioners are controlled by a unified program. This is achieved by creating two caches within the control module: a program control cache and an external control cache. The program control cache stores pre-written program control data for controlling the robot and all positioners working collaboratively, while the external control cache stores external control data input by the operator. When the control cycle of the program control cache arrives (i.e., the control module periodically retrieves program control data from the cache), the earliest stored program control data is retrieved, and the control data corresponding to the idle positioner is replaced with the external control data. This solves the problem of operators losing control of positioners when the robot and all positioners are controlled by a single program. It enables human-machine collaboration between operators and idle positioners, meeting the needs of more application scenarios and improving production efficiency to some extent. Furthermore, since the external control data is only used to control idle positioners, it does not affect the work between the robot and the collaborative positioners during human-machine collaboration, ensuring smooth collaborative work between the robot and the collaborative positioners.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This diagram illustrates a structural block diagram of an electronic device provided by an embodiment of the present invention.

[0023] Figure 2 This diagram illustrates an application scenario of a positioner disengagement control method provided by an embodiment of the present invention.

[0024] Figure 3 A flowchart of a positioner disengagement control method provided by an embodiment of the present invention is shown;

[0025] Figure 4 A flowchart of another positioner disengagement control method provided by an embodiment of the present invention is shown;

[0026] Figure 5The diagram shows a functional block diagram of a positioner disengagement control device provided in an embodiment of the present invention. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0029] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0030] Please refer to Figure 1 This is a structural block diagram of an electronic device. The electronic device 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, processor 120, and communication module 130 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0031] The memory is used to store programs or data. The memory may be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc.

[0032] The processor is used to read / write data or programs stored in memory and to perform the corresponding functions.

[0033] The communication module is used to establish a communication connection between the electronic device and other communication terminals via wired or wireless means, and to send and receive data via the wired or wireless means.

[0034] It should be understood that, Figure 1 The structure shown is only a schematic diagram of an electronic device; the electronic device may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0035] The electronic device can be used to execute the positioner disengagement control method provided in the embodiments of the present invention, so as to realize human-machine collaboration between operators and idle positioners and meet the needs of more application scenarios. Based on this, the electronic device can be a host computer or master station in an industrial environment, and the communication module can be a communication interface module, used to establish communication connections between the electronic device and the robot and the positioner respectively through a bus or other communication cables.

[0036] The following combination Figure 2 and Figure 3 The positioner disengagement control method provided in the embodiments of the present invention will be described. Figure 2 This is a schematic diagram illustrating an application scenario of a positioner disengagement control method provided in an embodiment of the present invention; Figure 3This is a flowchart of a positioner disengagement control method provided in an embodiment of the present invention. The positioner disengagement control method can be applied to the control module of the aforementioned electronic device. This control module is used to control the robot and at least two positioners, and is configured with a program control cache and an external control cache. It can be understood that before executing the positioner disengagement control method provided in this embodiment of the present invention, two caches can be pre-created in the control module, namely the aforementioned program control cache and external control cache. The program control cache is used to store the program control data of the robot and all positioners, while the external control cache is used to store the disengagement control data of idle positioners among all positioners. Based on this, the positioner disengagement control method includes:

[0037] In step S201, when external control data is received, the external control data is stored in the external control cache, and the program control cache waits for its control cycle to arrive.

[0038] In step S202, when the control cycle of the program control cache arrives, program control data and external control data corresponding to the control cycle are obtained from the program control cache and the external control cache, respectively; the program control data includes the control data of the idle positioner of the two positioners.

[0039] In step S203, the control data of the idle positioner is replaced with the external control data to obtain the disengagement control data;

[0040] In step S204, the disengagement control data is sent to the idle positioner.

[0041] Therefore, during the process of the control module controlling the robot and the positioner to work together, for the idle positioner that does not currently have a working relationship with the robot, the external control data can be processed through steps S201 to S204 to realize the control of the idle positioner.

