Glass stacking machine system control method and system based on state machine and state machine

Abstract

The invention provides a glass stacker system control method and system based on a state machine and the state machine. The glass stacker system comprises a plurality of state machine modes. The state machine modes comprise an initialization mode, a motion execution mode, a fault detection mode and a completion mode; and in a preset grabbing period, the glass stacking machine system is controlled to sequentially pass through an initialization mode, a motion execution mode, a fault detection mode and a completion mode, so that the glass stacking machine system executes a glass stacking task. In each state machine mode, the state machine quickly judges and decides the next action according to the current state data, so that the quick switching between the state machine modes is realized, the response speed is improved, the quick and accurate glass stacking operation is realized, and the requirement of small volume of a high-speed fast stack is met. And by analyzing the state data, the occurrence of error event information is avoided, so that the service life of the equipment is prolonged, and the maintenance cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of rolled glass stacking, and in particular to a state machine-based glass stacking machine system control method, system and state machine. Background Art

[0002] In the modern industrial system, especially in the glass manufacturing industry, with the rapid advancement of science and technology and the deepening of intelligent transformation, production line automation has become a key way to improve production efficiency, ensure product quality and reduce labor costs. The cold end of the glass production line, as the terminal processing part in the glass product production process, the improvement of its automation level plays a vital role in the efficiency optimization of the entire production line.

[0003] Traditionally, the handling and stacking of glass sheets in the cold end of glass production mainly rely on manual operation, which is not only labor-intensive and inefficient, but also has high safety risks, such as scratches, burns and other occupational injury risks. With the advent of the Industrial 4.0 era, the application of mechatronics technology has made it possible to solve this problem. As a representative equipment in this field, the high-speed glass stacker realizes the automatic and rapid transfer of glass sheets from the production line to the stacking rack, greatly improving production efficiency, while significantly reducing the need for manual intervention, thereby effectively avoiding potential safety hazards.

[0004] However, although high-speed glass stackers have achieved remarkable results in improving the level of automation, they still face some challenges in practical applications. The first problem is that the response speed of some existing robot systems is not ideal, and it is difficult to meet the demand for efficient and continuous operation of glass production lines, which to a certain extent limits the overall production capacity of the production line. Secondly, high-end robot equipment is often accompanied by high procurement costs and maintenance costs. For small and medium-sized enterprises, this is a considerable economic burden, which affects the popularization and application of automation technology. Summary of the invention

[0005] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a glass stacker system control method, system and state machine based on a state machine, which are used to solve the technical problems of slow response speed, low production efficiency and high maintenance cost of the existing glass stacker system.

[0006] To achieve the above-mentioned purpose and other related purposes, the first aspect of the present application provides a state machine-based glass stacker system control method, which is applied to the state machine of the glass stacker system, the glass stacker system includes multiple state machine modes; the state machine modes include: initialization mode, motion execution mode, fault detection mode, and completion mode; the state machine-based glass stacker system control method includes: within a preset grabbing cycle, controlling the glass stacker system to pass through the initialization mode, motion execution mode, fault detection mode, and completion mode in sequence, so that the glass stacker system performs a glass stacking task; wherein, when the glass stacker system is in the current state machine mode, controlling the glass stacker system to perform corresponding glass stacking operations and obtaining the state data of the glass stacker system in the current state machine mode; and determining the next state machine mode to be switched by the glass stacker system based on the obtained state data of the glass stacker system in the current state machine mode.

[0007] In some embodiments of the first aspect of the present application, the status data includes one or more combinations of initialization status data, response status data, motion status data, fault status data, and completion status data; the method for determining the next state machine mode that the glass stacker system needs to switch to includes: when the glass stacker system is in the initialization mode, initializing and configuring the motor parameters in the glass stacker system to control the glass stacker system to be in an initial state position, and after obtaining the initialization status data of the glass stacker system, controlling the glass stacker system to switch to the motion execution mode.

[0008] In some embodiments of the first aspect of the present application, when the glass stacker system is in the current state machine mode, the method of controlling the glass stacker system to perform corresponding glass stacking operations and obtaining the status data of the glass stacker system in the current state machine mode includes: when the glass stacker system is in the motion execution mode, analyzing and judging the acquired current fault status data and / or the completion status data of the previous preset grasping cycle; after controlling the glass stacker system to perform corresponding glass stacking operations according to the analysis and judgment results, obtaining the motion status data of the glass stacker system in the motion execution mode.

[0009] In some embodiments of the first aspect of the present application, the method for determining the next state machine mode to which the glass stacker system needs to switch includes: when the glass stacker system is in a fault detection mode, judging whether the glass stacker system has a fault based on the acquired motion state data of the glass stacker system in a motion execution mode; if a fault exists, determining the fault type, and acquiring the fault state data corresponding to the fault type, and controlling the glass stacker system to switch to the motion execution mode based on the fault state data corresponding to the fault type; if no fault exists, controlling the glass stacker system to switch to a completion mode, and acquiring the completion state data of the glass stacker system in the completion mode.

