Industrial robot remote monitoring system and method
By designing a remote monitoring system for industrial robots, collecting and analyzing operating status and working environment data, identifying and avoiding obstacles, the problem of conflicts between the robot after cargo is dropped is solved, and the safety and efficiency of the production environment are improved.
Patent Information
- Application Number
- CN202411653700.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-19
- Publication Date
- 2025-02-11
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The existing remote monitoring system of industrial robots cannot effectively solve the problem of falling goods during the sorting process and causing conflicts between robots and goods, resulting in cargo crushing.
An industrial robot remote monitoring system is designed, including a status detection analysis module, obstacle avoidance analysis module, work environment analysis module and monitoring and early warning module. By collecting and analyzing data on the operating status and working environment of industrial robots, obstacles are identified and path planning is carried out to avoid obstacles.
Remote monitoring and modification of industrial robot work routes is realized, avoiding conflicts with robots after falling goods, and improving the safety and efficiency of the production environment.
Smart Images
Figure CN119407780A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of industrial robot remote monitoring, and in particular to an industrial robot remote monitoring system and method. Background Art
[0002] With the continuous improvement of the automation and intelligence of the manufacturing industry, industrial robots are gradually being applied to industrial production and play a very important role in industrial production. In the field of processing and manufacturing, the application of industrial robots is becoming more and more mature. By inputting the computer algorithm of the control instructions into the robot control system, humans can efficiently and intelligently control it precisely to achieve efficient production goals; although some industrial plants currently use industrial robots to store goods, due to the different packaging methods of different goods, there is a situation where the goods fall during the sorting process. However, after the goods fall to the ground of the plant, since the industrial robot walks according to the established route planning, it is inevitable that there will be conflicts with the goods. Therefore, there is no solution to this problem in the existing industrial robot remote monitoring system. They are all checked through manual or plant monitoring, which may cause the goods to be crushed. Summary of the invention
[0003] In view of the deficiencies in the prior art, the present invention provides an industrial robot remote monitoring system and method, which has the advantages of remote monitoring and modification of the working route of the industrial robot, and solves the above-mentioned technical problems.
[0004] To achieve the above-mentioned object, the present invention provides the following technical solutions: an industrial robot remote monitoring system, comprising an industrial robot state detection and analysis module, an industrial robot obstacle avoidance analysis module, an industrial robot working environment analysis module and an industrial robot monitoring and early warning module; The industrial robot state detection and analysis module includes an industrial robot operation state data acquisition unit and an industrial robot state analysis unit. The industrial robot operation state data acquisition unit is used to collect the operation state data of the industrial robot when it is operating. The industrial robot state analysis unit performs calculation and analysis based on the operation state data of the industrial robot when it is operating, and obtains state detection and analysis data. The industrial robot state detection and analysis module sends the calculated state detection and analysis data to the industrial robot monitoring and early warning module. The industrial robot working environment analysis module includes an industrial robot working environment data acquisition unit and a working environment analysis unit. The industrial robot working environment data acquisition unit is used to collect the working environment data of the industrial robot. The working environment analysis unit performs analysis and calculation based on the collected working environment data of the industrial robot to obtain the working environment analysis data and obstacle data of the industrial robot, and sends them to the industrial robot monitoring and early warning module. The industrial robot monitoring and early warning module determines whether to give an early warning to the industrial robot obstacle avoidance analysis module in combination with the obstacle data. After receiving the warning from the industrial robot monitoring and warning module, the industrial robot obstacle avoidance analysis module plans the path of the industrial robot that needs to avoid obstacles and avoids the obstacles that appear; The industrial robot monitoring and early warning module includes a status early warning unit, an environment early warning unit and an obstacle avoidance early warning unit. The status early warning unit warns the operating status of the industrial robot based on the status detection and analysis data obtained by the industrial robot status detection and analysis module, and sends a warning signal to the staff. The environment early warning unit warns the operating environment data of the industrial robot based on the working environment analysis data of the industrial robot. The obstacle avoidance early warning unit warns the obstacle avoidance analysis module of the industrial robot based on the obstacle data.
[0005] As a preferred technical solution of the present invention, the industrial robot operation status data acquisition unit collects the operation status data of the industrial robot when performing operations, including the total operation time, the operation load and the operation temperature of each driving component, and the specific expression thereof is as follows: ,in, Indicates the running status data. express The total running time recorded at all times, express Industrial robots are always running loads, Respectively represent the first driving component of the industrial robot Operating temperature at all times, 、Industrial Robots The drive components Operating temperature at all times, 、Industrial Robots The drive components Operating temperature at all times.
