Configuration method and device for multi-task module of industrial robot

Abstract

The invention discloses a configuration method and device for a multi-task module of an industrial robot. The method comprises the steps that the task number of a multi-task module of a target robot is determined according to the number of external interaction devices of the target robot; generating an execution project according to interaction data generated when each external interaction device performs information interaction with the target robot; robot executable tasks corresponding to the execution project and the task number are bound, task chains of the multi-task module are obtained, and the execution mode of the task chains is concurrent execution; determining a constraint relationship among the task chains when the target robot executes the action; and writing each task chain and the constraint relationship into the multi-task module to complete the configuration of the multi-task module. The technical problem that in the prior art, when an industrial robot executes tasks, generally, a multi-task working mode cannot be operated, so that the industrial robot synchronously executes multiple task chains in the same working scene, and the production efficiency is low is solved.

Description

Technical Field

[0001] The present invention relates to the field of automated production technology, and in particular to a configuration method and device for a multi-task module of an industrial robot. Background Art

[0002] With the development of the industrial robot industry, in some complex application scenarios, considering information such as process complexity, cost control, manpower control, and space utilization, the operation of a single task can no longer meet the various external equipment requirements in the process scenarios.

[0003] However, existing industrial robots are generally unable to run a multi-tasking work mode when performing tasks, causing the industrial robots to simultaneously execute multiple task chains in the same work scenario, resulting in low production efficiency.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] An embodiment of the present invention provides a configuration method and device for a multi-task module of an industrial robot, so as to at least solve the technical problem in the related art that industrial robots are generally unable to run a multi-task working mode when performing tasks, so that the industrial robots synchronously execute multiple task chains in the same working scenario, resulting in low production efficiency.

[0006] According to one aspect of an embodiment of the present invention, there is provided a method for configuring a multi-task module of an industrial robot, comprising: determining the number of interaction devices of an external interaction device of a target robot, wherein the target robot is a robot that needs to be configured with a multi-task module, and the external interaction device is a device with which information interaction occurs during the operation of the target robot; determining the number of tasks of the multi-task module of the target robot according to the number of the external interaction devices; generating an execution project according to interaction data generated when each of the external interaction devices performs information interaction with the target robot; binding the execution project with robot executable tasks corresponding to the number of tasks to obtain a task chain of the multi-task module of the target robot, wherein the execution mode of each of the task chains is concurrent execution; determining the constraint relationship between each of the task chains when the target robot performs an action; and writing each of the task chains and the constraint relationship into the multi-task module to complete the configuration of the multi-task module.

[0007] Optionally, the configuration method of the industrial robot multi-task module also includes: creating a shared area in the multi-task module; setting the project properties of the shared area to a shared execution project, wherein data variables in the shared execution project are used for data interaction between different task chains.

[0008] Optionally, the configuration method of the industrial robot multi-task module also includes: setting the execution status of each of the task chains, wherein the execution status includes: ordinary tasks, background tasks, and semi-automatic tasks, wherein the ordinary tasks are tasks whose execution behaviors are controllable by users, the background tasks are tasks that are automatically started after the target robot is powered on and cannot be stopped manually, and the semi-automatic tasks are tasks that are automatically started after the target robot is powered on and can be stopped manually.

[0009] Optionally, the multi-task module includes: a task module for processing task configuration files; an engineering module for processing the correspondence between the tasks to be executed and the execution engineering; an interpreter module for parsing the tasks to be executed and the execution engineering; a variable module for parsing variable symbols in the execution engineering; a sharing module for processing the communication between the tasks to be executed and the calling of shared resources; and an execution module for transmitting action instructions to the target robot so that the target robot executes the action instructions.

[0010] Optionally, the motion modes of the target robot include: a multi-task mode and a default mode; wherein, in the multi-task mode, the robot's executable tasks are divided into motion tasks and non-motion tasks; in the default mode, the main task among the robot's executable tasks executes motion tasks related to the motion of the target robot, and other tasks among the robot's executable tasks execute non-motion tasks unrelated to the motion of the target robot.

[0011] Optionally, after writing each of the task chains and the constraint relationships into the multi-task module and completing the configuration of the multi-task module, the configuration method of the industrial robot multi-task module also includes: creating a task thread at the operating system level of the target robot according to the number of tasks; after receiving the start command of the target robot, calling the interpreter in the multi-task module to parse the shared file resources and all the robot executable tasks in the shared area to obtain the parsed resources of the target robot; and running the robot program of the target robot according to the parsed resources.

[0012] Optionally, the robot program of the target robot is run according to the parsing resource, including: when the parsing resource is a local variable, scanning the parsing resource to search from the smallest to the smallest according to the variable range to establish a variable link relationship; when the parsing resource is a global variable, traversing the relink list based on the variable link relationship to obtain a traversal result; when the traversal result is a global variable definition, saving the traversal result; when the traversal result is a non-global variable definition, generating a prompt message to prompt the target robot that there is contaminated data in the data received.

[0013] According to another aspect of an embodiment of the present invention, there is also provided a configuration device for a multi-task module of an industrial robot, comprising: a first determination unit, used to determine the number of interaction devices of an external interaction device of a target robot, wherein the target robot is a robot that needs to be configured with a multi-task module, and the external interaction device is a device that has information interaction during the operation of the target robot; a second determination unit, used to determine the number of tasks of the multi-task module of the target robot according to the number of the external interaction devices; a generation unit, used to generate an execution project according to the interaction data generated when each of the external interaction devices interacts with the target robot; a binding unit, used to bind the execution project with the robot executable tasks corresponding to the number of tasks to obtain a task chain of the multi-task module of the target robot, wherein the execution mode of each of the task chains is concurrent execution; a third determination unit, used to determine the constraint relationship between each of the task chains when the target robot performs an action; and a configuration module, used to write each of the task chains and the constraint relationship into the multi-task module to complete the configuration of the multi-task module.