[0010] In some embodiments of the first aspect of the present application, the motion execution mode includes a manual execution mode and an automatic execution mode; when the glass stacker system is in the motion execution mode, the glass stacker system is first controlled to switch to the manual execution mode; the method for determining the next state machine mode to which the glass stacker system needs to switch includes: when the glass stacker system is in the manual execution mode, according to the acquired current fault status data and / or the completion status data of the last preset grabbing cycle, the response mode of the glass stacker system is determined, and the response status data corresponding to the response mode is acquired; according to the response mode of the glass stacker system and the corresponding response status data, it is judged whether to control the glass stacker system to switch to the automatic execution mode.

[0011] In some embodiments of the first aspect of the present application, the response mode of the glass stacker system includes: a single-axis synchronous response mode, a multi-axis synchronous response mode, an inching response mode or a fault repair response mode; according to the response mode of the glass stacker system and the corresponding response status data, determining whether to control the glass stacker system to switch to the automatic execution mode includes any one or more of the following combinations: (1) if the response mode of the glass stacker system is a multi-axis synchronous response mode, and the response status data corresponding to the multi-axis synchronous response mode meets the synchronization condition, then controlling the glass stacker system to switch to the automatic execution mode Automatic execution mode; (2) if the response mode of the glass stacker system is a single-axis synchronous response mode, a jog response mode or a fault repair response mode, based on the response status data corresponding to the response mode, determine whether the condition for switching to the multi-axis synchronous response mode is met; and when the condition for switching to the multi-axis synchronous response mode is met, control the glass stacker system to switch to the multi-axis synchronous response mode, and obtain the response status data corresponding to the multi-axis synchronous response mode; and when the response status data corresponding to the multi-axis synchronous response mode meets the synchronization condition, control the glass stacker system to switch to the automatic execution mode.

[0012] In some embodiments of the first aspect of the present application, the completion mode includes a stop mode and a cycle start mode; the method for determining the next state machine mode to which the glass stacker system needs to switch includes: judging whether shutdown is required based on the acquired motion state data or fault state data; if shutdown is required, controlling the glass stacker system to switch to the stop mode; if shutdown is not required, controlling the glass stacker system to switch to the cycle start mode.

[0013] In some embodiments of the first aspect of the present application, the motor parameters include: motor resistance, motor power, origin position, or a combination of more thereof.

[0014] To achieve the above-mentioned object and other related objects, the second aspect of the present application provides a glass stacker system, including a state machine, wherein the state machine is used to execute the state machine-based glass stacker system control method as described above.

[0015] To achieve the above-mentioned purpose and other related purposes, the third aspect of the present application is a state machine applied to a glass stacker system, the state machine comprising: a control module and a mode determination module; the control module is used to control the glass stacker system to sequentially pass through an initialization mode, a motion execution mode, a fault detection mode, and a completion mode within a preset grasping cycle, so that the glass stacker system performs a glass stacking task; wherein, when the glass stacker system is in a current state machine mode, the glass stacker system is controlled to perform corresponding glass stacking operations and obtain state data of the glass stacker system in the current state machine mode; the mode determination module is used to determine the next state machine mode to which the glass stacker system needs to switch based on the acquired state data of the glass stacker system in the current state machine mode.

[0016] As described above, the state machine-based glass stacker system control method, system and state machine of the present application have the following beneficial effects:

[0017] In a preset grabbing cycle, the glass stacker system is controlled to go through the initialization mode, motion execution mode, fault detection mode, and completion mode in sequence, so that the glass stacker system performs the glass stacking task; wherein, when the glass stacker system is in the current state machine mode, the glass stacker system is controlled to perform the corresponding glass stacking operation and obtain the state data of the glass stacker system in the current state machine mode; according to the obtained state data of the glass stacker system in the current state machine mode, the next state machine mode that the glass stacker system needs to switch to is determined. In each state machine mode, the state machine quickly judges and decides the next action based on the current state data, thereby realizing rapid switching between state machine modes, reducing the delay of the system switching between different states, improving the response speed, thereby improving production efficiency, realizing fast and accurate glass stacking operations, and meeting the requirements of small size and high speed of high-speed fast stacks. In motion execution mode and fault detection mode, by real-time collection and analysis of status data and rapid adjustment of control strategies based on the analysis results, the impact of fault data is accurately eliminated, the occurrence of erroneous event information is avoided, and the efficiency and accuracy of the glass stacker in the glass production line are guaranteed. It ensures that the system can respond quickly to any abnormal situation, thereby improving the overall response speed.