[0042] In step S201, external control data can be input by the operator via a keyboard or touchscreen configured on the host computer or main station. After the operator inputs the external control data, the control module can detect the external control data. Alternatively, the control module can periodically check whether data is written to the input port of the external control buffer to monitor whether external control data has been received. When the control module detects the input of external control data, it can store the external control data through the external control buffer and wait for the control cycle of the program control buffer to be reached. It can be understood that the actions of the robot and the positioner are controlled by the control module sending pulse signals to the servo motors. Therefore, to ensure the synchronization of the robot and the positioner, the data of all axes of the robot and the positioner should preferably be sent to the corresponding servo motors at the same time. Therefore, the control module can read the program control data in the program control buffer in a periodic manner and send it to the servo motors simultaneously. Therefore, when the timing of the control module is reached, it is considered that the control cycle of the program control buffer has been reached.

[0043] When the control cycle of the program control cache arrives, the control module retrieves the earliest stored program control data from the program control cache. The retrieved program control data includes the control data of the idle positioner. This control data can be understood as the control data corresponding to the control program that the developer or operator has pre-written in the control module. At the same time, the controller retrieves the earliest stored external control data from the external control cache, and then replaces the control data of the idle positioner in the program control data with the external control data to obtain the disconnection control data corresponding to the idle positioner. The disconnection control data is the external control data used for replacement. Then, the disconnection control data is sent to the servo motor of the idle positioner, thereby achieving the purpose of disconnecting the idle positioner from program control.

[0044] In summary, the positioner disengagement control method provided by this invention opens two caches in the control module: a program control cache and an external control cache. The program control cache stores pre-written program control data for controlling the robot and all positioners to work together, while the external control cache stores external control data input by the operator. Thus, when the control cycle of the program control cache arrives, the earliest stored program control data can be retrieved from the program control cache, and the control data corresponding to the idle positioner in the program control data can be replaced with the external control data. This solves the problem of the operator losing control of the positioners when the robot and all positioners are planned and controlled by a unified program. It enables human-machine collaboration between the operator and idle positioners, meeting the needs of more application scenarios and improving production efficiency to a certain extent. Furthermore, since the external control data is only used to control the idle positioners, it does not affect the work between the robot and the collaborative positioners working with the robot during human-machine collaboration, ensuring smooth collaborative work between the robot and the collaborative positioners.

[0045] In some embodiments, to ensure the controlled synchronization of the robot and all positioners in each control cycle, thereby guaranteeing the robot's working efficiency and effectiveness, the program control data obtained from the program control cache for one control cycle in step S202 may further include the robot's control data and the control data of the collaborative positioners working with the robot. Based on this, the step of sending the disengagement control data to the idle positioner further includes: simultaneously sending corresponding control data to both the robot and the collaborative positioners. That is, step S204 can be adaptively adjusted to include: simultaneously sending the robot's control data, the collaborative positioners' control data, and the idle positioner's disengagement control data to the robot, the collaborative positioners, and the idle positioners, respectively.

[0046] In some embodiments, to avoid the situation where program control data and external control data retrieved from the program control cache and external control cache respectively continue to be retained in the cache, causing the control module to obtain duplicate control data in subsequent control cycles and use the duplicate control data to control the robot and each positioner, resulting in repetitive operations, the positioner disengagement method provided in this embodiment of the invention may further include: after obtaining the program control data and external control data corresponding to the current control cycle from the program control cache and external control cache respectively, deleting the control data that has been obtained from the program control cache and external control cache respectively.

[0047] In some embodiments, to avoid the control module from controlling the idle positioner according to actual work requirements due to the input of external control data at any time, thereby affecting the robot's work efficiency, this embodiment restricts the execution timing of the above step S201. That is, before the step of storing the external control data through the external control cache and waiting for the control cycle of the program control cache to arrive when the external control data is received, the positioner disengagement control method provided by this embodiment may further include the following steps: In step S200, when an instruction for indicating that the idle positioner is disengaged from control is detected, the external control data detection function is activated.

[0048] Understandably, when the operator needs to control the idle positioner, they can input a disengagement command into the control module. When the control module receives the disengagement command, it will assume that it has detected a command to instruct the idle positioner to disengage. At this time, the control module will activate the external control data detection function, and when external control data is detected, it will realize human-machine collaboration between the operator and the idle positioner through steps S201 to S204.