[0014] Optionally, the configuration device of the industrial robot multi-task module also includes: a first creation unit, used to create a shared area in the multi-task module; a setting unit, used to set the project properties of the shared area to a shared execution project, wherein the data variables in the shared execution project are used for data interaction between different task chains.

[0015] Optionally, the configuration device of the industrial robot multi-task module also includes: a setting unit, used to set the execution status of each of the task chains, wherein the execution status includes: ordinary tasks, background tasks, and semi-automatic tasks, the ordinary tasks are tasks whose execution behaviors are controllable by users, the background tasks are tasks that are automatically started after the target robot is powered on and cannot be stopped manually, and the semi-automatic tasks are tasks that are automatically started after the target robot is powered on and can be stopped manually.

[0016] Optionally, the multi-task module includes: a task module for processing task configuration files; an engineering module for processing the correspondence between the tasks to be executed and the execution engineering; an interpreter module for parsing the tasks to be executed and the execution engineering; a variable module for parsing variable symbols in the execution engineering; a sharing module for processing the communication between the tasks to be executed and the calling of shared resources; and an execution module for transmitting action instructions to the target robot so that the target robot executes the action instructions.

[0017] Optionally, the motion modes of the target robot include: a multi-task mode and a default mode; wherein, in the multi-task mode, the robot's executable tasks are divided into motion tasks and non-motion tasks; in the default mode, the main task among the robot's executable tasks executes motion tasks related to the motion of the target robot, and other tasks among the robot's executable tasks execute non-motion tasks unrelated to the motion of the target robot.

[0018] Optionally, the configuration device of the industrial robot multi-task module also includes: a second creation unit, which is used to create a task thread at the operating system level of the target robot according to the number of tasks after writing each of the task chains and the constraint relationships into the multi-task module and completing the configuration of the multi-task module; a calling unit, which is used to call the interpreter in the multi-task module to parse the shared file resources and all the robot executable tasks in the shared area after receiving the start command of the target robot, so as to obtain the parsed resources of the target robot; and a running unit, which is used to run the robot program of the target robot according to the parsed resources.

[0019] Optionally, the running unit includes: a scanning module, which is used to scan the parsing resource when the parsing resource is a local variable, so as to search from the smallest to the largest according to the variable range and establish a variable link relationship; a traversal module, which is used to traverse the relink list based on the variable link relationship to obtain a traversal result when the parsing resource is a global variable; a saving module, which is used to save the traversal result when the traversal result is a global variable definition; and a generating module, which is used to generate a prompt message when the traversal result is a non-global variable definition, so as to prompt the target robot that there is contaminated data in the data received.

[0020] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein the program executes any one of the above-mentioned methods for configuring a multi-task module of an industrial robot.

[0021] According to another aspect of the embodiments of the present invention, a processor is provided, the processor being used to run a program, wherein the program executes any one of the above-mentioned methods for configuring a multi-task module of an industrial robot when running.

[0022] According to another aspect of an embodiment of the present invention, a computer program product is provided, comprising computer instructions, wherein when the computer instructions are executed by a processor, any one of the above methods for configuring a multi-task module of an industrial robot is executed.

[0023] In an embodiment of the present invention, the number of interaction devices of an external interaction device of a target robot is determined, wherein the target robot is a robot that needs to be configured with a multi-task module, and the external interaction device is a device that has information interaction during the operation of the target robot; the number of tasks of the multi-task module of the target robot is determined according to the number of external interaction devices; an execution project is generated according to the interaction data generated when each external interaction device interacts with the target robot; the execution project is bound to the robot executable tasks corresponding to the number of tasks to obtain a task chain of the multi-task module of the target robot, wherein the execution mode of each task chain is concurrent execution; the constraint relationship between each task chain when the target robot performs an action is determined; each task chain and the constraint relationship are written into the multi-task module to complete the configuration of the multi-task module. Through the technical solution provided by the present invention, the purpose of concurrent execution of multiple tasks and data interaction of the robot is achieved, so that the robot uses a multi-tasking working mode to synchronously execute multiple task chains in the same working scenario. Different task chains can execute different work contents, and their mutual cooperation enables the robot to better complete the process requirements of complex application scenarios, thereby improving the production efficiency of the robot, and further solving the technical problem in the related technology that industrial robots are generally unable to run the multi-tasking working mode when performing tasks, so that the industrial robots can synchronously execute multiple task chains in the same working scenario, resulting in low production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0025] Figure 1 It is a hardware structure block diagram of a mobile terminal of a configuration method of a multi-task module of an industrial robot according to an embodiment of the present invention;

[0026] Figure 2 is a flow chart of a method for configuring a multi-task module of an industrial robot according to an embodiment of the present invention;

[0027] Figure 3 is a flow chart from configuration to execution of a multi-task module of a control system of a target robot according to an embodiment of the present invention;

[0028] FIG. 4( a ) is a schematic diagram of the structure of a robot control system according to an embodiment of the present invention. Figure 1 ;

[0029] FIG. 4( b ) is a schematic diagram of the structure of a robot control system according to an embodiment of the present invention. Figure 2 ;

