Industrial robot scheduling method, system, equipment and medium

Abstract

The invention relates to an industrial robot scheduling method, system and device and a medium. The method comprises the steps that the product production condition of a production line is acquired; determining a to-be-carried product and a material taking position of the to-be-carried product based on the production condition of the product; based on the to-be-carried product, a discharging position corresponding to the to-be-carried product is obtained; based on the to-be-carried product, the material taking position and the material placing position, a dispatching instruction of an industrial robot used for carrying the to-be-carried product is obtained; and controlling the industrial robot to carry the to-be-carried product based on the scheduling instruction. The problems that in the prior art, when an industrial robot is dispatched, various robot control systems used are incompatible, the dispatch complexity is increased, and the later maintenance cost is increased are solved.

Description

Background Art

[0002] In the current industrial automation field, the scheduling of industrial robots mainly depends on the ability of individual engineers. Industrial robots are usually scheduled through multiple robot control systems, and there is a lack of a unified standardized scheduling procedure. Due to the incompatibility between multiple robot control systems, the scheduling is more complicated, making it difficult for new employees to quickly get started, and increasing the cost of subsequent maintenance. Summary of the invention

[0003] In order to overcome the problem of incompatibility between multiple robot control systems used in the prior art when scheduling industrial robots, which not only increases the complexity of scheduling but also increases the cost of subsequent maintenance, the present application provides a scheduling method, system, device and medium for an industrial robot.

[0004] In the first aspect, in order to solve the above technical problems, the present application provides a scheduling method for an industrial robot, comprising:

[0005] Obtain the product production status of the production line;

[0006] Based on the product production situation, determine the products to be transported and the material collection location of the products to be transported;

[0007] Obtaining a discharge position corresponding to the product to be transported based on the product to be transported;

[0008] Based on the product to be transported, the material picking position and the material placing position, a scheduling instruction for an industrial robot for transporting the product to be transported is obtained;

[0009] The industrial robot is controlled to move the products to be moved based on the scheduling instructions.

[0010] In a second aspect, the present application also provides a scheduling system for an industrial robot, comprising:

[0011] An acquisition module is used to obtain the product production status of the production line;

[0012] A determination module, used to determine the products to be transported and the material collection location of the products to be transported based on the product production situation;

[0013] A first obtaining module is used to obtain a discharge position corresponding to the product to be transported based on the product to be transported;

[0014] A second obtaining module is used to obtain a scheduling instruction of an industrial robot for transporting the product to be transported based on the product to be transported, the material picking position and the material placing position;

[0015] The scheduling module is used to control the industrial robot to move the products to be moved based on the scheduling instructions.

[0016] In a third aspect, the present application also provides a computing device, including a memory, a processor, and a program stored in the memory and running on the processor, and when the processor executes the program, the steps of a scheduling method for an industrial robot as described above are implemented.

[0017] In a fourth aspect, the present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the steps of a scheduling method for an industrial robot.

[0018] The beneficial effects of the present application are: through the production situation of the products on the production line, the products to be transported and the corresponding material collection positions are determined, and based on the material discharge position determined by the products to be transported, the products to be transported and the material discharge position, the scheduling instructions of the industrial robot used to transport the products to be transported are obtained, and the industrial robot is controlled to transport the products to be transported based on the scheduling instructions. In this way, only one control system is needed to determine the scheduling instructions of the industrial robot, and control the industrial robot to execute the scheduling instructions to transport the products to be transported, so that the scheduling process is simplified and the complexity of scheduling is reduced. Even if a temporary replacement is made to schedule the industrial robot, it can be quickly started. At the same time, compared with the cost of maintaining multiple systems when multiple incompatible robot control systems are used in the prior art to schedule industrial robots, the present application only needs to maintain one control system, thereby reducing the system maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic flow chart of a method for scheduling an industrial robot according to an exemplary embodiment of the present application;

[0020] Figure 2 This is a flow chart of a scheduling method for an industrial robot provided by the application in an exemplary embodiment of the present application;

[0021] Figure 3 The present invention is a schematic structural diagram of an industrial robot scheduling system according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0022] The following examples are provided to further explain and supplement the present application and do not constitute any limitation to the present application.

[0023] The following describes an industrial robot scheduling method, system, device and medium according to an embodiment of the present application in conjunction with the accompanying drawings.

[0024] An industrial robot scheduling method according to an embodiment of the present application is applied to a terminal device. In the present application scheme, the terminal device is used as the execution subject to illustrate the present application scheme. The terminal device is used to execute the steps of an industrial robot scheduling method.