[0049] However, this method of triggering the disengagement of idle positioners by having operators input disengagement commands still affects the control module's current control requirements for idle positioners to some extent, thus affecting the normal execution of subsequent control programs. Therefore, to solve this technical problem, in some embodiments, the disengagement control of idle positioners is not controlled by operators, but by the control program of the control module itself. Specifically, before the control module controls the robot and all positioners, developers or operators can write the control program for this operation in the control module according to actual production needs. This control program is written according to the process and work requirements between the robot and all positioners. Operators can insert disengagement command lines at the nodes in the control program where positioner disengagement is required. Thus, during the process of the control module controlling the robot and positioners according to the control program, if a disengagement command line is executed, it is considered that an instruction to instruct the idle positioner to disengage is detected, and the external control data detection function is activated.

[0050] Based on the previous embodiment, to facilitate operators in understanding which positioner is currently in a disengaged state and to promote human-machine collaboration, in some embodiments, when a command indicating that the idle positioner is disengaged is detected, the positioner disengagement control method provided by this invention may further include: updating the disengagement status of the idle positioner to "disengaged" and displaying the disengagement status of the idle positioner. Specifically, step S200 can be adapted to: when a command indicating that the idle positioner is disengaged is detected, activating the external control data detection function, updating the disengagement status of the idle positioner to "disengaged," and displaying the disengagement status of the idle positioner. The disengagement status of the idle positioner can be displayed on the screen of the host computer or the main station.

[0051] It should be noted that, through the previous embodiment, the positioner disengagement control method provided by this embodiment of the invention does not allow all idle positioners to be controlled by external control data, but only positioners in the disengaged state can be controlled by external control data.

[0052] In some embodiments, to ensure smooth collaborative work between the robot and the positioner, the positioner that has detached needs to be restored to the detached state to continue collaborating with the robot. Therefore, the positioner detachment control method provided in this embodiment of the invention may further include:

[0053] In step S205, when a disengagement end command is detected to indicate the end of the disengagement of the idle positioner, the acquisition of external control data input to the external control buffer is stopped, and the disengagement status of the idle positioner is updated to not disengaged.

[0054] Regarding step S205 above, to simplify the adjustment of the disengaged positioner from the disengaged state to the non-disengaged state, similarly, before the control module controls the robot and all positioners, the developer or operator can write the control program for this operation in the control module according to actual production needs. This control program is written according to the process and work requirements between the robot and all positioners. The operator can insert a disengagement end command line at the node in the control program where the disengaged positioner needs to be terminated. Therefore, during the process of the control module controlling the robot and each positioner according to the control program, if the disengagement end command line is executed, it is considered that the instruction indicating the termination of the disengagement of the idle positioner has been detected. At this time, the acquisition of external control data input to the external control buffer will stop, that is, the input port of external control data will no longer be detected, and the disengagement state of the idle positioner will be updated to non-disengaged.

[0055] In addition, to facilitate operators' understanding of the changes in the positioner's disengagement status, in some embodiments, step S205 can be adaptively adjusted to include: when a disengagement end command indicating the end of the disengagement of the idle positioner is detected, stopping the acquisition of external control data input to the external control buffer, updating the disengagement status of the idle positioner to not disengaged, and displaying the disengagement status of the idle positioner.

[0056] In some embodiments, to ensure that the external control data read by the control module from the external control cache can be successfully transmitted to the detached positioner after the detachment process is completed, thus guaranteeing the integrity of external control to a certain extent, such as... Figure 4 As shown, Figure 4 This is a flowchart of another positioner disengagement control method provided by an embodiment of the present invention. When the disengagement end command is detected, the positioner disengagement control method provided by the embodiment of the present invention may further include the following steps:

[0057] In step S206, all external control data in the external control cache are used to replace the control data of the idle positioner in the program control data to obtain the remaining disengaged control data, which is then sent to the idle positioner.

[0058] Therefore, through step S206, the remaining disengagement control data can be sent to the disengaged idle positioner, so that the disengaged idle positioner can perform relevant actions according to the disengagement control data, thereby meeting the operator's control needs for the disengaged idle positioner.

[0059] In some embodiments, if there are multiple idle positioners, in order to ensure that the operator can accurately control the target idle positioner, the external control cache may include multiple external cache spaces corresponding one-to-one with the multiple idle positioners. Accordingly, step S201 can be adaptively adjusted to include: when external control data is received, storing the external control data through the external cache space corresponding to the external control data, determining the corresponding target idle positioner based on the external control data, and waiting for the control cycle of the program control cache to arrive.