[0030] Figure 5is a schematic diagram of a multi-task module according to an embodiment of the present invention;

[0031] FIG6( a ) is a flow chart of a robot action without multi-tasking action according to an embodiment of the present invention;

[0032] FIG6( b ) is a flowchart of a robot with multi-task actions according to an embodiment of the present invention;

[0033] Figure 7 is a schematic diagram of the relationship between tasks and projects according to an embodiment of the present invention;

[0034] Figure 8 is a schematic diagram of the relationship between inter-task communication and shared areas according to an embodiment of the present invention;

[0035] Fig. 9 is a flowchart of multi-task parsing and execution according to an embodiment of the present invention;

[0036] Fig.10 is a flowchart of multi-task variable activation according to an embodiment of the present invention;

[0037] FIG. 11( a ) is a flowchart of parsing and linking of a non-global traversal according to an embodiment of the present invention;

[0038] FIG11( b ) is a flowchart of parsing and linking of a global traversal according to an embodiment of the present invention;

[0039] FIG11( c ) is a flow chart of a shared resource operation according to an embodiment of the present invention;

[0040] Fig.12 is a schematic diagram of a configuration device of a multi-task module of an industrial robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0042] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0043] As introduced in the background technology, in the related art, when an industrial robot performs a task, it is generally unable to run a multi-task working mode, so that the industrial robot simultaneously performs multiple task chains in the same working scene, resulting in low production efficiency. In view of the above defects, in the embodiments of the present invention, a configuration method and device for a multi-task module of an industrial robot, a computer-readable storage medium, a processor and a computer program product are provided.

[0044] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0045] The method embodiments provided in the embodiments of the present invention can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 FIG. 1 is a hardware structure diagram of a mobile terminal of a configuration method of a multi-task module of an industrial robot according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0046] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the configuration method of the multi-task module of the industrial robot in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0047] According to an embodiment of the present invention, a method embodiment of a method for configuring a multi-tasking module of an industrial robot is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0048] Figure 2 is a flow chart of a method for configuring a multi-task module of an industrial robot according to an embodiment of the present invention, such as Figure 2 As shown, the configuration method of the industrial robot multi-task module includes the following steps:

[0049] Step S202, determining the number of interactive devices of the external interactive devices of the target robot, wherein the target robot is a robot that needs to be configured with a multi-task module, and the external interactive device is a device that has information interaction during the operation of the target robot.

[0050] Step S204, determining the number of tasks of the multi-task module of the target robot according to the number of external interactive devices.

[0051] Figure 3 : is a flowchart from configuration to execution of a multi-task module of a control system of a target robot according to an embodiment of the present invention, such as Figure 3As shown, first, the corresponding number of tasks can be configured for the control system according to the device interaction and external data requirements of the current application scenario. Generally, the number of task chains is configured according to the number of external devices that need to interact.

[0052] Step S206, generating an execution project according to the interaction data generated when each external interaction device interacts with the target robot.

[0053] like Figure 3 As shown, a specific execution project can be written according to the data generated by different external interactive devices through the programming module.

[0054] Step S208, binding the robot executable tasks corresponding to the execution project and the task quantity to obtain the task chain of the multi-task module of the target robot, wherein the execution mode of each task chain is concurrent execution.

[0055] like Figure 3 As shown, the part of the execution project is then bound to the task through the multi-task module, so that the control system can execute the corresponding correct execution project program when executing the task chain.

[0056] In addition, if Figure 3 As shown, task chains are executed concurrently, and data communication and data interaction are carried out through shared areas.

[0057] Step S210, determining the constraint relationship between each task chain when the target robot performs an action.

[0058] In this embodiment, the action execution of the target robot is controlled by the changes in other task chain data. Figure 3 As shown, the robot's action execution is controlled by the changes in data in other task chains, realizing the interaction and connection between the robot and external devices in multi-tasking mode, and concurrently executing work behaviors without waiting.

[0059] Step S212, writing each task chain and constraint relationship into the multi-task module to complete the configuration of the multi-task module.

[0060] As can be seen from the above, in an embodiment of the present invention, the number of interactive devices of the external interactive device of the target robot is determined, wherein the target robot is a robot that needs to be configured with a multi-task module, and the external interactive device is a device that has information interaction during the operation of the target robot; the number of tasks of the multi-task module of the target robot is determined according to the number of external interactive devices; an execution project is generated according to the interaction data generated by each external interactive device when information is interacted with the target robot; the execution project is bound to the robot executable tasks corresponding to the number of tasks to obtain the task chain of the multi-task module of the target robot, wherein the execution mode of each task chain is concurrent execution; the constraint relationship between each task chain when the target robot performs an action is determined; each task chain and the constraint relationship are written into the multi-task module to complete the configuration of the multi-task module, thereby achieving the purpose of concurrent execution of multi-tasks and data interaction of the robot, so that the robot uses a multi-task working mode, which can enable it to synchronously execute multiple task chains in the same working scenario, and different task chains can execute different work contents, and their mutual cooperation enables the robot to better complete the process requirements of complex application scenarios and improve the production efficiency of the robot.

[0061] Therefore, the above-mentioned technical solution provided by the embodiment of the present invention solves the technical problem in the related technology that industrial robots are generally unable to run multi-tasking working mode when performing tasks, causing the industrial robots to synchronously execute multiple task chains in the same working scenario, resulting in low production efficiency.

