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

Abstract

This invention discloses a method and apparatus for configuring a multi-task module for an industrial robot. The method includes: determining the number of tasks for the multi-task module of the target robot based on the number of external interaction devices; generating an execution process based on the interaction data generated when each external interaction device interacts with the target robot; binding the execution process with the robot-executable tasks corresponding to the number of tasks to obtain the task chain of the multi-task module, wherein each task chain is executed concurrently; determining the constraint relationship between the task chains when the target robot performs actions; and writing each task chain and constraint relationship into the multi-task module to complete the configuration of the multi-task module. This invention solves the technical problem in related technologies where industrial robots generally cannot operate in a multi-task working mode when performing tasks, resulting in low production efficiency due to the simultaneous execution of multiple task chains in the same working environment.

Description

Technical Field

[0001] This invention relates to the field of automated production technology, and more specifically, to a method and apparatus for configuring a multi-tasking module for an industrial robot. Background Technology

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

[0003] However, existing industrial robots generally cannot operate in a multi-tasking mode when performing tasks, which would prevent them from executing multiple task chains simultaneously in the same work environment, resulting in low production efficiency.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This invention provides a method and apparatus for configuring a multi-task module for an industrial robot, which at least solves the technical problem in the related art that industrial robots generally cannot run a multi-task working mode when performing tasks, resulting in low production efficiency due to the simultaneous execution of multiple task chains in the same working scenario.

[0006] According to one aspect of the present invention, a method for configuring a multi-task module of an industrial robot is provided, comprising: determining the number of external interaction devices of a target robot, wherein the target robot is a robot requiring configuration of a multi-task module, and the external interaction devices are devices that exchange information during the operation of the target robot; determining the number of tasks of the multi-task module of the target robot based on the number of external interaction devices; generating an execution process based on the interaction data generated by each external interaction device when exchanging information with the target robot; binding the execution process 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 task chain is concurrent execution; determining the constraint relationship between each task chain when the target robot performs an action; and writing each task chain 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 further includes: creating a shared area in the multi-task module; setting the engineering attributes 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.

[0008] Optionally, the configuration method of the industrial robot multi-task module further includes: setting the execution state of each task chain, wherein the execution state includes: normal task, background task, and semi-automatic task, the normal 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 manually stopped, and the semi-automatic task is a task that starts automatically after the target robot is powered on and can be manually stopped.

[0009] 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 the execution project; an interpreter module for parsing the tasks to be executed and the execution project; a variable module for parsing variable symbols in the execution project; a sharing module for processing communication between the tasks to be executed and the invocation 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 performs motion tasks related to the motion of the target robot, and the other tasks among the robot's executable tasks perform 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 further includes: creating task threads 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 in the shared area and all the robot executable tasks 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, running the robot program of the target robot based on the parsed resources includes: when the parsed resources are local variables, scanning the parsed resources to search according to the variable range from smallest to largest, and establishing variable link relationships; when the parsed resources are global variables, traversing the relink list based on the variable link relationships to obtain traversal results; when the traversal results are global variable definitions, saving the traversal results; and when the traversal results are non-global variable definitions, generating a prompt message to indicate that the target robot receives data containing contaminated data.

[0013] According to another aspect of the present invention, a configuration device for a multi-task module of an industrial robot is also provided, comprising: a first determining unit, configured 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 interacts with information 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 external interaction devices; a generating unit, configured to generate an execution process according to the interaction data generated by each external interaction device when interacting with the target robot; a binding unit, configured to bind the execution process 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 task chain is concurrent execution; a third determining unit, configured to determine the constraint relationship between each task chain when the target robot performs an action; and a configuration module, configured to write each task chain and the constraint relationship into the multi-task module to complete the configuration of the multi-task module.

[0014] Optionally, the configuration device for the industrial robot multi-task module further includes: a first creation unit for creating a shared area in the multi-task module; and a setting unit for setting the engineering attributes 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 for the industrial robot multi-task module further includes: a setting unit, used to set the execution state of each task chain, wherein the execution state includes: normal task, background task, and semi-automatic task, wherein the normal 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 manually stopped, and the semi-automatic task is a task that starts automatically after the target robot is powered on and can be manually stopped.