[0060] There can be one or more target idle positioners. Each target idle positioner implements a scheme to disengage from control and a scheme to end the disengaged state based on its own external control data. The principle is the same as described above, so it will not be repeated here.

[0061] In addition, to enable operators to accurately identify each idle positioner, information about each idle positioner can be displayed on the monitor of the host computer or main station. This information may include: the mechanical axis number, position, and disengagement status of each idle positioner. This embodiment of the invention does not limit this, as long as it enables operators to identify each idle positioner. Based on this, operators can select a target idle positioner as needed to input external control signals to the target idle positioner. The control module will then distribute the external control signals for each target idle positioner to different external buffer spaces for storage. When the control cycle arrives, it will simultaneously retrieve the external control data from each external buffer space and replace the control data corresponding to each target idle positioner in the simultaneously retrieved program control data, and then send it to each target idle positioner.

[0062] Furthermore, based on an embodiment where not all idle positioners can be controlled by external control data, but only positioners in the disengaged state can be controlled by external control data, an adaptive adjustment can be made to the embodiment with multiple idle positioners, so that only the positioners in the disengaged state among the multiple idle positioners can be controlled by the operator. The specific control principle is the same as that of the corresponding embodiment described above, and therefore will not be repeated here.

[0063] It should be noted that the solutions in the above embodiments of the present invention can be combined with each other, as long as there is no contradiction in the combination.

[0064] Corresponding to the above method embodiments, in order to perform the corresponding steps in the above embodiments and various possible methods, the following is an implementation of a positioner disengagement control device. Optionally, the positioner disengagement control device can adopt the above-described... Figure 1 The device structure of the electronic device is shown. Further, please refer to... Figure 5 , Figure 5 This is a functional block diagram of a positioner disengagement control device provided in an embodiment of the present invention. It should be noted that the basic principle and technical effects of the positioner disengagement control device provided in this embodiment are the same as those in the above embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments. The positioner disengagement control device 500 is equivalent to the control module in the above method embodiments, used to control the robot and at least two positioners. The positioner disengagement control device is equipped with a program control cache and an external control cache; the program control cache is used to store the program control data of the robot and the two positioners, and the external control cache is used to store the disengagement control data of the idle positioner among the two positioners. The positioner disengagement control device 500 includes:

[0065] The external data processing module 501 is configured to: when receiving external control data, store the external control data through the external control cache, and wait for the control cycle of the program control cache to arrive;

[0066] The data acquisition module 502 is configured to: when the control cycle of the program control cache arrives, acquire program control data and external control data corresponding to the control cycle from the program control cache and the external control cache, respectively; the program control data includes the control data of the idle positioner of the two positioners;

[0067] The data replacement module 503 is configured to replace the control data of the idle positioner with the external control data to obtain disconnected control data;

[0068] The data sending module 504 is configured to send the disengagement control data to the idle positioner.

[0069] In some embodiments, the positioner disengagement control device 500 may further include:

[0070] The disengagement termination module is configured to: when a disengagement termination command indicating the termination of the disengagement of the idle positioner is detected, stop acquiring external control data input to the external control buffer and update the disengagement status of the idle positioner to not disengaged.

[0071] In some embodiments, the disengagement termination module is further configured to: when a disengagement termination instruction indicating the termination of the disengagement of the idle positioner is detected, replace the control data of the idle positioner in the program control data with all external control data in the external control cache to obtain the remaining disengagement control data, and send it to the idle positioner.

[0072] In some embodiments, the positioner disengagement control device 500 may further include:

[0073] The disconnection startup module is configured to: activate the external control data detection function when an instruction indicating that the idle positioner is disconnected from control is detected before the external data processing module 501 executes the step of storing the external control data through the external control cache when the external control data is received and waiting for the control cycle of the program control cache to arrive.

[0074] In some embodiments, the disengagement startup module is further configured to: when an instruction indicating that the idle positioner is disengaged is detected, update the disengagement status of the idle positioner to "disengaged" and display the disengagement status of the idle positioner.

[0075] In some embodiments, the program control data further includes robot control data and control data of a collaborative positioner working in conjunction with the robot; correspondingly, the data sending module 504 is also configured to simultaneously send corresponding control data to the robot and the collaborative positioner respectively.