[0025] See also Figure 1 , Figure 1 A scheduling method for an industrial robot is shown as an exemplary embodiment of the present application, such as Figure 1 As shown, the present application provides a scheduling method for an industrial robot, comprising:

[0026] Step S11, obtaining the product production status of the production line;

[0027] Step S12, based on the product production situation, determining the product to be transported and the material collection location of the product to be transported;

[0028] Step S13, obtaining a discharge position corresponding to the product to be transported based on the product to be transported;

[0029] Step S14, obtaining a scheduling instruction for an industrial robot for transporting the product to be transported based on the product to be transported, the material picking position and the material placing position;

[0030] Step S15, controlling the industrial robot to carry the product to be carried based on the scheduling instruction.

[0031] The scheduling method of an industrial robot in this embodiment determines the product to be transported and the corresponding material picking position through the product production situation of the production line, and obtains the scheduling instruction of the industrial robot for transporting the product to be transported based on the material discharge position determined by the product to be transported, the product to be transported and the material discharge position, and controls the industrial robot to transport the product to be transported based on the scheduling instruction. In this way, only one control system is needed to determine the scheduling instruction of the industrial robot, and control the industrial robot to execute the scheduling instruction to transport the product to be transported, so that the scheduling process is simplified and the complexity of scheduling is reduced. Even if a temporary replacement is made to schedule the industrial robot, it can be quickly started. At the same time, compared with the cost of maintaining multiple systems when multiple incompatible robot control systems are used in the prior art to schedule industrial robots, only one control system needs to be maintained in this embodiment, thereby reducing the system maintenance cost.

[0032] Optionally, based on the product production situation, determining the product to be transported and the material collection location of the product to be transported includes:

[0033] Acquiring product production status including at least one completed product and the placement location of each completed product;

[0034] The product to be transported is determined from at least one completed product using a preset rule, and the placement position corresponding to the product to be transported is used as the material picking position.

[0035] In this embodiment, at least one completed product on the production line and the placement position of each completed product can be understood based on the product production situation. The preset rules can be used to determine the product to be transported from the at least one completed product according to the urgency of the transportation of each completed product, and the placement position corresponding to the product to be transported is used as the material picking position, so that each completed product can be transported in a timely and orderly manner, thereby reducing the risk of tipping caused by product accumulation and squeezing, and reducing the risk of product damage. Among them, the preset rule is to use the product with the highest height from the ground and the shortest distance from the industrial robot as the product to be transported among at least one completed product. When there are two or more highest heights, the product with the shortest distance from the industrial robot is used as the product to be transported. When there are two or more shortest distances, the product with the highest height from the ground is used as the product to be transported.

[0036] Optionally, obtaining a discharge position corresponding to the product to be transported based on the product to be transported includes:

[0037] Determine the target unloading warehouse that matches the product to be transported from each unloading warehouse;

[0038] Obtain the product placement status in the target material storage warehouse;

[0039] Based on the product placement situation, the corresponding discharge position of the product to be transported is obtained.

[0040] In this embodiment, a target unloading warehouse matching the product to be transported is determined from each unloading warehouse, and the current placement position in the target unloading warehouse can be understood based on the product placement situation in the target unloading warehouse, thereby obtaining the unloading position where the product to be transported can be placed, so that the subsequent industrial robot can accurately transport the product to be transported to the designated unloading position.

[0041] Optionally, obtaining a discharge position corresponding to the product to be transported based on the product placement situation includes:

[0042] Based on the preset placement order and product placement situation, determine the current placement position;

[0043] The current position to be placed is used as the discharge position corresponding to the product to be transported.

[0044] In this embodiment, the preset placement order is from inside to outside, from left to right, and from bottom to top.

[0045] Optionally, based on the product to be transported, the material picking position and the material placing position, a scheduling instruction for an industrial robot for transporting the product to be transported is obtained, including:

[0046] Finding a program instruction matching the product to be transported from the first preset table;

[0047] Find out the position instruction matching the material taking position from the second preset table;

[0048] Find out the direction instruction matching the direction from the material picking position to the material discharging position from the third preset table;

[0049] Obtaining behavioral motion paths of other industrial robots except the industrial robot used for carrying the product to be carried;

[0050] Based on the action route, the target action path of the industrial robot for transporting the product to be transported is planned;

[0051] Find out the trajectory instruction matching the target behavior action path from the fourth preset table;

[0052] Program instructions, position instructions, direction instructions and trajectory instructions are used as scheduling instructions for industrial robots.