[0016] 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 the execution project; an interpreter module for parsing the tasks to be executed and the execution project; a variable module for parsing variable symbols in the execution project; a sharing module for processing communication between the tasks to be executed and the invocation 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 performs motion tasks related to the motion of the target robot, and the other tasks among the robot's executable tasks perform non-motion tasks unrelated to the motion of the target robot.

[0018] Optionally, the configuration device for the industrial robot multi-task module further includes: a second creation unit, configured to create task threads at the operating system level of the target robot according to the number of tasks after writing each task chain and the constraint relationship into the multi-task module and completing the configuration of the multi-task module; a calling unit, configured to call the interpreter in the multi-task module to parse the shared file resources in the shared area and all the robot executable tasks after receiving the start command of the target robot, thereby obtaining the parsed resources of the target robot; and a running unit, configured to run the robot program of the target robot according to the parsed resources.

[0019] Optionally, the running unit includes: a scanning module, used to scan the parsed resource when the parsed resource is a local variable, to search according to the variable range from smallest to largest, and establish variable link relationships; a traversal module, used to traverse the relink list based on the variable link relationships when the parsed resource is a global variable, to obtain traversal results; a saving module, used to save the traversal results when the traversal results are global variable definitions; and a generation module, used to generate prompt information when the traversal results are non-global variable definitions, to prompt the target robot that there is contaminated data in the received data.

[0020] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein the program executes the configuration method of the industrial robot multitasking module described in any one of the foregoing embodiments.

[0021] According to another aspect of the present invention, a processor is also provided, the processor being configured to run a program, wherein the program, when running, executes the configuration method of the industrial robot multitasking module described in any of the above embodiments.

[0022] According to another aspect of the present invention, a computer program product is also provided, including computer instructions, which, when executed by a processor, perform the configuration method of the industrial robot multitasking module described in any one of the above embodiments.

[0023] In this embodiment of the invention, the number of external interaction devices 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 interaction devices are devices that exchange information 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 based on the interaction data generated by each external interaction device when exchanging information with the target robot; the execution project is bound to the robot's 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 actions is determined; and each task chain and constraint relationship are written into the multi-task module to complete the configuration of the multi-task module. The technical solution provided by this invention achieves the goal of concurrent execution of multiple tasks and data interaction of robots. It enables robots to use a multi-task working mode, allowing them to execute multiple task chains simultaneously in the same working scenario. Different task chains can perform different tasks, and their cooperation enables robots to better meet the process requirements of complex application scenarios, thereby improving the production efficiency of robots. This solves the technical problem in related technologies that industrial robots generally cannot operate in a multi-task working mode when performing tasks, resulting in low production efficiency due to the inability of industrial robots to execute multiple task chains simultaneously in the same working scenario. Attached Figure Description

[0024] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0025] Figure 1 This is a hardware structure block diagram of a mobile terminal for configuring a multi-task module of an industrial robot according to an embodiment of the present invention.

[0026] Figure 2 This is a flowchart of a configuration method for a multi-tasking module of an industrial robot according to an embodiment of the present invention;

[0027] Figure 3 This is a flowchart illustrating the configuration and execution of the multi-task module of the control system for a target robot according to an embodiment of the present invention.

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

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

[0030] Figure 5This is a schematic diagram of a multitasking module according to an embodiment of the present invention;

[0031] Figure 6(a) is a flowchart of robot motion without multi-tasking actions according to an embodiment of the present invention;

[0032] Figure 6(b) is a flowchart of the robot's motion with multi-tasking actions according to an embodiment of the present invention;

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

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

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

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

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

[0038] Figure 11(b) is a flowchart of the parsing and linking of global traversal according to an embodiment of the present invention;

[0039] Figure 11(c) is a flowchart of shared resource operation according to an embodiment of the present invention;

[0040] Figure 12 This is a schematic diagram of a configuration device for an industrial robot multitasking module according to an embodiment of the present invention. Detailed Implementation

[0041] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0043] As described in the background section, industrial robots in related technologies generally cannot operate in a multi-tasking mode when performing tasks, resulting in low production efficiency as they cannot simultaneously execute multiple task chains in the same work environment. To address these shortcomings, embodiments of the present invention provide a method and apparatus for configuring a multi-tasking module for an industrial robot, a computer-readable storage medium, a processor, and a computer program product.