[0062] According to the above embodiment of the present invention, the configuration method of the multi-task module of the industrial robot also includes: creating a shared area in the multi-task module; setting the project properties of the shared area to a shared execution project, wherein the data variables in the shared execution project are used for data interaction between different task chains.

[0063] like Figure 3 As shown, a shared area is created through the multi-task module. This area is manifested in the control system as a shared execution project (called Share project). The data variables in this project are used for data interaction between different task chains, which is essentially a call to the operating system's shared memory.

[0064] According to the above embodiment of the present invention, the configuration method of the industrial robot multi-task module may also include: setting the execution status of each task chain, wherein the execution status includes: ordinary tasks, background tasks, and semi-automatic tasks. Ordinary tasks are tasks whose execution behaviors are controllable by users. Background tasks are tasks that are automatically started after the target robot is powered on and cannot be stopped manually. Semi-automatic tasks are tasks that are automatically started after the target robot is powered on and can be stopped manually.

[0065] like Figure 3As shown, the execution status of the corresponding subtasks of the external device data can be configured, that is, the execution status of each task chain can be set as ordinary task, background task, and semi-automatic task, and the corresponding execution behaviors are user-controllable, automatically started at power-on and cannot be stopped manually, and automatically started at power-on and can be stopped manually.

[0066] FIG. 4( a ) is a schematic diagram of the structure of a robot control system according to an embodiment of the present invention. Figure 1 As shown in Figure 4(a), the schematic diagram of the structure of the execution process from startup to interaction with external devices to actual execution of the robot in a non-multitasking robot system. It describes a poorly designed robot system with sequential execution, high coupling between modules, no centralized scheduling, and limited application scenarios and process links of the robot in this system, which cannot match the high real-time and high-beat production environment.

[0067] FIG. 4( b ) is a schematic diagram of the structure of a robot control system according to an embodiment of the present invention. Figure 2 As shown in Figure 4(b), in a robot system equipped with a multi-task module, the execution project, external device data, communication information, etc. are all scheduled, parsed, and executed by the multi-task module, which decouples the relationship between the modules of the system and makes each module more independent. At the same time, the multi-task module is responsible for the work of the robot actuator, which can enable the robot system equipped with the multi-task module to meet the usage requirements in a variety of complex, high-real-time, and high-beat scenarios.

[0068] According to the above embodiment of the present invention, the multi-task module includes: a task module, which is used to process task configuration files; a project module, which is used to process the correspondence between tasks to be executed and execution projects; an interpreter module, which is used to parse tasks to be executed and to parse execution projects; a variable module, which is used to parse variable symbols in execution projects; a sharing module, which is used to process communications between tasks to be executed and calls to shared resources; and an execution module, which is used to transmit action instructions to a target robot so that the target robot executes the action instructions.

[0069] Figure 5 is a schematic diagram of a multi-task module according to an embodiment of the present invention, such as Figure 5 As shown, the task module starts to process the user task configuration file, the engineering module handles the relationship between the task and the execution project, the interpreter module is responsible for task parsing and execution project instruction parsing, the variable module parses the variable symbols in the execution project, and the sharing module is responsible for processing inter-task communication and shared resource calls. Finally, the parsing results are passed to the execution module, and the execution module passes the final information to the execution module of the robot system, so that the robot executes the corresponding action instructions.

[0070] FIG6(a) is a flow chart of a robot motion without multi-task motion according to an embodiment of the present invention. As shown in FIG6(a), there are many external devices in the specific application site, which cannot be exhaustively listed in the embodiment of the present invention. This time, the visual system is taken as an example, and the implementation methods of other devices are consistent. FIG6(a) illustrates a flow chart of the robot motion execution mode and the external device when the robot control system does not have a multi-task module. In the first step, the robot performs preliminary preparations, generally the robot moves to a safe point, IO resets, and waits for the start instruction. In the second step, the robot needs to wait for the external device to give a certain motion position point. Through the socket network communication, the robot obtains the point data in the socket data message, and obtains the interpolation point data in the Cartesian space by parsing the target character content. After the robot obtains the point information, it drives the corresponding joint axis to run to the specified position point. In the single-task chain control mode, the robot cannot execute other actions in advance or execute motion actions smoothly, because it needs to wait for the external device to provide specific point information and complete the parsing before it can execute the action, which is inefficient and the action is not smooth.

[0071] FIG6(b) is a flow chart of a robot action with multi-task action according to an embodiment of the present invention. As shown in FIG6(b), the process of receiving external device position information, parsing and processing, and executing motion after the multi-task module is introduced into the robot control system is shown in FIG6(b). In the multi-task module, multiple task chains can be executed concurrently, and the chains are performed independently. Robot multitasking is similar to the concept of multi-process in a computer. It uses the task scheduling function in the operating system, that is, in a system time cycle, multiple task chains are executed concurrently in a threaded manner without waiting for each other, that is, at the same time, multiple robot program projects are executed concurrently. Combined with the process scene of robot vision, one task is used to control the operation of the robot, and the other task executes the communication with the machine vision. In this way, the data related to vision can be processed synchronously during the operation of the robot, effectively improving the operation rhythm of the robot.

[0072] According to the above-mentioned embodiment of the present invention, the motion modes of the target robot include: a multi-task mode and a default mode; wherein, in the multi-task mode, the robot's executable tasks are divided into motion tasks and non-motion tasks; in the default mode, the main tasks among the robot's executable tasks execute motion tasks related to the motion of the target robot, and other tasks among the robot's executable tasks execute non-motion tasks unrelated to the motion of the target robot.