[0053] In this embodiment, the position instruction, position instruction, direction instruction and trajectory instruction are found from the first preset table, the second preset table, the third preset table and the fourth preset table, and the program instruction, position instruction, direction instruction and trajectory instruction are used as the scheduling instruction of the industrial robot. When the product to be transported, the material picking position and the material placing position are known, the scheduling instruction of the industrial robot for transporting the product to be transported can be directly obtained. The scheduling instruction is a scheduling program written by highly integrated standard functions, which can be executed by each industrial robot, thereby improving the versatility of the execution system of the scheduling method of the industrial robot, simplifying the process of scheduling different industrial robots, and reducing the complexity of scheduling. Among them, the program instruction found in the first preset table matches the type, volume and shape of the product to be transported.

[0054] In this embodiment, the program instruction corresponds to a program number. In a flexible production line, there is a situation where multiple products are mixed and produced. The different products produced are distinguished by program numbers. When executing program instructions corresponding to different program numbers, the material placement position of the industrial robot can be obtained based on the type, size, shape and other characteristics of the product corresponding to the program number. A direction instruction corresponds to a direction number, and the direction instruction is an instruction corresponding to the direction task to be performed by the industrial robot. For example, the direction task to be performed is to pick up materials from a certain place and put them in a certain place. A position instruction corresponds to a position number, and the position instruction is an instruction for the industrial robot to move to the material picking position where the object to be transported is located to pick up materials. A trajectory instruction corresponds to a Segment number, and the trajectory instruction is used to control the behavior of the industrial robot to prevent the industrial robot from colliding or performing wrong actions. The trajectory instruction is an instruction for the industrial robot to execute according to the target behavior path of the industrial robot to transport the product to be transported, which is planned based on the behavior path of other industrial robots other than the industrial robot used to transport the product to be transported.

[0055] Optionally, controlling the industrial robot to carry the product to be carried based on the scheduling instruction includes:

[0056] Based on the position command and the trajectory command, the industrial robot is controlled to move to a first target position, where the first target position is a position at a preset distance from the material picking position;

[0057] Based on program instructions, the industrial robot is controlled to identify the target area, which is a spherical area with the material picking position as the center and a preset length as the radius;

[0058] When the actual position of the product to be transported in the target area is identified, the industrial robot is controlled to perform a preset material picking action on the product to be transported based on the trajectory instruction, so that the product to be transported is placed on the industrial robot;

[0059] Based on the direction command and the trajectory command, the industrial robot is controlled to move from the material picking position to a second target position of the material discharging position, where the second target position is a position separated from the material discharging position by a preset distance;

[0060] Based on the trajectory instruction, the industrial robot is controlled to perform a preset unloading action on the product to be transported, so that the product to be transported is placed on the unloading position.

[0061] In this embodiment, first, the industrial robot is controlled to move to the first target position based on the position instruction and the trajectory instruction, and the industrial robot is controlled to identify the target area based on the program instruction. When the actual position of the product to be transported in the target area is identified, the industrial robot is controlled to perform a preset material picking action on the product to be transported based on the trajectory instruction, so that the product to be transported is placed on the industrial robot. In this way, when the industrial robot reaches the first target position, even if the product to be transported is shifted in a small range due to tipping, squeezing, etc., it can still identify the accurate actual position of the product to be transported, and accurately pick up the product to be transported at the actual position for transport, which can reduce the misoperation of the industrial robot and improve the accuracy of transport. Then, based on the direction instruction and the trajectory instruction, the industrial robot is controlled to move from the material picking position to the second target position of the material discharging position, and based on the trajectory instruction, the industrial robot is controlled to perform a preset material discharging action on the product to be transported, so that the product to be transported is placed on the material discharging position, so that the industrial robot executes the scheduling instruction to transport the product to be transported, which simplifies the scheduling process and reduces the complexity of scheduling.

[0062] In this embodiment, there are no obstacles in the first target position, and there are no obstacles between the first target position and the material picking position, so as to reduce the probability of the industrial robot being disturbed by obstacles when placing the product to be transported on the industrial robot, thereby reducing the time for the industrial robot to transport the product to be transported, and further improving the transport efficiency of the industrial robot. There are no obstacles in the second target position, and there are no obstacles between the second target position and the material discharging position, so as to reduce the probability of the industrial robot being disturbed by obstacles when placing the product to be transported on the material discharging position, thereby reducing the time for the industrial robot to transport the product to be transported, and further improving the transport efficiency of the industrial robot.