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

[0045] The methods and embodiments provided in this invention can be executed on a mobile terminal, a computer terminal, or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a configuration method of a multi-tasking module for an industrial robot according to an embodiment of the present invention. For example... Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0046] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the configuration method of the industrial robot multi-task module in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station 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 for configuring a multi-tasking module of an industrial robot is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

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

[0049] Step S202: Determine the number of 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 devices are devices that have information interaction during the operation of the target robot.

[0050] Step S204: Determine the number of tasks of the target robot's multi-task module based on the number of external interactive devices.

[0051] Figure 3 This is a flowchart illustrating the configuration and execution of the multi-task module of the control system for a target robot according to an embodiment of the present invention, such as... Figure 3As shown, the number of tasks can be configured for the control system based on 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: Generate an execution process based on the interaction data generated by each external interaction device when interacting with the target robot.

[0053] like Figure 3 As shown, specific execution projects can be written based on data generated by different external interactive devices through the programming module.

[0054] Step S208: Bind the robot's executable tasks corresponding to the number of execution projects and tasks to obtain the task chain of the target robot's multi-task module, wherein each task chain is executed concurrently.

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

[0056] In addition, such as Figure 3 As shown, the task chains execute concurrently and communicate and interact with each other through a shared area.

[0057] Step S210: Determine the constraint relationships between each task chain when the target robot performs actions.

[0058] In this embodiment, the target robot's actions are controlled by changes in data from other task chains. Therefore, as... Figure 3 As shown, the robot's actions are controlled by changes in data from other task chains, enabling interaction and connection between the robot and external devices in a multi-task mode, and allowing for concurrent execution of work behaviors without waiting.

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

[0060] As described above, in this embodiment of the invention, the number of external interactive devices of the target robot is determined. The target robot is a robot requiring a multi-task module, and the external interactive devices are those that exchange information during the target robot's operation. The number of tasks in the target robot's multi-task module is determined based on the number of external interactive devices. An execution process is generated based on the interaction data generated by each external interactive device during information exchange with the target robot. The execution process is bound to the robot's executable tasks corresponding to the number of tasks, resulting in the task chain of the target robot's multi-task module. Each task chain is executed concurrently. The constraint relationship between each task chain is determined when the target robot performs actions. Each task chain and constraint relationship are written into the multi-task module to complete the configuration of the multi-task module. This achieves the goal of concurrent execution and data interaction of multiple tasks by the robot, enabling the robot to use a multi-task working mode. This allows the robot to simultaneously execute multiple task chains in the same working scenario. Different task chains can perform different tasks, and their cooperation allows the robot to better meet the process requirements of complex application scenarios, improving the robot's production efficiency.

[0061] Therefore, the technical solutions provided by the embodiments of the present invention solve the technical problem in the related art that industrial robots generally cannot run multi-task working modes when performing tasks, resulting in low production efficiency due to the inability of industrial robots to execute multiple task chains simultaneously in the same working scenario.

[0062] According to the above embodiments of the present invention, the configuration method of the industrial robot multi-task module further includes: creating a shared area in the multi-task module; setting the engineering attributes 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. In the control system, this area is represented as a shared execution project (called the Share project). The data variables in this project are used for data interaction between different task chains, which is essentially the operation of calling shared memory.

[0064] According to the above embodiments of the present invention, the configuration method of the industrial robot multi-task module may further include: setting the execution state of each task chain, wherein the execution state includes: normal task, background task, and semi-automatic task, the normal 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, and the semi-automatic task is a task that starts automatically 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 external device data can be configured. That is, the execution status of each task chain can be set as normal task, background task, and semi-automatic task. The corresponding execution behaviors are user-controllable, automatic startup on boot and cannot be manually stopped, and automatic startup on boot and can be manually stopped.