[0073] Figure 7 is a schematic diagram of the relationship between tasks and projects according to an embodiment of the present invention, such as Figure 7As shown in the figure, the relationship between the execution project and the task used by the robot. A task is an abstraction of the operation of the robot program. After the task is loaded with the program, it becomes an active task, that is, the task can be run, stopped, etc. A task can load or unload a program, that is, a task can load different programs. In the multi-task mode, multiple tasks form a task set, and the tasks are executed concurrently. Considering the safety issue, at the same time, the same motion unit can only be controlled by one motion instruction. For example, in two tasks, the same robot joint is moved at the same time, which will cause unexpected exceptions. Therefore, in the multi-task mode, the task needs to distinguish between motion tasks and non-motion tasks. In the default mode, that is, there are no other motion units except the robot body unit. The task set has a main task by default. The main task can execute instructions related to the robot movement, which is called the motion task, while other tasks cannot execute instructions related to the robot movement, which is called the non-motion task. The multi-task mode is consistent with the single-task mode in the functions of loading and unloading programs, but the same program cannot be loaded by two tasks at the same time. Multi-task can realize complex parallel operations by loading and combining different programs.

[0074] Figure 8 is a schematic diagram of the relationship between inter-task communication and shared areas according to an embodiment of the present invention, such as Figure 8 As shown, realizing communication between tasks will improve the flexibility of the entire system on the basis of concurrent execution of tasks. In the embodiment of the present invention, a shared area method is adopted, that is, in multi-tasking mode, a shared area is opened. The shared area of ​​the present invention is actually a shared execution project named Share, which mainly stores global variables. The scope of the global variables is the tasks in the task set, that is, the global variables can be used in the projects loaded by the tasks. The transmission of data information between tasks is realized through the characteristics of the wide scope of global variables.

[0075] According to the above-mentioned embodiment of the present invention, after writing each task chain and constraint relationship into the multi-task module and completing the configuration of the multi-task module, the configuration method of the multi-task module of the industrial robot also includes: creating a task thread at the operating system level of the target robot according to the number of tasks; after receiving the start command of the target robot, calling the interpreter in the multi-task module to parse the shared file resources and all robot executable tasks in the shared area to obtain the parsed resources of the target robot; and running the robot program of the target robot according to the parsed resources.

[0076] Fig. 9 is a flowchart of multi-task parsing and execution according to an embodiment of the present invention, such as Fig. 9As shown in the figure, the process of creating, parsing, and executing tasks within the multi-task module. Multi-task management is managed by the multi-task scheduling module of the operating system. By parsing the configuration file, the actual task thread at the operating system level is created according to the number of tasks. After creating the corresponding thread for each task and receiving the start command, the interpreter will be called to parse the shared file resources and all task resources, and then the parsed task resources will be used to run the specific robot program. Since it is necessary to respond to external operation commands (such as start, pause, stop, etc.) and error status during the operation process, it is necessary to monitor the external operation commands and error queues and make corresponding operations.

[0077] Fig.10 is a flowchart of multi-task variable activation according to an embodiment of the present invention, such as Fig.10 As shown in the figure, the interpreter module is called serially in the creation, parsing and execution process of multiple tasks. The role of the interpreter module is to perform a specific set of splitting and parsing of the content of the execution project, and finally generate information such as point data and IO data that can be executed by the robot. Because the interpreter module is in the form of queue execution, it is bound to be a situation where a task is interpreted in advance and runs immediately. Therefore, after each task calls the interpreter, it is also necessary to put the thread into a dormant state through the conditional variable Conditions. When all tasks have parsed the robot program, all threads are woken up to start execution.

[0078] From the above, it can be seen that in the technical solution provided in the embodiment of the present invention, in addition to realizing the concurrent execution of robot execution programs, the multi-task module introduces the concepts of inter-task communication and shared area in order to improve the flexibility, reliability and security of the system. In the embodiment of the present invention, inter-task communication and shared area rely on variable data interaction. Similarly, the embodiment of the present invention also provides the steps and methods for parsing and linking the two variables in the multi-task module chain.

[0079] Communication between tasks is in the form of shared data files. However, a shared execution project is also an execution project in principle, but it is not under the control of any task chain. The main principle for achieving data sharing is the addressing of variable symbols. For variables within a task, the actual addressing of the same variable symbol between different tasks is different, which can ensure the effective data scope of the task variable. However, for global variables, the addressing address must be consistent under multiple tasks to achieve data sharing between tasks.

[0080] According to the above-mentioned embodiment of the present invention, the robot program of the target robot is run according to the parsed resources, including: when the parsed resources are local variables, scanning the parsed resources to search from small to large according to the variable range, and establishing a variable link relationship; when the parsed resources are global variables, on the basis of the variable link relationship, traversing the relink list to obtain a traversal result; when the traversal result is a global variable definition, saving the traversal result; when the traversal result is a non-global variable definition, generating a prompt message to prompt the target robot that there is contaminated data in the data received.

[0081] Figure 11(a) is a flowchart of the parsing and linking of non-global traversal according to an embodiment of the present invention, as shown in Figure 11(a), the linking process of non-global variables. The variable resources after syntax parsing are usually stored in discrete addresses. In order to complete variable memory addressing more quickly, the discrete address information needs to be linked. The main method is: by scanning the parsed program file, searching from small to large variable ranges, that is, the principle of small range priority, that is, in the order of local variables, file variables, and task variables, the variable link relationship is established.