[0063] Optionally, the scheduling instruction further includes a tool instruction; based on the product to be transported, the material picking position and the material placing position, obtaining a scheduling instruction for an industrial robot for transporting the product to be transported includes:

[0064] Get tooling tasks for products to be moved;

[0065] Finding a tool instruction matching the tool task from a fifth preset table;

[0066] Program instructions, position instructions, direction instructions, trajectory instructions and tool instructions are used as scheduling instructions for industrial robots.

[0067] In this embodiment, some products may require corresponding tool tasks. In this case, when there are tool tasks to be executed for the products to be transported, tool instructions matching the tool tasks are found from the fifth preset table, and program instructions, position instructions, direction instructions, trajectory instructions and tool instructions are used as scheduling instructions for the industrial robot, so that the industrial robot can execute the tool tasks during the process of transporting the products to be transported. There is no need for manual execution of the tool tasks, thereby improving the degree of automated scheduling of the industrial robot.

[0068] In this embodiment, a tool task corresponds to a tool with an independent tool number. When there is a tool task to be executed for a product to be transported, the industrial robot executes the tool instruction corresponding to the tool task when it needs to interact with other devices corresponding to the tool task while transporting the product to be transported.

[0069] For example, if the tool task to be executed for the product to be transported is to take photos with a camera with a tool number of a1, then after the industrial robot obtains the product to be transported, it executes the tool instruction corresponding to the tool task to carry the product to be transported to the first range of the camera with a tool number of a1, and places the product to be transported in the shooting area of ​​the camera for taking photos. For another example, if the tool task to be executed for the product to be transported is to process with equipment A with a tool number of a2, then after the industrial robot obtains the product to be transported, it executes the tool instruction corresponding to the tool task to carry the product to be transported to the second range of equipment A with a tool number of a2, and places the product to be transported in the processing area of ​​equipment A for processing. For another example, if the tool task to be executed for the product to be transported is to assemble with equipment B with a tool number of a3, then after the industrial robot obtains the product to be transported, it executes the tool instruction corresponding to the tool task to carry the product to be transported to the third range of equipment B with a tool number of a3, and places the product to be transported in the assembly area of ​​equipment A for assembly.

[0070] Optionally, controlling the industrial robot to carry the product to be carried based on the scheduling instruction includes:

[0071] Based on the position command and the trajectory command, the industrial robot is controlled to move to a first target position, where the first target position is a position within a preset distance from the material picking position;

[0072] Based on program instructions, the industrial robot is controlled to identify the target area, which is a spherical area with the material picking position as the center and a preset length as the radius;

[0073] When the actual position of the product to be transported in the target area is identified, the industrial robot is controlled to perform a preset material picking action on the product to be transported based on the trajectory instruction, so that the product to be transported is placed on the industrial robot;

[0074] Based on the direction instruction and the trajectory instruction, the industrial robot is controlled to move from the material picking position to the second target position, and during the movement, the industrial robot is controlled to execute the tool instruction to complete the tool task of the product to be transported; wherein the second target position is a position within a preset distance from the material discharging position;

[0075] Based on the trajectory instruction, the industrial robot is controlled to perform a preset unloading action on the product to be transported, so that the product to be transported is placed on the unloading position.

[0076] In this embodiment, first, the industrial robot is controlled to move to the first target position based on the position instruction and the trajectory instruction, and the industrial robot is controlled to identify the target area based on the program instruction. When the actual position of the product to be transported in the target area is identified, the industrial robot is controlled to perform a preset material picking action on the product to be transported based on the trajectory instruction, so that the product to be transported is placed on the industrial robot. In this way, when the industrial robot reaches the first target position, even if the product to be transported is shifted in a small range due to tipping, squeezing, etc., it can still identify the accurate actual position of the product to be transported, and accurately pick up the product to be transported at the actual position for transport, which can reduce the misoperation of the industrial robot and improve the accuracy of transport. Then, based on the direction instruction and the trajectory instruction, the industrial robot is controlled to move from the material picking position to the second target position of the material discharging position, and during the movement, the industrial robot is controlled to execute the tool instruction to complete the tool task of the product to be transported, and based on the trajectory instruction, the industrial robot is controlled to perform a preset material discharging action on the product to be transported, so that the product to be transported is placed on the material discharging position, so that the industrial robot executes the scheduling instruction to transport the product to be transported, so that the scheduling process is simplified and the complexity of scheduling is reduced.