[0066] Figure 4(a) is a schematic diagram of the robot control system according to an embodiment of the present invention. Figure 1 As shown in Figure 4(a), this is a schematic diagram of the structure of a non-multi-task robot system, from startup to interaction with external devices to the actual execution of the robot. It describes a poorly designed robot system with sequential execution, high coupling between modules, no centralized scheduling, and limited application scenarios and process steps, making it unsuitable for high real-time and high-cycle production environments.

[0067] Figure 4(b) is a schematic diagram of the 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 engineering, external device data, and communication information are all scheduled, parsed, and executed by the multi-task module, which decouples the relationships between the various modules of the system, making each module more independent. At the same time, the multi-task module is responsible for the operation of the robot actuator, which enables the robot system equipped with this multi-task module to meet the usage requirements in various complex, high real-time, and high-cycle scenarios.

[0068] According to the above embodiments of the present invention, 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 shared resources; and an execution module for transmitting action instructions to the target robot so that the target robot executes the action instructions.

[0069] Figure 5 This is a schematic diagram of a multitasking module according to an embodiment of the present invention, such as... Figure 5 As shown, the process starts with the task module processing the user task configuration file, the engineering module handling the relationship between tasks and execution engineering, the interpreter module responsible for task parsing and execution engineering instruction parsing, the variable module parsing variable symbols in the execution engineering, the sharing module responsible for handling inter-task communication and shared resource calls, and finally passing the parsing results to the execution module. The execution module then passes the final information to the robot system's execution module, enabling the robot to execute the corresponding action instructions.

[0070] Figure 6(a) is a flowchart of a robot motion without multi-task actions according to an embodiment of the present invention. As shown in Figure 6(a), due to the large number of external devices in specific application scenarios, it is impossible to exhaustively list them all in this embodiment of the invention. This time, a vision system is used as an example, and the implementation methods of other devices are the same. Figure 6(a) illustrates the flowchart of the robot motion execution mode in coordination with external devices when the robot control system does not have a multi-task module. First, the robot performs preliminary preparation, generally by moving the robot to a safe position, resetting the IO, and waiting for the start command. Second, at this time, the robot needs to wait for the external device to provide a certain motion position point. Through socket network communication, the robot obtains the position data in the socket data packet. By parsing the target character content, it obtains the interpolation point data in Cartesian space. After obtaining the position information, the robot 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 position information, and then parse it before it can execute the action. This results in low efficiency and jerky, unsmooth motion.

[0071] Figure 6(b) is a flowchart of a robot with multi-tasking actions according to an embodiment of the present invention. As shown in Figure 6(b), this is the process of receiving external device position information, parsing and processing it, and executing the motion after introducing a multi-tasking module into the robot control system. In the multi-tasking module, multiple task chains can be executed concurrently, and the chains can operate independently. Robot multi-tasking is similar to the concept of multi-process in computers. It uses the task scheduling function in the operating system, that is, within a system time cycle, multiple task chains are executed concurrently in a thread-based manner without waiting for each other. In other words, multiple robot programs are executed concurrently at the same time. Combined with the robot vision process scenario, one task is used to control the robot's operation, and another task performs communication with the machine vision. In this way, the robot can synchronously process vision-related data during operation, effectively improving the robot's operating cycle time.

[0072] According to the above embodiments 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 task among the robot's executable tasks performs motion tasks related to the target robot's motion, and the other tasks among the robot's executable tasks perform non-motion tasks unrelated to the target robot's motion.

[0073] Figure 7 This is a schematic diagram illustrating the relationship between tasks and projects according to an embodiment of the present invention, such as... Figure 7The diagram illustrates the relationship between execution engineering and tasks used in robot operation. A task, as an abstraction of the robot program's execution, becomes an active task after the program is loaded. This task can be run, stopped, etc. A task can both load and unload programs; that is, it can load different programs. In multi-tasking mode, multiple tasks form a task set, and tasks execute concurrently. Considering safety, at any given time, the same motion unit can only be controlled by one motion instruction. For example, simultaneously performing actions on the same robot joint in two tasks would lead to unpredictable anomalies. Therefore, in multi-tasking mode, tasks need to distinguish between motion tasks and non-motion tasks. In the default mode, where there are no other motion units besides the robot body, the task set has a default main task. The main task can execute instructions related to robot motion and is called a motion task, while other tasks cannot execute instructions related to robot motion and are called non-motion tasks. Multi-tasking mode maintains the same loading and unloading functionality as single-tasking mode, but the same program cannot be loaded by two tasks simultaneously. Multi-tasking achieves complex parallel operations by loading and combining different programs.