[0018] Furthermore, through refined state machine design and control strategies, the system is able to minimize unnecessary motion, energy consumption, and downtime while ensuring performance and stability, thereby extending the life of the equipment and reducing maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Shown is a flow chart of a method for controlling a glass stacker system based on a state machine in one embodiment of the present application.

[0020] Figure 2 Shown is a state machine mode transition diagram of a glass stacker system in one embodiment of the present application.

[0021] Figure 3 Shown is another state machine mode transition diagram of a glass stacker system in one embodiment of the present application.

[0022] Figure 4 Shown is an application scenario diagram of a glass stacker system in one embodiment of the present application.

[0023] Figure 5 Shown is a schematic block diagram of a state machine applied to a glass stacker system in one embodiment of the present application. DETAILED DESCRIPTION

[0024] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0025] Before further describing the present invention in detail, the nouns and terms involved in the embodiments of the present invention are explained. The nouns and terms involved in the embodiments of the present invention are applicable to the following interpretations:

[0026] <1> A glass stacker is an automated device used to stack glass sheets together during the glass processing process.

[0027] To facilitate understanding of the embodiments of the present application, first Figure 1 Detailed description. Figure 1 The flow chart of the glass stacker system control method based on the state machine in the embodiment of the present invention is shown. The glass stacker system control method based on the state machine in this embodiment is applied to the state machine of the glass stacker system, and the glass stacker system includes multiple state machine modes; the state machine modes include: initialization mode, motion execution mode, fault detection mode, and completion mode; the glass stacker system control method based on the state machine includes:

[0028] Within a preset grabbing cycle, the glass stacker system is controlled to sequentially pass through an initialization mode, a motion execution mode, a fault detection mode, and a completion mode, so that the glass stacker system performs a glass stacking task; wherein, when the glass stacker system is in a current state machine mode, the glass stacker system is controlled to perform corresponding glass stacking operations and obtain state data of the glass stacker system in the current state machine mode; and based on the obtained state data of the glass stacker system in the current state machine mode, the next state machine mode to which the glass stacker system needs to switch is determined.

[0029] In this embodiment, if Figure 1 As shown, within a preset grabbing cycle, the glass stacker system is controlled to sequentially pass through an initialization mode, a motion execution mode, a fault detection mode, and a completion mode, so that the glass stacker system performs a glass stacking task, which mainly includes the following steps:

[0030] S101: When the glass stacker system is in an initialization mode, the motor parameters in the glass stacker system are initialized and configured to control the glass stacker system to be in an initial state position, and after obtaining the initialization state data of the glass stacker system, the glass stacker system is controlled to switch to a motion execution mode.

[0031] S102: When the glass stacker system is in the motion execution mode, the acquired current fault status data and / or the completion status data of the last preset grabbing cycle are analyzed and judged.

[0032] S103: After controlling the glass stacker system to execute the corresponding glass stacking operation according to the analysis and judgment result, obtaining the motion state data of the glass stacker system in the motion execution mode, and controlling the glass stacker system to switch to the fault detection mode.

[0033] S104: when the glass stacker system is in the fault detection mode, judging whether the glass stacker system has a fault according to the acquired motion state data of the glass stacker system in the motion execution mode.

[0034] S105: If a fault exists, determine the fault type, obtain fault status data corresponding to the fault type, and control the glass stacker system to switch to a motion execution mode according to the fault status data corresponding to the fault type.

[0035] S106: If there is no fault, control the glass stacker system to switch to a completion mode, and obtain completion status data of the glass stacker system in the completion mode.

[0036] In this embodiment, the completion mode includes a stop mode and a cycle start mode. When the glass stacker system is in the stop mode, it means that the glass stacker system no longer performs the grabbing process and stops running. When the glass stacker system is in the cycle start mode, it means that the glass stacker system completes the entire process of grabbing, sorting, warehousing, and distribution, and then performs a glass stacking task of a complete preset grabbing cycle for the next piece of glass.

[0037] In this embodiment, if Figure 2 As shown, the state machine mode transition diagram of the glass stacker system in the embodiment of the present invention is shown. In a complete preset grabbing cycle, the glass stacker system sequentially passes through the initialization mode, motion execution mode, fault detection mode (judging the fault state), and completion mode, and finally completes the entire action process of grabbing, sorting, warehousing, and distribution.

[0038] In this embodiment, the state data includes one or more of initialization state data, response state data, motion state data, fault state data, and completion state data; the method for determining the next state machine mode that the glass stacker system needs to switch to includes: when the glass stacker system is in the initialization mode, the motor parameters in the glass stacker system are initialized and configured to control the glass stacker system to be in the initial state position, and after obtaining the initialization state data of the glass stacker system, the glass stacker system is controlled to switch to the motion execution mode. Initializing the motor parameters ensures that the glass stacker system can quickly and accurately reach the initial state position, which helps to reduce the delay when the system starts and improve the response speed.