[0077] In some embodiments of the present application, the scheduling method of the industrial robot further includes: when multiple industrial robots are simultaneously carrying different products to be carried, the scheduling instructions of each industrial robot are determined in sequence, and the scheduling instructions of each industrial robot are executed in sequence. When the scheduling instructions of each industrial robot are determined in sequence, the scheduling instructions of the first industrial robot are determined, and when the products to be carried corresponding to the first industrial robot are deleted from all the products to be carried, and the discharge position corresponding to the first industrial robot is deleted from all the warehouses to be discharged, the scheduling instructions of the next industrial robot are determined based on the remaining products to be carried and the remaining discharge positions in all the warehouses to be discharged, until the scheduling instructions of the last industrial robot are determined. In this way, it is possible to avoid multiple industrial robots from carrying the same product to be carried, or to carry different products to be carried to the same discharge position, thereby improving the handling accuracy of multiple industrial robots carrying products at the same time, and thus improving the handling efficiency of the industrial robots.

[0078] See also Figure 2 , Figure 2 In an exemplary embodiment of the present application, a flowchart of a scheduling method for an industrial robot is provided, as shown in FIG. Figure 2 As shown, when the industrial robot is scheduled to work, the industrial robot first requests the terminal device of the master control to allow the automatic operation signal (CMDENBL(O)), and obtains the scheduling (PNS) instruction of the industrial robot for transporting the product to be transported according to the product to be transported, the material picking position and the material placing position, and determines the scheduling (PNS) number request sent by the industrial robot to the terminal device of the master control based on the scheduling instruction, and the industrial robot sends the scheduling (PNS) number request to the terminal device of the master control. Among them, the scheduling instruction includes program instructions, direction instructions, position instructions, trajectory (Segment) instructions and tool instructions, and the scheduling (PNS) number request includes the program number request corresponding to the program instruction, the direction number request corresponding to the direction instruction, the position number request corresponding to the position instruction, the trajectory (Segment) number request corresponding to the trajectory instruction, and the tool number request corresponding to the tool instruction. After receiving the dispatch number request signal, the terminal device of the master control sends a filtered dispatch number signal (PNSTROBE(I)) to the industrial robot. After 30msec (30 milliseconds), the industrial robot feeds back the dispatch number (PNS) number corresponding to the dispatch number signal (RECEIVE PNS1~8(O)): program number, direction number, position number, track (Segment) number and tool number. After 130msec (130 milliseconds), the terminal device of the master control controls the industrial robot to compare the fed-back dispatch number with the dispatch number request sent. If the dispatch number comparison is OK (PNS(O)=PNS(I)), the terminal device of the master control controls the program start of the dispatch instruction corresponding to the dispatch number to start running (PROD_START(I)) to control the industrial robot to execute the dispatch instruction corresponding to the dispatch number. Among them, I means that the terminal device of the master control sends a signal to the industrial robot, and O means that the industrial robot sends a signal to the terminal device of the master control.

[0079] Figure 2In the process, after the received dispatch number is compared with the dispatch number request sent, the dispatch instruction program (PROGRUN(O)) corresponding to the dispatch number is run to control the industrial robot to complete the dispatch instruction. Among them, the program number request is compared and confirmed with the program number, the direction number request is compared and confirmed with the direction number, the position number request is compared and confirmed with the position number, the track (Segment) number request is compared and confirmed with the track (Segment) number, and the tool number request is compared and confirmed with the tool number until the dispatch number request is compared with the dispatch number. Every time the industrial robot receives the program number, direction number, position number, track number or tool number included in the dispatch number, it will transmit the signal of ending the handshake with the terminal device of the master control to confirm that the corresponding dispatch number has been correctly received and the program of the dispatch instruction (program instruction, direction instruction, position instruction, track instruction or tool instruction) corresponding to the dispatch number (program number, direction number, position number, track number or tool number) is in an executable state.

[0080] After receiving the correct program number, direction number, and position number, the industrial robot is in a state of waiting to perform a certain action. In order to prevent the action performed by the industrial robot from not matching the scheduling instruction issued by the terminal device of the master control, the industrial robot will only execute the program of the scheduling instruction corresponding to the program number, direction number, position number, and trajectory number when the trajectory number issued by the terminal device of the master control matches the trajectory to be executed by the robot (i.e., the trajectory number request sent). When the industrial robot executes the program of the scheduling instruction corresponding to the program number, direction number, position number, and trajectory number to transport the product to be transported, if there is a tool task to be executed for the product to be transported, the industrial robot needs to send the corresponding tool number request to the terminal device of the master control based on the tool task. After receiving and confirming the tool number fed back by the terminal device of the master control, the tool device corresponding to the tool task will be dispatched to cooperate with the industrial robot to complete the tool task. After the tool task is completed, the tool device will feedback the corresponding task execution status to the terminal device of the master control, and the terminal device of the master control will send the task execution status to the industrial robot to remind the industrial robot that the tool task has been completed and the next task will be executed. When the industrial robot has completed the execution of the program tasks of the scheduling instructions corresponding to the scheduling number, it sends a request for the end of the cycle to the terminal device of the master control. After receiving the request for the end of the cycle, the terminal device of the master control checks whether the industrial robot has reached the end state. The end state indicates that the industrial robot's scheduling task has been completed, the industrial robot has returned to its original position when it was not working, and there is no product on the fixture of the industrial robot. If the industrial robot reaches a state where it can end, the terminal device of the master control will send a cycle end confirmation signal to the industrial robot and complete the end handshake signal. After that, the next round of scheduling tasks can be dispatched to the industrial robot.