[0074] Figure 8 This is a schematic diagram illustrating the relationship between inter-task communication and shared areas according to an embodiment of the present invention, such as... Figure 8 As shown, implementing inter-task communication will improve the flexibility of the entire system on the basis of concurrent task execution. In this embodiment of the invention, a shared area method is adopted, that is, in the multi-task mode, a shared area is opened. The shared area of ​​the invention is actually a shared execution project named Share. This project 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. Through the wide scope of the global variables, the transmission of data information between tasks is realized.

[0075] According to the above embodiments 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 industrial robot multi-task module further includes: creating task threads 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] Figure 9 This is a flowchart of multi-task parsing and execution according to an embodiment of the present invention, such as... Figure 9The diagram illustrates the process of creating, parsing, and executing tasks within the multitasking module. Multitasking management is handled by the operating system's multitasking scheduling module. Through configuration file parsing, actual operating system-level task threads are created based on the number of tasks. After creating a corresponding thread for each task and receiving a start command, the interpreter is first invoked to parse shared file resources and all task resources. Then, the parsed task resources are used to run the specific robot program. Since the module also needs to respond to external operation commands (such as start, pause, stop, etc.) and error status during operation, it is necessary to monitor external operation commands and the error queue and take corresponding actions.

[0077] Figure 10 This is a flowchart of multi-task variable activation according to an embodiment of the present invention, such as... Figure 10 As shown, the interpreter module is called serially in the creation, parsing, and execution process of multiple tasks. The interpreter module's role is to perform a specific breakdown and parsing of the execution program, ultimately generating executable point data, I / O data, and other information for the robot. Because the interpreter module executes in a queue, there will inevitably be situations where tasks finish interpreting early and run immediately. Therefore, after each task calls the interpreter, the thread needs to be put into a sleep state using the condition variable `Conditions`. Once all tasks have finished parsing the robot program, all threads are woken up to begin execution.

[0078] As described above, the multi-task module in the technical solution provided in this embodiment of the invention, in addition to enabling concurrent execution of robot programs, introduces the concepts of inter-task communication and shared regions to improve the system's flexibility, reliability, and security. In this embodiment, inter-task communication and shared regions rely on variable data interaction. Similarly, this embodiment also provides steps and methods for parsing and linking these two types of variables in the multi-task module chain.

[0079] Inter-task communication uses shared data files. However, a shared execution project is also an execution project in principle, just 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 is different between different tasks. This ensures the effective data scope of task variables. However, for global variables, the addressing address must be consistent across multiple tasks to achieve data sharing between tasks.

[0080] According to the above embodiments of the present invention, the robot program for running the target robot based on the parsed resources includes: when the parsed resources are local variables, scanning the parsed resources to search according to the variable range from smallest to largest, and establishing variable link relationships; when the parsed resources are global variables, traversing the relink list based on the variable link relationships to obtain the 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 indicate that there is contaminated data in the data received by the target robot.

[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 is as follows: The variable resources after syntax parsing are usually stored at discrete addresses. In order to complete variable memory addressing more quickly, it is necessary to link the discrete address information. The main method is to scan the parsed program file and search according to the variable range from small to large, that is, the principle of small range priority, that is, according to the order of local variables, file variables, and task variables, to establish variable linking relationships.

[0082] Figure 11(b) is a flowchart of the parsing and linking of global traversal according to an embodiment of the present invention. As shown in Figure 11(b), the linking process after adding global variables is the shared variable linking process under the shared area. Based on the variable linking shown in Figure 11(a), the relinked list is traversed and parsed to see if it is a global variable definition. If it is, the result is saved; otherwise, a warning is pushed to the user that there is contaminated data (i.e., it does not belong to any variable scope).