[0039] In this embodiment, the motor parameters include: one or more combinations of motor resistance, motor power, and origin position. When the glass stacker system is in initialization mode, the motor parameters of each stacking robot in the glass stacker system are set and stored at optimal values ​​to control the glass stacker system to be in the optimal initial state position, and obtain the initialization state data of the glass stacker system. The initialization state data includes but is not limited to: the current position, speed, acceleration, sensor state, etc. of the stacker.

[0040] In this embodiment, once it is confirmed that the glass stacker system has been correctly initialized and is ready to enter the motion execution mode, a command can be sent through the state machine to switch the glass stacker system from the initialization mode to the motion execution mode.

[0041] In this embodiment, when the glass stacker system is in the current state machine mode, the method of controlling the glass stacker system to perform corresponding glass stacking operations and obtaining the status data of the glass stacker system in the current state machine mode includes: when the glass stacker system is in the motion execution mode, analyzing and judging the acquired current fault status data and / or the completion status data of the last preset grabbing cycle; after controlling the glass stacker system to perform corresponding glass stacking operations according to the analysis and judgment results, obtaining the motion status data of the glass stacker system in the motion execution mode.

[0042] In this embodiment, the motion execution mode includes a manual execution mode and an automatic execution mode; when the glass stacker system is in the motion execution mode, the glass stacker system is first controlled to switch to the manual execution mode; the method for determining the next state machine mode to which the glass stacker system needs to switch includes: when the glass stacker system is in the manual execution mode, according to the acquired current fault status data and / or the completion status data of the last preset grabbing cycle, determining the response mode of the glass stacker system, and acquiring the response status data corresponding to the response mode; according to the response mode of the glass stacker system and the corresponding response status data, judging whether to control the glass stacker system to switch to the automatic execution mode.

[0043] In this embodiment, the response mode of the glass stacker system includes: single-axis synchronous response mode, multi-axis synchronous response mode, inching response mode or fault repair response mode; according to the response mode of the glass stacker system and the corresponding response status data, determining whether to control the glass stacker system to switch to the automatic execution mode includes any one or more of the following combinations:

[0044] (1) If the response mode of the glass stacker system is a multi-axis synchronous response mode, and the response state data corresponding to the multi-axis synchronous response mode meets the synchronization condition, the glass stacker system is controlled to switch to the automatic execution mode.

[0045] (2) If the response mode of the glass stacker system is a single-axis synchronous response mode, a jog response mode or a fault repair response mode, based on the response status data corresponding to the response mode, determine whether the condition for switching to the multi-axis synchronous response mode is met; and when the condition for switching to the multi-axis synchronous response mode is met, control the glass stacker system to switch to the multi-axis synchronous response mode, and obtain the response status data corresponding to the multi-axis synchronous response mode; and when the response status data corresponding to the multi-axis synchronous response mode meets the synchronization condition, control the glass stacker system to switch to the automatic execution mode.

[0046] In this embodiment, in a complete preset grabbing cycle, the glass stacker system first enters the manual execution mode after configuring the motor parameters in the initialization mode. When the glass stacker system is in the manual execution mode, it analyzes and judges the fault status data in the fault detection mode and / or the completion status data of the last preset grabbing cycle, including whether the glass is successfully grabbed, whether the placement position is accurate, whether the glass rack turntable is in place, whether there is any abnormality, etc., to evaluate the preparation and potential risks of the current stacking operation, so as to determine the response mode of the glass stacker system and obtain the response status data corresponding to the response mode, which includes: the position, speed, acceleration, fault type, repair steps, etc. of the motion axis.

[0047] In this embodiment, the single-axis synchronous response mode indicates that the position of a certain axis deviates from the expected target, and the specific axis and the amount of correction that need to be corrected are determined by using the fault status data in the fault detection mode and / or the completion status data of the last preset grabbing cycle. By adjusting the speed, direction or torque and other parameters of the motor, the target axis is precisely controlled and adjusted to achieve the expected position or motion state, and the corresponding response status data is obtained until the conditions for switching to the multi-axis synchronous response mode are met, and the glass stacker system is controlled to enter the multi-axis synchronous response mode, and then switched to the automatic execution mode.

[0048] In this embodiment, the multi-axis synchronous response mode indicates that multiple motion axes of the glass stacker system are working together to complete a complex task. In this case, when the response state data corresponding to the multi-axis synchronous response mode meets the synchronization conditions (such as whether the position, speed, acceleration, etc. of each axis are coordinated and consistent), the glass stacker system is controlled to switch to the automatic execution mode, and different operation instructions are issued to the glass stacker system to complete a whole glass stacking task such as grabbing, sorting, warehousing, and distribution.