[0081] The scheduling method of the industrial robot of the present application standardizes the previous non-standardized programs and scheduling methods, and uses a combination of program instructions, direction instructions, position instructions, Segment instructions (trajectory instructions), and tool instructions to schedule the industrial robot. This scheduling logic based on five instructions can support almost all industrial field robots and has extremely high versatility. The scheduling logic of the five instructions is a highly integrated standard function. When using these functions, the externally written code will become simple and clear, and even engineers with low skill levels can easily get started. At the same time, the execution actions of the industrial robot are combined and controlled by program instructions, direction instructions, position instructions, Segment instructions (trajectory instructions), and tool instructions to reduce the probability of the robot performing wrong actions, thereby improving the scheduling accuracy of the industrial robot. And all the actions of the industrial robot are scheduled by the master control. When multiple devices are linked, the master control can know the real-time position of the industrial robot at any time, and can use these real-time information in time to interlock and / or interact with other devices, so that the industrial robot can realize the anti-fool mechanism and reduce the problem of collision probability. The scheduling method of the industrial robot of the present application only needs to write the code of program instructions, direction instructions, position instructions, Segment instructions (trajectory instructions), and tool instructions according to the fixed interface requirements, and the robot can be easily scheduled. Since the underlying code of the same control system has been standardized, developers do not need to write the code program of each sub-instruction corresponding to the scheduling instruction separately, which reduces the probability of program confusion between code programs in different languages. In addition, when the code program of each sub-instruction corresponding to the scheduling instruction needs to be transferred to other personnel, other personnel can get started quickly, greatly saving time costs. The standardization of the underlying code also reduces the risk of subsequent maintenance personnel causing collision accidents due to incorrect modifications due to inability to understand the program.

[0082] See also Figure 3 , Figure 3 An exemplary embodiment of the present application shows a scheduling system for an industrial robot, such as Figure 3 As shown, the present application provides a scheduling system for an industrial robot, comprising:

[0083] An acquisition module is used to obtain the product production status of the production line;

[0084] A determination module, used to determine the products to be transported and the material collection location of the products to be transported based on the product production situation;

[0085] A first obtaining module is used to obtain a discharge position corresponding to the product to be transported based on the product to be transported;

[0086] A second obtaining module is used to obtain a scheduling instruction of an industrial robot for transporting the product to be transported based on the product to be transported, the material picking position and the material placing position;

[0087] The scheduling module is used to control the industrial robot to move the products to be moved based on the scheduling instructions.

[0088] The scheduling system of an industrial robot of the present embodiment obtains the production status of the production line through the acquisition module, determines the product to be transported and the corresponding material picking position by using the determination module, and obtains the scheduling instruction of the industrial robot used to transport the product to be transported by using the second acquisition module based on the discharge position and the product to be transported and the discharge position determined by the first acquisition module based on the product to be transported, and controls the industrial robot to transport the product to be transported based on the scheduling instruction by using the scheduling module. In this way, only one control system is needed to determine the scheduling instruction of the industrial robot, and control the industrial robot to execute the scheduling instruction to transport the product to be transported, so that the scheduling process is simplified and the complexity of scheduling is reduced, and even if a temporary replacement is made to schedule the industrial robot, it can be quickly started. At the same time, compared with the cost of maintaining multiple systems when multiple incompatible robot control systems are used in the prior art to schedule industrial robots, only one control system needs to be maintained in the present embodiment, thereby reducing the system maintenance cost.

[0089] Optionally, a module is determined, specifically for:

[0090] Acquiring product production status including at least one completed product and the placement location of each completed product;

[0091] The product to be transported is determined from at least one completed product using a preset rule, and the placement position corresponding to the product to be transported is used as the material picking position.