[0082] FIG11(b) is a flowchart of the analysis and linking of the global traversal according to an embodiment of the present invention. As shown in FIG11(b), the linking process after adding the global variable is the shared variable linking process in the shared area. Based on the variable link shown in FIG11(a), the relink list is traversed and analyzed to see whether it is a global variable definition. If so, the result is saved. Otherwise, a warning is pushed to the user to remind him that there is contaminated data (i.e., it does not belong to any variable range).

[0083] FIG11(c) is a flow chart of the shared resource operation according to an embodiment of the present invention, as shown in FIG11(c), the shared resource usage process between tasks. After completing the above data variable link according to FIG11(a) and FIG11(b), the data resource is read and written. Since the shared area is shared between tasks using global variables, there is communication between tasks by operating the same memory resource. To ensure atomic operation, only one task is allowed to obtain resources at the same time, otherwise there may be a situation where one task reads and another task writes, resulting in abnormal shared resource data and ultimately resource pollution. The main method is to synchronize the shared resource, and the specific method uses a mutex lock. The mutex lock can ensure that when a task operates on a shared resource, another task needs to wait for the previous task to complete the operation, which is similar to a queuing operation.

[0084] The above-mentioned technical solution provided by the embodiment of the present invention shows how to build and deploy a multi-task module with high flexibility, high security and high reliability in a robot system, which can improve the rhythm and speed of industrial robots in actual application production scenarios as a whole, adapt to more complex process scenarios, and adapt to most external equipment data processing and interaction that communicate with the robot.

[0085] That is, in the embodiment of the present invention, by guiding the deployment and construction of a robot control system equipped with a multi-task module, the system can support the robot to use the multi-task module, realize communication interaction and data interaction with external devices, other motion units, etc. in the application scenario, solve the limitation of single-task execution of the robot control system and the data waiting problem when interacting with external devices and other motion units, and achieve good real-time performance and reliability. The corresponding relationship between the multi-task module and the execution project in the robot control system and the mutual coordination method, communication interaction method, and data sharing method between the execution projects under different tasks are fully explained.

[0086] In addition, in the embodiment of the present invention, due to the use of a multi-task scheduling module based on the operating system, the application programs bound to multiple task chains of the robot can be executed concurrently through threads, that is, the robot can synchronously receive the arrival signal of the external device during the movement; the task chain is divided into motion tasks and non-motion tasks, and more than two motion tasks are configured. Under the task scheduling system, one controller can control two movable robot bodies to carry out process coordination at the same time, thereby reducing costs and improving cycle efficiency; different tasks use shared memory to achieve data synchronization and data interaction between tasks, and one task can obtain the data status of another task and perform logical judgment and processing. The method of the present invention realizes the real-time and reliability of data processing, and the security, synchronization and real-time of collaborative technology.

[0087] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0088] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0089] According to an embodiment of the present invention, there is also provided an industrial robot multi-task module configuration device for implementing the above industrial robot multi-task module configuration method. Fig.12 is a schematic diagram of a configuration device for a multi-task module of an industrial robot according to an embodiment of the present invention, such as Fig.12 As shown, the device includes: a first determining unit 1201, a second determining unit 1203, a generating unit 1205, a binding unit 1207, a third determining unit 1209 and a configuration module 1211. The configuration device of the multi-task module of the industrial robot is described below.

[0090] The first determining unit 1201 is used to determine the number of interactive devices of the external interactive devices of the target robot, wherein the target robot is a robot that needs to be configured with a multi-task module, and the external interactive device is a device with information interaction during the operation of the target robot.

[0091] The second determining unit 1203 is used to determine the number of tasks of the multi-task module of the target robot according to the number of external interactive devices.

[0092] The generating unit 1205 is used to generate an execution project according to the interaction data generated when each external interaction device interacts with the target robot.

[0093] The binding unit 1207 is used to bind the robot executable tasks corresponding to the execution project and the task quantity to obtain the task chain of the multi-task module of the target robot, wherein the execution mode of each task chain is concurrent execution.

[0094] The third determining unit 1209 is used to determine the constraint relationship between each task chain when the target robot performs an action.

[0095] The configuration module 1211 is used to write each task chain and constraint relationship into the multi-task module to complete the configuration of the multi-task module.

[0096] It should be noted here that the above-mentioned first determination unit 1201, second determination unit 1203, generation unit 1205, binding unit 1207, third determination unit 1209 and configuration module 1211 correspond to steps S202 to S212 in the above-mentioned embodiments, and the six units are the same as the instances and application scenarios implemented by the corresponding steps, but are not limited to the contents disclosed in the above-mentioned embodiments.

[0097] As can be seen from the above, in the scheme recorded in the above embodiment of the present invention, the first determination unit can be used to determine the number of interactive devices of the external interactive device of the target robot, wherein the target robot is a robot that needs to be configured with a multi-task module, and the external interactive device is a device that has information interaction during the operation of the target robot; the second determination unit is used to determine the number of tasks of the multi-task module of the target robot according to the number of external interactive devices; the generation unit is used to generate an execution project according to the interaction data generated by each external interactive device when information is interacted with the target robot; the binding unit is used to bind the execution project with the robot executable tasks corresponding to the number of tasks to obtain the task chain of the multi-task module of the target robot, wherein the execution mode of each task chain is concurrent execution; the third determination unit is used to determine the constraint relationship between each task chain when the target robot executes an action; the configuration module is used to write each task chain and the constraint relationship into the multi-task module to complete the configuration of the multi-task module, thereby achieving the purpose of concurrent execution and data interaction of the robot multi-task, so that the robot uses the multi-task working mode, which can make it synchronously execute multiple task chains in the same working scene, and different task chains can execute different work contents, and they cooperate with each other, so that the robot can better complete the process requirements of complex application scenes and improve the production efficiency of the robot.