[0049] In this embodiment, the inching response mode indicates that the glass stacker system needs to make a slight position adjustment. After the adjustment, the corresponding response state data is fed back to the state machine. When the conditions for switching to the multi-axis synchronous response mode are met, the glass stacker system is controlled to switch to the multi-axis synchronous response mode, and then switch to the automatic execution mode.

[0050] In this embodiment, the fault repair response mode indicates that a fault exists in the glass stacker system and needs to be repaired. When the fault has been successfully repaired and the glass stacker system has been restored to a safe and operable state, the corresponding response state data is fed back to the state machine. When the conditions for switching to the multi-axis synchronous response mode are met, the glass stacker system is controlled to switch to the multi-axis synchronous response mode, and then switch to the automatic execution mode.

[0051] In this embodiment, the manual execution mode allows the operator to make preliminary adjustments and tests to reduce the risk of automatic execution. The introduction of multiple response modes enables the system to make the best decision based on the current situation to improve the accuracy and efficiency of the stacking operation. By rationally utilizing the fault status data and the completion status data of the previous preset grab cycle, accurate judgments and decisions can be made to ensure the smooth progress and efficient management of the stacking operation.

[0052] In this embodiment, when the glass stacker system is in the automatic execution mode, the state machine sends different operation instructions to the glass stacker system to enable the glass stacker system to perform corresponding glass stacking operation tasks, thereby completing a whole process of grabbing, sorting, warehousing, and distribution. After obtaining the motion state data of the glass stacker system in the automatic execution mode, the glass stacker system is controlled to switch to the fault detection mode.

[0053] In this embodiment, the state machine continuously monitors the state and operation results of the glass stacker system, accurately eliminates the influence of fault data, avoids the occurrence of error event information, ensures that the glass stacker system can correctly and quickly complete tasks under various circumstances, reduces downtime and maintenance costs caused by faults, ensures the efficiency and accuracy of the glass stacker in the glass production line, and improves the reliability and safety of the system. This efficient motion execution mode helps to meet the requirements of small size and high speed of high-speed fast reactors.

[0054] In this embodiment, the method for determining the next state machine mode to which the glass stacker system needs to switch includes: when the glass stacker system is in the fault detection mode, judging whether the glass stacker system has a fault based on the acquired motion state data of the glass stacker system in the motion execution mode; if a fault exists, determining the fault type, and acquiring the fault state data corresponding to the fault type, and controlling the glass stacker system to switch to the motion execution mode based on the fault state data corresponding to the fault type; if no fault exists, controlling the glass stacker system to switch to the completion mode, and acquiring the completion state data of the glass stacker system in the completion mode.

[0055] In this embodiment, after the glass stacker system completes the corresponding glass stacking operation task in the motion execution mode, the motion state data recorded by the system in the motion execution mode is fed back to the state machine. These data include but are not limited to: the position, speed, acceleration, motor current, temperature and other key parameters of each moving part.

[0056] In this embodiment, the motion state data is analyzed to determine whether there is an abnormality or fault in the glass stacker system. If the data analysis result shows that there is an abnormality or data that deviates from the normal operating range, it is determined that there is a fault, and the fault type is determined and the fault state data corresponding to the fault type is obtained, and then the glass stacker system is controlled to switch to the fault repair response mode. The fault types include but are not limited to: motor overload state, glass damage state, roller sheet retention state, etc. The fault state data describes the nature, location or severity of the fault. After the operator repairs the fault, the system feeds back the corresponding response state data to the state machine, and when the conditions for switching to the multi-axis synchronous response mode are met, the glass stacker system is controlled to switch to the multi-axis synchronous response mode, and then switch to the automatic execution mode.

[0057] In this embodiment, if no fault is found in the fault detection mode, it means that the current operation is successful, and the glass stacker system is controlled to switch to the completion mode. In the completion mode, the completion status data is obtained, and the completion status data includes: key performance indicators such as the time, efficiency, and energy consumption of the operation completion. The fault detection mode is used to promptly discover and handle faults to avoid downtime or response delays caused by faults. At the same time, after the type of fault is determined, the control system can quickly switch back to the motion execution mode to continue to perform the task, thereby maintaining a high response speed. This flexible fault handling strategy helps to ensure that the system maintains stability and reliability during high-speed operation, thereby meeting the needs of high-speed fast reactors.

[0058] In this embodiment, the completion mode includes a stop mode and a cycle start mode; the method of determining the next state machine mode that the glass stacker system needs to switch to includes: judging whether shutdown is required based on the acquired motion state data or fault state data; if shutdown is required, controlling the glass stacker system to switch to the stop mode; if shutdown is not required, controlling the glass stacker system to switch to the cycle start mode.