[0092] Optionally, the first module is specifically used to:

[0093] Determine the target unloading warehouse that matches the product to be transported from each unloading warehouse;

[0094] Obtain the product placement status in the target material storage warehouse;

[0095] Based on the product placement situation, the corresponding discharge position of the product to be transported is obtained.

[0096] Optionally, the second obtaining module is specifically used for:

[0097] Finding a program instruction matching the product to be transported from the first preset table;

[0098] Find out the position instruction matching the material taking position from the second preset table;

[0099] Find out the direction instruction matching the direction from the material picking position to the material discharging position from the third preset table;

[0100] Obtaining behavioral motion paths of other industrial robots except the industrial robot used for carrying the product to be carried;

[0101] Based on the action route, the target action path of the industrial robot for transporting the product to be transported is planned;

[0102] Find out the trajectory instruction matching the target behavior action path from the fourth preset table;

[0103] Program instructions, position instructions, direction instructions and trajectory instructions are used as scheduling instructions for industrial robots.

[0104] Optionally, the scheduling module is specifically used to:

[0105] Based on the position command and the trajectory command, the industrial robot is controlled to move to a first target position, where the first target position is a position at a preset distance from the material picking position;

[0106] Based on program instructions, the industrial robot is controlled to identify the target area, which is a spherical area with the material picking position as the center and a preset length as the radius;

[0107] When the actual position of the product to be transported in the target area is identified, the industrial robot is controlled to perform a preset material picking action on the product to be transported based on the trajectory instruction, so that the product to be transported is placed on the industrial robot;

[0108] Based on the direction command and the trajectory command, the industrial robot is controlled to move from the material picking position to a second target position of the material discharging position, where the second target position is a position separated from the material discharging position by a preset distance;

[0109] Based on the trajectory instruction, the industrial robot is controlled to perform a preset unloading action on the product to be transported, so that the product to be transported is placed on the unloading position.

[0110] Optionally, the scheduling instruction also includes a tool instruction; a second obtaining module is specifically used to:

[0111] Get tooling tasks for products to be moved;

[0112] Finding a tool instruction matching the tool task from a fifth preset table;

[0113] Program instructions, position instructions, direction instructions, trajectory instructions and tool instructions are used as scheduling instructions for industrial robots.

[0114] Optionally, the scheduling module is specifically used to:

[0115] Based on the position command and the trajectory command, the industrial robot is controlled to move to a first target position, where the first target position is a position within a preset distance from the material picking position;

[0116] Based on program instructions, the industrial robot is controlled to identify the target area, which is a spherical area with the material picking position as the center and a preset length as the radius;

[0117] When the actual position of the product to be transported in the target area is identified, the industrial robot is controlled to perform a preset material picking action on the product to be transported based on the trajectory instruction, so that the product to be transported is placed on the industrial robot;

[0118] Based on the direction instruction and the trajectory instruction, the industrial robot is controlled to move from the material picking position to the second target position, and during the movement, the industrial robot is controlled to execute the tool instruction to complete the tool task of the product to be transported; wherein the second target position is a position within a preset distance from the material discharging position;

[0119] Based on the trajectory instruction, the industrial robot is controlled to perform a preset unloading action on the product to be transported, so that the product to be transported is placed on the unloading position.

[0120] A computing device in an embodiment of the present application includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, some or all steps of the above-mentioned industrial robot scheduling method are implemented.

[0121] Among them, the computing device can be a computer, and correspondingly, its program is computer software. The above-mentioned parameters and steps in a computing device of the present application can refer to the parameters and steps in an embodiment of a scheduling method for an industrial robot mentioned above, and will not be repeated here.

[0122] In an embodiment of the present application, a computer-readable storage medium is provided, in which instructions are stored. When the instructions are executed, the steps of the above-mentioned industrial robot scheduling method are executed.

[0123] The computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0124] The technical solution of the embodiment of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method of the embodiment of the present disclosure. The aforementioned computer-readable storage medium may be a non-transitory computer-readable storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk, and other media that can store program codes, or a transient computer-readable storage medium.

[0125] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0126] Those skilled in the art know that the present application can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, generally referred to as "module" or "system" herein. In addition, in some embodiments, the present application can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code. Computer-readable storage media can be, for example, but not limited to - electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above.

[0127] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0128] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A scheduling method for an industrial robot, characterized in that: include: Obtain the product production status of the production line; Based on the production status of the product, determine the product to be transported and the material collection location of the product to be transported; Obtaining a discharge position corresponding to the product to be transported based on the product to be transported; Based on the product to be transported, the material picking position and the material placing position, a scheduling instruction for an industrial robot for transporting the product to be transported is obtained; The industrial robot is controlled to transport the product to be transported based on the scheduling instruction.