[0076] In some embodiments, there are multiple idle positioners, and the external control cache includes multiple external cache spaces corresponding one-to-one with the multiple idle positioners. Accordingly, the external data processing module 501 is adaptively adjusted to: upon receiving external control data, store the external control data in the external cache space corresponding to the external control data, determine the corresponding target idle positioner based on the external control data, and wait for the control cycle of the program control cache to arrive.

[0077] Optionally, the above modules can be stored in the form of software or firmware. Figure 1 The memory shown is either stored in or embedded in the operating system (OS) of the electronic device, and can be... Figure 1 The processor executes the commands. Meanwhile, the data and program code required to execute these modules can be stored in memory.

[0078] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0079] In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0080] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0081] The above description is merely a preferred 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 protection of the present invention.

Claims

1. A method for disengaging a positioner from control, characterized in that, A control module for controlling a robot and at least two positioners is provided, the control module being configured with a program control cache and an external control cache; the program control cache stores program control data for the robot and the two positioners, and the external control cache stores disengagement data for an idle positioner among the two positioners; the method includes: Upon receiving external control data, the external control data is stored in the external control cache, and the system waits for the control cycle of the program control cache to arrive. When the control cycle of the program control cache arrives, program control data and external control data corresponding to the control cycle are obtained from the program control cache and the external control cache, respectively; the program control data includes the control data of the idle positioner of the two positioners; Replace the control data of the idle positioner with the external control data to obtain the disengaged control data; Send the disengagement control data to the idle positioner.

2. The method according to claim 1, characterized in that, The method further includes: When a disengagement end command is detected, indicating the end of the disengagement of the idle positioner, the acquisition of external control data input to the external control buffer is stopped, and the disengagement status of the idle positioner is updated to not disengaged.

3. The method according to claim 2, characterized in that, Upon detecting the disengagement termination command, the method further includes: Replace the idle positioner's control data in the program control data with all external control data in the external control cache to obtain the remaining disengaged control data, and send it to the idle positioner.

4. The method according to claim 1, characterized in that, Before the step of storing the external control data in the external control cache upon receiving the external control data and waiting for the control cycle of the program control cache to arrive, the method further includes: When a command indicating that an idle positioner is out of control is detected, the external control data detection function is activated.

5. The method according to claim 4, characterized in that, When a command instructing the idle positioner to disengage from control is detected, the method further includes: The disengagement status of the idle positioner is updated to "disengaged," and the disengagement status of the idle positioner is displayed.

6. The method according to claim 1, characterized in that, The idle positioner has multiple units, and the external control cache includes multiple external cache spaces that correspond one-to-one with the multiple idle positioners; Accordingly, the step of storing the external control data in the external control cache upon receiving external control data and waiting for the control cycle of the program control cache to arrive includes: Upon receiving external control data, the external control data is stored in the corresponding external cache space, and the corresponding target idle positioner is determined based on the external control data. The system then waits for the control cycle of the program control cache to arrive.

7. The method according to claim 1, characterized in that, The program control data also includes the robot's control data and the control data of the collaborative positioner that works in conjunction with the robot; Accordingly, the step of sending the disengagement control data to the idle positioner further includes: Simultaneously, corresponding control data is sent to the robot and the cooperative positioner respectively.

8. A positioner disengagement control device, characterized in that, This device is used to control a robot and at least two positioners. The positioner disengagement control device is equipped with a program control cache and an external control cache. The program control cache is used to store program control data of the robot and the two positioners, and the external control cache is used to store disengagement control data of the idle positioner among the two positioners. The positioner disengagement control device includes: The external data processing module is configured to: upon receiving external control data, store the external control data through the external control cache, and wait for the control cycle of the program control cache to arrive; The data acquisition module is configured to: when the control cycle of the program control cache arrives, acquire program control data and external control data corresponding to the control cycle from the program control cache and the external control cache, respectively; the program control data includes the control data of the idle positioner of the two positioners; The data replacement module is configured to replace the control data of the idle positioner with the external control data to obtain disconnected control data; The data transmission module is configured to send the disengagement control data to the idle positioner.

9. An electronic device, characterized in that, The method includes a processor and a memory, the memory storing machine-executable instructions that can be executed by the processor to implement the method of any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-7.

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