[0059] In this embodiment, when the glass stacker system completes the glass stacking task of a preset grabbing cycle, or needs to stop working for some reason (such as failure, maintenance needs, etc.), the system will enter the shutdown mode. In the shutdown mode, all moving parts will stop moving and the system will enter the standby state. When the glass stacker system successfully completes the entire action process of grabbing, sorting, warehousing, and distribution of a preset grabbing cycle, and no failure or abnormality is detected, the system will prepare to enter the next grabbing cycle. At this time, the system will switch to the cycle start mode to prepare for the start of the next cycle.

[0060] In this embodiment, it is determined whether the machine needs to be stopped based on the acquired motion state data or fault state data. If the data indicates that there is a fault or abnormality (such as motor overheating, sensor failure, etc.), or a shutdown instruction (such as maintenance requirements, operator intervention, etc.) is received, the glass stacker system is controlled to switch to the shutdown mode, all moving parts stop moving, and the system enters the standby state. If it is not necessary to stop, the glass stacker system is controlled to switch to the cycle start mode to prepare for the start of the next preset grab cycle.

[0061] In this embodiment, the completion mode is subdivided into a stop mode and a cycle start mode, and the next state machine mode is determined according to the motion state data or the fault state data, which provides higher flexibility and reliability for the glass stacker system. This design allows the system to make the best decision based on the current situation to ensure the smooth progress and efficient management of the stacking operation. At the same time, it also reduces the downtime of the system caused by failures or abnormalities, and improves the overall performance and efficiency.

[0062] In this embodiment, if Figure 3 As shown, another state machine mode transition diagram of the glass stacker system in the embodiment of the present invention is shown. In a complete preset grabbing cycle, after the glass stacker system is controlled to pass the initialization mode, it first enters the manual execution mode. When the response mode of the glass stacker system is the multi-axis synchronous response mode, and the response state data corresponding to the multi-axis synchronous response mode meets the synchronization condition, the glass stacker system is controlled to switch to the automatic execution mode. After the glass stacker system performs the corresponding glass stacking operation task in the automatic execution mode, the glass stacker system is controlled to switch to the fault detection mode (to judge the fault state) and the completion mode in sequence, and finally completes the entire action process of grabbing, sorting, warehousing, and distribution.

[0063] It is worth noting that the state machine-based glass stacker system control method in the present application controls the glass stacker system to pass through the initialization mode, motion execution mode, fault detection mode, and completion mode in sequence within a preset grabbing cycle, so that the glass stacker system performs the glass stacking task; wherein, when the glass stacker system is in the current state machine mode, the glass stacker system is controlled to perform the corresponding glass stacking operation and obtain the state data of the glass stacker system in the current state machine mode; according to the obtained state data of the glass stacker system in the current state machine mode, the next state machine mode to be switched by the glass stacker system is determined. In each state machine mode, the state machine quickly judges and decides the next action based on the current state data, thereby realizing rapid switching between state machine modes, reducing the delay of the system switching between different states, improving the response speed, thereby improving production efficiency, realizing fast and accurate glass stacking operations, and meeting the requirements of small size and high speed of high-speed fast stacks. In motion execution mode and fault detection mode, by real-time collection and analysis of status data and rapid adjustment of control strategies based on the analysis results, the impact of fault data is accurately eliminated, the occurrence of erroneous event information is avoided, and the efficiency and accuracy of the glass stacker in the glass production line are guaranteed. It ensures that the system can respond quickly to any abnormal situation, thereby improving the overall response speed.

[0064] Furthermore, through refined state machine design and control strategies, the system is able to minimize unnecessary motion, energy consumption, and downtime while ensuring performance and stability, thereby extending the life of the equipment and reducing maintenance costs.

[0065] It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" represent examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0066] In the embodiments of the present application, "at least one" refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can represent: a, b, c, ab, ac, bc or abc, where a, b, c can be single or multiple.

[0067] The present application also provides a glass stacker system, which includes a state machine, and the state machine is used to execute the state machine-based glass stacker system control method as described above.

[0068] In this embodiment, if Figure 4 As shown, it is an application scenario diagram of the glass stacker system in the embodiment of the present invention. The glass stacker system includes multiple stackers, a control console, a switch, a PLC controller, and an operating console. Each stacker is equipped with key execution modules, such as a six-axis robot module, a conveyor belt module, and a stacking turntable module. The six-axis robot module is responsible for accurately controlling the movement of the robot arm to achieve the grabbing and handling of the glass plate. The conveyor belt module is used to transport the glass plate from one position to another to achieve continuous processing of the glass plate. The stacking turntable module is responsible for stacking the glass plates in a predetermined manner to form a neat glass pile. These modules work together to achieve automatic stacking, handling and stacking of glass plates. The state machine is configured in the control console and is a device that can determine the next state of the system based on the input signal and the current state. In the glass stacker system, the state machine is responsible for controlling the operation of each stacker to ensure that they are executed according to the predetermined logic and process. As the core device of data communication, the switch interacts with each stacker for data. It can obtain the status data of the stacker system in different state machine modes in real time, such as the current working status, progress, error information, etc., so that the state machine can execute the glass stacker system control method based on the state machine as described above. These data are crucial to the state machine because they determine the control strategy that the state machine should take next. The PLC controller receives control instructions from the state machine to control the six-axis robot module, conveyor belt module, stacking turntable module, etc. in each stacker to perform corresponding operations to ensure the coordinated operation of the entire system. The control console is a device in the glass stacker system used to monitor the entire system and is the main interaction interface between the operator and the glass stacker system.