2. The method according to claim 1, characterized in that The determining of the product to be transported and the material fetching position of the product to be transported based on the product production situation includes: Acquire the product production status including at least one completed product and the placement location of each completed product; A product to be transported is determined from at least one of the finished products using a preset rule, and a placement position corresponding to the product to be transported is used as a material picking position.

3. The method according to claim 1, characterized in that: The obtaining a discharge position corresponding to the product to be transported based on the product to be transported includes: Determine a target material discharge warehouse that matches the product to be transported from each material discharge warehouse; Obtaining the product placement status in the target unloading warehouse; The material placement position corresponding to the product to be transported is obtained based on the product placement situation.

4. The method according to any one of claims 1 to 3, characterized in that: The obtaining, based on the product to be transported, the material picking position and the material placing position, a scheduling instruction for an industrial robot for transporting the product to be transported comprises: Searching for a program instruction matching the product to be transported from a first preset table; Find out the position instruction matching the material taking position from the second preset table; Find out from the third preset table a direction instruction that matches the direction from the material picking position to the material discharging position; Obtaining behavioral motion paths of other industrial robots except the industrial robot used to transport the product to be transported; Based on the behavior action route, planning a target behavior action path for the industrial robot to transport the product to be transported; Finding a trajectory instruction matching the target behavior action path from a fourth preset table; The program instruction, the position instruction, the direction instruction and the trajectory instruction are used as the scheduling instruction of the industrial robot.

5. The method according to claim 4, characterized in that Controlling the industrial robot to carry the product to be carried based on the scheduling instruction includes: Based on the position instruction and the trajectory instruction, control the industrial robot to move to a first target position, where the first target position is a position separated from the material picking position by a preset distance; Based on the program instructions, the industrial robot is controlled to identify a target area, where the target area is a spherical area with the material picking position as the center and a preset length as the radius; When the actual position of the product to be transported in the target area is identified, the industrial robot is controlled to perform a preset material picking action on the product to be transported based on the trajectory instruction, so that the product to be transported is placed on the industrial robot; Based on the direction instruction and the trajectory instruction, control the industrial robot to move from the material picking position to a second target position of the material placing position, where the second target position is a position separated from the material placing position by a preset distance; Based on the trajectory instruction, the industrial robot is controlled to perform a preset placing action on the product to be transported, so that the product to be transported is placed on the placing position.

6. The method according to claim 4, characterized in that The scheduling instruction also includes a tool instruction; the scheduling instruction for the industrial robot used to transport the product to be transported is obtained based on the product to be transported, the material picking position and the material placing position, including: Obtaining a tool task for the product to be transported; Finding a tool instruction matching the tool task from a fifth preset table; The program instruction, the position instruction, the direction instruction, the trajectory instruction and the tool instruction are used as scheduling instructions of the industrial robot.

7. The method according to claim 6, characterized in that Controlling the industrial robot to carry the product to be carried based on the scheduling instruction includes: Based on the position instruction and the trajectory instruction, control the industrial robot to move to a first target position, where the first target position is a position within a range of a preset distance from the material picking position; Based on the program instructions, the industrial robot is controlled to identify a target area, where the target area is a spherical area with the material picking position as the center and a preset length as the radius; When the actual position of the product to be transported in the target area is identified, the industrial robot is controlled to perform a preset material picking action on the product to be transported based on the trajectory instruction, so that the product to be transported is placed on the industrial robot; Based on the direction instruction and the trajectory instruction, the industrial robot is controlled to move from the material picking position to a second target position, and during the movement, the industrial robot is controlled to execute the tool instruction to complete the tool task of the product to be transported; wherein the second target position is a position within a preset distance from the material placing position; Based on the trajectory instruction, the industrial robot is controlled to perform a preset placing action on the product to be transported, so that the product to be transported is placed on the placing position.

8. A scheduling system for an industrial robot, characterized in that: include: An acquisition module is used to obtain the product production status of the production line; A determination module, used to determine the product to be transported and the material collection location of the product to be transported based on the production status of the product; A first obtaining module is used to obtain a discharge position corresponding to the product to be transported based on the product to be transported; A second obtaining module is used to obtain a scheduling instruction of an industrial robot for transporting the product to be transported based on the product to be transported, the material picking position and the material placing position; A scheduling module is used to control the industrial robot to move the product to be moved based on the scheduling instruction.

9. A computing device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the steps of the industrial robot scheduling method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the steps of the industrial robot scheduling method according to any one of claims 1 to 7.

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