[0083] Figure 11(c) is a flowchart of shared resource operation according to an embodiment of the present invention. As shown in Figure 11(c), the shared resource usage process between tasks is as follows: After completing the above data variable linking according to Figures 11(a) and 11(b), read and write operations are performed on data resources. Since the shared area is shared between tasks using global variables, tasks may communicate by operating on the same memory resource. To ensure atomic operations, that is, only one task is allowed to acquire 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 operation of the shared resource. Specifically, a mutex lock is used. The mutex lock can ensure that when a task operates on the shared resource, other tasks need to wait for the previous task to complete its operation, which is similar to a queuing operation.

[0084] The technical solutions provided by the embodiments of the present invention demonstrate how to build and deploy a highly flexible, highly secure, and highly reliable multi-task module in a robot system. This module can improve the cycle time and speed of industrial robots in actual production scenarios, adapt to more complex process scenarios, and be compatible with most external devices that communicate with the robot for data processing and interaction.

[0085] In this embodiment of the invention, a robot control system equipped with a multi-task module is deployed and built under guidance. This system supports the robot in using the multi-task module to achieve communication and data interaction with external devices and other motion units in the application scenario. This solves the limitations of single-task execution in robot control systems and the data waiting problem when interacting with external devices and other motion units, while achieving good real-time performance and reliability. The correspondence between the multi-task module and the execution engineering in the robot control system, as well as the methods for cooperation, communication, and data sharing between execution engineering under different tasks, are fully explained.

[0086] Furthermore, in this embodiment of the invention, due to the adoption of an operating system-based multi-task scheduling module, applications bound to multiple task chains of the robot can be executed concurrently through threads. That is, during the robot's movement, it can synchronously receive arrival signals from external devices. The task chain is divided into motion tasks and non-motion tasks. With two or more motion tasks configured, a single controller can control two movable robot bodies to perform process coordination simultaneously under the task scheduling system, reducing costs and improving cycle efficiency. Data synchronization and data interaction between different tasks are achieved through shared memory. One task can obtain the data status of another task and perform logical judgments and processing. The method of this invention achieves real-time and reliability in data processing, and security, synchronization, and real-time performance in collaborative technology.

[0087] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

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

[0089] According to embodiments of the present invention, a configuration apparatus for an industrial robot multi-tasking module for implementing the above-described configuration method for an industrial robot multi-tasking module is also provided. Figure 12 This is a schematic diagram of a configuration device for an industrial robot multitasking module according to an embodiment of the present invention, such as... Figure 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 for this industrial robot's multi-tasking module will be described below.

[0090] The first determining unit 1201 is used to determine the number of 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 devices are devices that have 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 target robot's multi-task module based on the number of external interactive devices.

[0092] The generation unit 1205 is used to generate an execution process based on the interaction data generated by each external interaction device when interacting with the target robot.

[0093] Binding unit 1207 is used to bind the robot's executable tasks corresponding to the number of tasks to be executed, so as to obtain the task chain of the target robot's multi-task module, wherein each task chain is executed concurrently.

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

[0095] Configuration module 1211 is used to write the task chains and constraints into the multi-task module to complete the configuration of the multi-task module.

[0096] It should be noted that the first determining unit 1201, the second determining unit 1203, the generating unit 1205, the binding unit 1207, the third determining unit 1209, and the configuration module 1211 mentioned above correspond to steps S202 to S212 in the above embodiments. The six units and the corresponding steps implement the same instances and application scenarios, but are not limited to the content disclosed in the above embodiments.