[0069] Figure 5 5 is a schematic block diagram of a state machine applied to a glass stacker system provided in an embodiment of the present application. The state machine 500 applied to a glass stacker system comprises: a control module 501 and a mode determination module 502 .

[0070] The control module 501 is used to control the glass stacker system to go through the initialization mode, motion execution mode, fault detection mode and completion mode in sequence within a preset grabbing cycle, so that the glass stacker system performs the glass stacking task; wherein, when the glass stacker system is in the current state machine mode, the glass stacker system is controlled to perform the corresponding glass stacking operation and obtain the state data of the glass stacker system in the current state machine mode.

[0071] The mode determination module 502 is used to determine the next state machine mode that the glass stacker system needs to switch to based on the acquired state data of the glass stacker system in the current state machine mode.

[0072] It should be understood that the specific process of each module executing the above corresponding steps has been described in detail in the above method embodiment, and for the sake of brevity, it will not be repeated here.

[0073] It should also be understood that the division of modules in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional module in each embodiment of the present application may be integrated into a processor, or may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated modules may be implemented in the form of hardware or in the form of software functional modules.

[0074] The terms "component", "module", "system", etc. used in this specification are used to represent computer-related entities, hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program and / or a computer. By way of illustration, both applications running on a computing device and a computing device can be components. One or more components may reside in a process and / or an execution thread, and a component may be located on a computer and / or distributed between two or more computers. In addition, these components may be executed from various computer-readable media having various data structures stored thereon. Components may, for example, communicate through local and / or remote processes according to signals having one or more data packets (e.g., data from two components interacting with another component between a local system, a distributed system and / or a network, such as the Internet interacting with other systems through signals).

[0075] Those of ordinary skill in the art will appreciate that the various illustrative logical blocks and steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0076] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0077] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only 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 devices or units, which can be electrical, mechanical or other forms.

[0078] 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 network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0079] In addition, each functional unit in each embodiment of the present application 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.

[0080] In the above embodiments, the functions of each functional unit can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions (programs). When loading and executing computer program instructions (programs) on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. Computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media integrations. Available media may be magnetic media (e.g., floppy disks, hard disks, tapes), optical media (e.g., high-density digital video discs (DVDs), or semiconductor media (e.g., solid state disks (SSDs), etc.).

[0081] If the function 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 application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program codes.

[0082] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0083] In summary, the present application provides a state machine-based glass stacker system control method, system and state machine. In each state machine mode, the state machine quickly judges and decides the next action based on the current state data, thereby realizing rapid switching between state machine modes, reducing the delay of the system switching between different states, improving the response speed, thereby improving production efficiency, and realizing fast and accurate glass stacking operations, meeting the requirements of high-speed fast stacks with small size and high speed. In the motion execution mode and fault detection mode, by collecting and analyzing state data in real time, and quickly adjusting the control strategy according to the analysis results, the influence of fault data is accurately eliminated, and the occurrence of error event information is avoided, thereby ensuring the efficiency and accuracy of the glass stacker in the glass production line, and ensuring that the system can quickly respond to any abnormal situation, thereby improving the overall response speed. Therefore, the present application effectively overcomes the various shortcomings in the prior art and has a high industrial utilization value.

[0084] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A glass stacker system control method based on a state machine, characterized in that: A state machine applied to a glass stacker system, the glass stacker system comprising a plurality of state machine modes; the state machine modes comprising: an initialization mode, a motion execution mode, a fault detection mode, and a completion mode; the state machine-based glass stacker system control method comprising: In a preset grabbing cycle, the glass stacker system is controlled to sequentially pass through an initialization mode, a motion execution mode, a fault detection mode, and a completion mode, so that the glass stacker system performs a glass stacking task; Wherein, when the glass stacker system is in the current state machine mode, the glass stacker system is controlled to perform corresponding glass stacking operations and the state data of the glass stacker system in the current state machine mode is obtained; According to the acquired state data of the glass stacker system in the current state machine mode, the next state machine mode to which the glass stacker system needs to switch is determined.