[0098] Therefore, the above-mentioned technical solution provided by the embodiment of the present invention solves the technical problem in the related technology that industrial robots are generally unable to run multi-tasking working mode when performing tasks, causing the industrial robots to synchronously execute multiple task chains in the same working scenario, resulting in low production efficiency.

[0099] Optionally, the configuration device of the industrial robot multi-task module also includes: a first creation unit, used to create a shared area in the multi-task module; a setting unit, used to set the project properties of the shared area to a shared execution project, wherein the data variables in the shared execution project are used for data interaction between different task chains.

[0100] Optionally, the configuration device of the industrial robot multi-task module also includes: a setting unit, used to set the execution status of each task chain, wherein the execution status includes: ordinary tasks, background tasks, and semi-automatic tasks. Ordinary tasks are tasks whose execution behavior is controllable by the user. Background tasks are tasks that are automatically started after the target robot is powered on and cannot be stopped manually. Semi-automatic tasks are tasks that are automatically started after the target robot is powered on and can be stopped manually.

[0101] Optionally, the multi-task module includes: a task module for processing task configuration files; a project module for processing the correspondence between tasks to be executed and execution projects; an interpreter module for parsing tasks to be executed and parsing execution projects; a variable module for parsing variable symbols in execution projects; a sharing module for processing communication between tasks to be executed and calling of shared resources; and an execution module for transmitting action instructions to a target robot so that the target robot executes the action instructions.

[0102] Optionally, the motion modes of the target robot include: a multi-task mode and a default mode; wherein, in the multi-task mode, the robot's executable tasks are divided into motion tasks and non-motion tasks; in the default mode, the main task among the robot's executable tasks executes motion tasks related to the motion of the target robot, and other tasks among the robot's executable tasks execute non-motion tasks unrelated to the motion of the target robot.

[0103] Optionally, the configuration device of the industrial robot multi-task module also includes: a second creation unit, which is used to create a task thread at the operating system level of the target robot according to the number of tasks after writing each task chain and constraint relationship into the multi-task module and completing the configuration of the multi-task module; a calling unit, which is used to call the interpreter in the multi-task module to parse the shared file resources and all robot executable tasks in the shared area after receiving the start command of the target robot, and obtain the parsed resources of the target robot; and a running unit, which is used to run the robot program of the target robot according to the parsed resources.

[0104] Optionally, the running unit includes: a scanning module, which is used to scan the parsing resources when the parsing resources are local variables, so as to search from the smallest to the smallest according to the variable range and establish a variable link relationship; a traversal module, which is used to traverse the relink list based on the variable link relationship when the parsing resources are global variables to obtain a traversal result; a saving module, which is used to save the traversal result when the traversal result is a global variable definition; and a generating module, which is used to generate a prompt message when the traversal result is a non-global variable definition, so as to prompt the target robot that there is contaminated data in the data received.

[0105] According to another aspect of an embodiment of the present invention, a processor is further provided, and the processor is used to run a program, wherein when the program is run, any one of the above-mentioned methods for configuring a multi-task module of an industrial robot is executed.

[0106] According to another aspect of an embodiment of the present invention, there is also provided a computer program product, comprising computer instructions, which, when executed by a processor, execute any one of the above methods for configuring a multi-task module of an industrial robot.

[0107] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes any one of the above-mentioned methods for configuring a multi-task module of an industrial robot.

[0108] Optionally, in this embodiment, the computer-readable storage medium may be located in any one of the computer terminals in a computer terminal group in a computer network, or in any one of the communication devices in a communication device group.

[0109] Optionally, in this embodiment, the computer-readable storage medium is configured to store program codes for executing the following steps: determining the number of interaction devices of the external interaction devices of the target robot, wherein the target robot is a robot that needs to be configured with a multi-task module, and the external interaction device is a device that has information interaction during the operation of the target robot; determining the number of tasks of the multi-task module of the target robot according to the number of external interaction devices; generating an execution project according to the interaction data generated by each external interaction device when performing information interaction with the target robot; binding the execution project with the robot executable tasks corresponding to the number of tasks to obtain a task chain of the multi-task module of the target robot, wherein the execution mode of each task chain is concurrent execution; determining the constraint relationship between each task chain when the target robot performs an action; writing each task chain and the constraint relationship into the multi-task module to complete the configuration of the multi-task module.

[0110] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: creating a shared area in the multi-task module; setting the project properties of the shared area to a shared execution project, wherein data variables in the shared execution project are used for data interaction between different task chains.

[0111] Optionally, in this embodiment, the computer-readable storage medium is configured to store program codes for performing the following steps: setting the execution status of each task chain, wherein the execution status includes: ordinary tasks, background tasks, and semi-automatic tasks, ordinary tasks are tasks whose execution behavior is controllable by the user, background tasks are tasks that are automatically started after the target robot is powered on and cannot be stopped manually, and semi-automatic tasks are tasks that are automatically started after the target robot is powered on and can be stopped manually.