[0097] As can be seen from the above, in the solution described in the above embodiments of the present invention, the number of external interactive devices of the target robot can be determined by the first determining unit, wherein the target robot is a robot that needs to be configured with a multi-task module, and the external interactive devices are devices that have information interaction during the operation of the target robot; the number of tasks of the multi-task module of the target robot is determined by the second determining unit according to the number of external interactive devices; the generation unit generates an execution project according to the interaction data generated by each external interactive device when interacting with the target robot; the binding unit binds the execution project with the robot's 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 actions is determined by the third determining unit; and the configuration module writes each task chain and constraint relationship into the multi-task module to complete the configuration of the multi-task module, thereby realizing the purpose of concurrent execution and data interaction of the robot's multi-tasks. This allows the robot to use a multi-task working mode, enabling it to execute multiple task chains synchronously in the same working scenario. Different task chains can perform different work contents, and their mutual cooperation enables the robot to better complete the process requirements of complex application scenarios and improves the robot's production efficiency.

[0098] Therefore, the technical solutions provided by the embodiments of the present invention solve the technical problem in the related art that industrial robots generally cannot run multi-task working modes when performing tasks, resulting in low production efficiency due to the inability of industrial robots to execute multiple task chains simultaneously in the same working scenario.

[0099] Optionally, the configuration device for the industrial robot multi-task module further includes: a first creation unit for creating a shared area in the multi-task module; and a setting unit for setting the engineering attributes 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 further includes: a setting unit, used to set the execution status of each task chain, wherein the execution status includes: normal task, background task, and semi-automatic task. A normal task is a task whose execution behavior is controllable by the user. A background task is a task that starts automatically after the target robot is powered on and cannot be stopped manually. A semi-automatic task is a task that starts automatically 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 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 shared resources; and an execution module for transmitting motion instructions to the target robot so that the target robot executes the motion instructions.

[0102] Optionally, the target robot's motion modes 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 performs motion tasks related to the target robot's motion, while the other tasks among the robot's executable tasks perform non-motion tasks unrelated to the target robot's motion.

[0103] Optionally, the configuration device of the industrial robot multi-task module further includes: a second creation unit, used to create task threads 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, used to call the interpreter in the multi-task module to parse the shared file resources in the shared area and all robot executable tasks after receiving the start command of the target robot, so as to obtain the parsed resources of the target robot; and a running unit, used to run the robot program of the target robot according to the parsed resources.

[0104] Optionally, the running unit includes: a scanning module, used to scan the parsed resource when the parsed resource is a local variable, to search according to the variable range from smallest to largest, and establish variable link relationships; a traversal module, used to traverse the relink list based on the variable link relationships when the parsed resource is a global variable, to obtain the traversal result; a saving module, used to save the traversal result when the traversal result is a global variable definition; and a generation module, used to generate prompt information when the traversal result is a non-global variable definition, to prompt the target robot that there is contaminated data in the received data.

[0105] According to another aspect of the present invention, a processor is also provided, which is used to run a program, wherein the program executes the configuration method of the industrial robot multitasking module described above.

[0106] According to another aspect of the present invention, a computer program product is also provided, including computer instructions, which, when executed by a processor, execute a configuration method for an industrial robot multitasking module of any of the above.

[0107] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein the program executes the configuration method of the industrial robot multitasking module of any of the above.

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

[0109] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: determining the number of 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 devices are devices that exchange information during the operation of the target robot; determining the number of tasks of the multi-task module of the target robot based on the number of external interaction devices; generating an execution project based on the interaction data generated by each external interaction device when exchanging information with the target robot; binding 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; determining the constraint relationship between each task chain when the target robot performs actions; and writing each task chain and 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 region in a multitasking module; setting the project properties of the shared region 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 code for performing the following steps: setting the execution state of each task chain, wherein the execution state includes: normal task, background task, and semi-automatic task. A normal task is a task whose execution behavior is controllable by the user. A background task is a task that starts automatically after the target robot is powered on and cannot be stopped manually. A semi-automatic task is a task that starts automatically 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 code for performing 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, a task thread at the operating system level of the target robot is created according to the number of tasks; after receiving the start command of the target robot, the interpreter in the multi-task module is called to parse the shared file resources in the shared area and all robot executable tasks to obtain the parsed resources of the target robot; and the robot program of the target robot is run according to the parsed resources.