2. The state machine-based glass stacker system control method according to claim 1, characterized in that: The state data includes one or a combination of initialization state data, response state data, motion state data, fault state data, and completion state data; The method of determining the next state machine mode that the glass stacker system needs to switch to includes: When the glass stacker system is in the initialization mode, the motor parameters in the glass stacker system are initialized and configured to control the glass stacker system to be in the initial state position, and after obtaining the initialization state data of the glass stacker system, the glass stacker system is controlled to switch to the motion execution mode.

3. The state machine-based glass stacker system control method according to claim 2, characterized in that: When the glass stacker system is in the current state machine mode, the method of controlling the glass stacker system to perform the corresponding glass stacking operation and obtaining the state data of the glass stacker system in the current state machine mode includes: When the glass stacker system is in the motion execution mode, the acquired current fault status data and / or the completion status data of the last preset grabbing cycle are analyzed and judged; After controlling the glass stacking machine system to execute the corresponding glass stacking operation according to the analysis and judgment result, the motion state data of the glass stacking machine system in the motion execution mode is obtained.

4. The glass stacker system control method based on a state machine according to claim 2, characterized in that: The method of determining the next state machine mode that the glass stacker system needs to switch to includes: When the glass stacker system is in a fault detection mode, judging whether the glass stacker system has a fault according to the acquired motion state data of the glass stacker system in a motion execution mode; If a fault exists, determining the fault type, acquiring fault status data corresponding to the fault type, and controlling the glass stacker system to switch to a motion execution mode according to the fault status data corresponding to the fault type; If there is no fault, the glass stacker system is controlled to switch to the completion mode, and completion status data of the glass stacker system in the completion mode is obtained.

5. The state machine-based glass stacker system control method according to claim 2, characterized in that: The motion execution mode includes a manual execution mode and an automatic execution mode; when the glass stacker system is in the motion execution mode, the glass stacker system is first controlled to switch to the manual execution mode; the method for determining the next state machine mode to be switched by the glass stacker system includes: When the glass stacker system is in a manual execution mode, determining a response mode of the glass stacker system according to the acquired current fault status data and / or the completion status data of the last preset grabbing cycle, and acquiring response status data corresponding to the response mode; According to the response mode of the glass stacker system and the corresponding response status data, it is determined whether to control the glass stacker system to switch to the automatic execution mode.

6. The state machine-based glass stacker system control method according to claim 5, characterized in that: The response mode of the glass stacker system includes: a single-axis synchronous response mode, a multi-axis synchronous response mode, a jog response mode or a fault repair response mode; according to the response mode of the glass stacker system and the corresponding response status data, determining whether to control the glass stacker system to switch to the automatic execution mode includes any one or more of the following combinations: (1) If the response mode of the glass stacker system is a multi-axis synchronous response mode, and the response state data corresponding to the multi-axis synchronous response mode satisfies the synchronization condition, then the glass stacker system is controlled to switch to an automatic execution mode; (2) If the response mode of the glass stacker system is a single-axis synchronous response mode, a jog response mode or a fault repair response mode, based on the response status data corresponding to the response mode, determine whether the condition for switching to the multi-axis synchronous response mode is met; and when the condition for switching to the multi-axis synchronous response mode is met, control the glass stacker system to switch to the multi-axis synchronous response mode, and obtain the response status data corresponding to the multi-axis synchronous response mode; and when the response status data corresponding to the multi-axis synchronous response mode meets the synchronization condition, control the glass stacker system to switch to the automatic execution mode.

7. The state machine-based glass stacker system control method according to claim 2, characterized in that: The completion mode includes a stop mode and a cycle start mode; the method for determining the next state machine mode that the glass stacker system needs to switch to includes: Determine whether shutdown is required based on the acquired motion status data or fault status data; If shutdown is required, the glass stacker system is controlled to switch to shutdown mode; If it is not necessary to stop the machine, the glass stacker system is controlled to switch to the cycle start mode.

8. The state machine-based glass stacker system control method according to claim 2, characterized in that: The motor parameters include: motor resistance, motor power, origin position, or a combination of the two or more.

9. A glass stacker system, characterized in that: It comprises a state machine, and the state machine is used to execute the state machine-based glass stacking machine system control method as described in any one of claims 1-8.

10. A state machine applied to a glass stacking machine system, characterized in that: The state machine includes: a control module and a mode determination module; The control module is used to control the glass stacker system to go through the initialization mode, motion execution mode, fault detection mode, and completion mode in sequence within a preset grabbing cycle, so that the glass stacker system performs the glass stacking task; wherein, when the glass stacker system is in the current state machine mode, the glass stacker system is controlled to perform the corresponding glass stacking operation and obtain the state data of the glass stacker system in the current state machine mode; The mode determination module is used to determine the next state machine mode that the glass stacker system needs to switch to based on the acquired state data of the glass stacker system in the current state machine mode.

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