[0112] Optionally, in this embodiment, the computer-readable storage medium is configured to store program codes for executing the following steps: after writing each task chain and constraint relationship into the multi-task module and completing the configuration of the multi-task module, creating a task thread at the operating system level of the target robot according to the number of tasks; after receiving the start command of the target robot, calling the interpreter in the multi-task module to parse the shared file resources and all robot executable tasks in the shared area to obtain the parsed resources of the target robot; and running the robot program of the target robot according to the parsed resources.

[0113] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for executing the following steps: when the parsed resource is a local variable, scanning the parsed resource to search from small to large according to the variable range, and establishing a variable link relationship; when the parsed resource is a global variable, based on the variable link relationship, traversing the relink list to obtain a traversal result; when the traversal result is a global variable definition, saving the traversal result; when the traversal result is a non-global variable definition, generating a prompt message to prompt the target robot that there is contaminated data in the data received.

[0114] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0115] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0116] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0117] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0118] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0119] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0120] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A configuration method for a multi-task module of an industrial robot, characterized in that: include: Determine the number of interactive devices of the external interactive device of the target robot, wherein the target robot is a robot that needs to be configured with a multi-task module, and the external interactive device is a device with information interaction during the operation of the target robot; Determining the number of tasks of the multi-task module of the target robot according to the number of the external interaction devices; Generate an execution project according to the interaction data generated by each of the external interaction devices when interacting with the target robot; Binding the execution project with the robot executable tasks corresponding to the task quantity to obtain the task chain of the multi-task module of the target robot, wherein the execution mode of each task chain is concurrent execution; Determining the constraint relationship between each of the task chains when the target robot performs an action; Each of the task chains and the constraint relationship is written into the multi-task module to complete the configuration of the multi-task module.

2. The method for configuring a multi-task module of an industrial robot according to claim 1, characterized in that: Also includes: creating a shared area in the multi-tasking module; The project attribute of the shared area is set as a shared execution project, wherein the data variables in the shared execution project are used for data interaction between different task chains.

3. The configuration method of the multi-task module of an industrial robot according to claim 1, characterized in that: Also includes: Set the execution status of each task chain, wherein the execution status includes: ordinary task, background task, and semi-automatic task. The ordinary task is a task whose execution behavior is controllable by the user. The background task is a task that starts automatically after the target robot is powered on and cannot be stopped manually. The semi-automatic task is a task that starts automatically after the target robot is powered on and can be stopped manually.

4. The method for configuring a multi-task module of an industrial robot according to any one of claims 1 to 3, characterized in that: The multi-task module includes: a task module, which is used to process task configuration files; a project module, which is used to process the correspondence between the tasks to be executed and the execution projects; an interpreter module, which is used to parse the tasks to be executed and the execution projects; a variable module, which is used to parse the variable symbols in the execution projects; a sharing module, which is used to process the communication between the tasks to be executed and the calling of shared resources; and an execution module, which is used to transmit action instructions to the target robot so that the target robot executes the action instructions.

5. The method for configuring a multi-task module of an industrial robot according to claim 1, characterized in that: The motion modes of the target robot include: a multi-task mode and a default mode; wherein, in the multi-task mode, the robot's executable tasks are divided into motion tasks and non-motion tasks; in the default mode, the main tasks in the robot's executable tasks execute motion tasks related to the motion of the target robot, and the other tasks in the robot's executable tasks execute non-motion tasks unrelated to the motion of the target robot.

6. The method for configuring a multi-task module of an industrial robot according to claim 2, characterized in that: After writing each of the task chains and the constraint relationship into the multi-task module and completing the configuration of the multi-task module, the method further includes: Creating a task thread at the operating system level of the target robot according to the number of tasks; After receiving the start command of the target robot, calling the interpreter in the multi-task module to parse the shared file resources and all the robot executable tasks in the shared area to obtain the parsed resources of the target robot; The robot program of the target robot is run according to the parsed resource.

7. The method for configuring a multi-task module of an industrial robot according to claim 6, characterized in that: Running a robot program of the target robot according to the parsed resource includes: When the parsed resource is a local variable, the parsed resource is scanned to search from small to large according to the variable range, and a variable link relationship is established; When the parsed resource is a global variable, based on the variable link relationship, the relink list is traversed to obtain a traversal result; When the traversal result is a global variable definition, saving the traversal result; When the traversal result is a non-global variable definition, a prompt message is generated to prompt the target robot that there is contaminated data in the data received.

8. A configuration device for a multi-task module of an industrial robot, characterized in that: include: A first determining unit is used to determine the number of interactive devices of an external interactive device of a target robot, wherein the target robot is a robot that needs to be configured with a multi-task module, and the external interactive device is a device with information interaction during the operation of the target robot; A second determining unit, configured to determine the number of tasks of the multi-task module of the target robot according to the number of the external interaction devices; A generating unit, configured to generate an execution project according to the interaction data generated when each of the external interaction devices interacts with the target robot; A binding unit, used for binding the execution project with the robot executable tasks corresponding to the task quantity to obtain the task chain of the multi-task module of the target robot, wherein the execution mode of each task chain is concurrent execution; A third determining unit, used to determine the constraint relationship between each of the task chains when the target robot performs an action; A configuration module is used to write each of the task chains and the constraint relationship into the multi-task module to complete the configuration of the multi-task module.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the configuration method of the multi-task module of an industrial robot according to any one of claims 1 to 7.

10. A computer program product comprising computer instructions, characterized in that: When the computer instructions are executed by the processor, the method for configuring the multi-task module of an industrial robot according to any one of claims 1 to 7 is performed.

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