[0113] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: when the parsed resource is a local variable, scan the parsed resource to search according to the variable range from smallest to largest, and establish variable link relationships; when the parsed resource is a global variable, traverse the relink list based on the variable link relationships to obtain the traversal result; when the traversal result is a global variable definition, save the traversal result; when the traversal result is a non-global variable definition, generate a prompt message to indicate that there is contaminated data in the data received by the target robot.

[0114] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0115] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer 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. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

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

[0118] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0119] If the integrated unit is implemented as 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. 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 the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0120] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for configuring a multi-task module for an industrial robot, characterized in that, include: Determine the number of 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 devices are devices that have information interaction during the operation of the target robot; The number of tasks of the multi-tasking module of the target robot is determined based on the number of external interactive devices; An execution process is generated based on the interaction data generated by each of the external interaction devices when interacting with the target robot. The execution process is bound to the robot's 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; Determine the constraint relationships between each task chain when the target robot performs actions; The task chains and constraints are written into the multi-task module to complete the configuration of the multi-task module; 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 the execution project; an interpreter module for parsing the tasks to be executed and the execution project; a variable module for parsing variable symbols in the execution project; a sharing module for processing communication between the tasks to be executed and the invocation of shared resources; and an execution module for transmitting action instructions to the target robot so that the target robot executes the action instructions.

2. The configuration method for the multi-tasking module of an industrial robot according to claim 1, characterized in that, Also includes: Create a shared area in the multitasking module; The project attributes of the shared area are set to 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 for the multi-tasking module of an industrial robot according to claim 1, characterized in that, Also includes: The execution state of each task chain is set, wherein the execution state includes: normal task, background task, and semi-automatic task. The normal 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 configuration method for the multi-tasking module of an industrial robot according to claim 1, characterized in that, The target robot's motion modes 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 performs motion tasks related to the target robot's motion, and the other tasks among the robot's executable tasks perform non-motion tasks unrelated to the target robot's motion.

5. The configuration method for the multi-tasking module of an industrial robot according to claim 2, characterized in that, After writing the task chains and constraints into the multi-task module and completing the configuration of the multi-task module, the method further includes: Create task threads at the operating system level for the target robot based on the number of tasks; Upon receiving the start command from the target robot, the interpreter in the multitasking module is invoked to parse the shared file resources and all executable tasks of the robot in the shared area, thereby obtaining the parsed resources of the target robot. The robot program of the target robot is executed according to the parsed resources.

6. The configuration method for the multi-tasking module of an industrial robot according to claim 5, characterized in that, The robot program that runs the target robot based on the parsed resources includes: When the parsed resource is a local variable, the parsed resource is scanned to search from smallest to largest variable range and establish variable link relationships. When the parsed resource is a global variable, the relink list is traversed based on the variable linking relationship to obtain the traversal result; If the traversal result is defined as a global variable, save the traversal result; When the traversal result is not a global variable definition, a prompt message is generated to indicate that there is contaminated data in the data received by the target robot.

7. A configuration device for a multi-tasking module of an industrial robot, characterized in that, include: The first determining unit is used to determine the number of 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 devices are devices that have information interaction during the operation of the target robot; The second determining unit is used to determine the number of tasks of the multi-tasking module of the target robot based on the number of external interactive devices; The generation unit is used to generate an execution process based on the interaction data generated by each of the external interaction devices when interacting with the target robot. A binding unit is used to bind the execution project with the robot's executable tasks corresponding to the number of tasks, thereby obtaining 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 determining unit is used to determine the constraint relationship between each task chain when the target robot performs an action; A configuration module is used to write each of the task chains and the constraint relationships into the multi-task module, thereby completing the configuration of the multi-task module; 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 the execution project; an interpreter module for parsing the tasks to be executed and the execution project; a variable module for parsing variable symbols in the execution project; a sharing module for processing communication between the tasks to be executed and the invocation of shared resources; and an execution module for transmitting action instructions to the target robot so that the target robot executes the action instructions.

8. 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 industrial robot multitasking module according to any one of claims 1 to 6.

9. A computer program product comprising computer instructions, characterized in that, When the computer instructions are executed by the processor, the configuration method of the industrial robot multitasking module according to any one of claims 1 to 6 is performed.

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