[0006] As a preferred technical solution of the present invention, the industrial robot state analysis unit performs calculation and analysis based on the operating state data of the industrial robot when performing operations, and obtains the specific expression of the state detection analysis data as follows: ,in, Indicates status detection analysis data, Indicates standard operating load, Indicates the standard runtime. express The total running time recorded at all times, express Industrial robots are always running loads, Respectively represent the first driving component of the industrial robot Operating temperature at all times, 、Industrial Robots The drive components Operating temperature at all times, 、Industrial Robots The drive components The operating temperature at the time, express The drive components The maximum operating temperature at the moment, express The corresponding drive component temperature safety threshold.
[0007] As a preferred technical solution of the present invention, the specific expression of the industrial robot working environment data acquisition unit for collecting the industrial robot working environment data is as follows: ,in, Indicates the number of times a worker enters the operating environment of the industrial robot. Indicates the cleanliness of the floor. They respectively represent the image data in the operating environment of the industrial robot.
[0008] As a preferred technical solution of the present invention, the working environment analysis unit performs analysis and calculation based on the collected working environment data of the industrial robot, and obtains the specific expression of the working environment analysis data of the industrial robot as follows: ,in, Represents the industrial robot working environment analysis data, Indicates the number of times a worker enters the operating environment of the industrial robot. Expressed as a natural constant is the logarithmic function of the base, Indicates the cleanliness of the ground. The specific expression is as follows: ,in, Represents the total ground area of the industrial robot operating environment, Indicates the area of ground stains.
[0009] As a preferred technical solution of the present invention, the working environment analysis unit performs analysis and calculation based on the collected working environment data of the industrial robot to obtain the obstacle data in the following specific steps: Step A1, establish an XOY coordinate system with the ground as the reference plane with the center point of the industrial robot working area as the origin, and produce a corresponding plane map, in which the motion trajectory of each industrial robot is marked; Step A2: Image data of the industrial robot operating environment Identify and obtain the specific coordinates of the obstacles; Step A3: determine whether the specific coordinates of the obstacle are on the walking trajectory of any working robot; Step A4: If the walking trajectory of the working robot coincides with the specific coordinates of the obstacle, the specific coordinates of the obstacle are fed back to the industrial robot monitoring and early warning module.
[0010] As a preferred technical solution of the present invention, after receiving the warning from the industrial robot monitoring and warning module, the industrial robot obstacle avoidance analysis module performs path planning for the industrial robot that needs to avoid obstacles and avoids the obstacles that appear in the following specific steps: Step B1, determine the minimum rectangular frame for the obstacle, and the two sides of the rectangular frame are parallel to the corresponding coordinate axes; Step B2: Clear the route of the industrial robot and the edge of the minimum rectangular frame, and re-enter the route along the edge of the minimum rectangular frame, and record the number of modified routes of the industrial robot. ; Step B3: Calculate the processing weight of each obstacle.
[0011] As a preferred technical solution of the present invention, the specific expression for calculating the processing weight of each obstacle in step B3 is as follows: ,in, represents the processing weight of each obstacle, Indicates the number of modified industrial robot routes. Represents a natural constant.
[0012] As a preferred technical solution of the present invention, the state warning unit is based on the state detection and analysis data obtained by the industrial robot state detection and analysis module. When the value is positive, the operating status of the industrial robot is warned. When the corresponding threshold is exceeded, an early warning is issued. The obstacle avoidance early warning unit issues an early warning to the industrial robot obstacle avoidance analysis module based on the obstacle data and then outputs the processing weight of each obstacle to the staff.
[0013] The present invention also provides an industrial robot remote monitoring method, based on the above industrial robot remote monitoring system, comprising the following steps: S1. Collecting the industrial robot operation status data and the industrial robot working environment data during the operation of the industrial robot; S2. Obtaining state detection analysis data, industrial robot working environment analysis data and obstacle data for the industrial robot operation state data and the industrial robot working environment data respectively; S3, sending the state detection analysis data, the industrial robot working environment analysis data and the obstacle data to the industrial robot monitoring and early warning module for judgment and early warning; S4. For the warning generated by the obstacle data, the path of the industrial robot that needs to avoid obstacles is planned, and the obstacles that appear are avoided.
[0014] Compared with the prior art, the present invention provides an industrial robot remote monitoring system and method, which have the following beneficial effects: the present invention collects the working environment data of the industrial robot for analysis and calculation, obtains the working environment analysis data and obstacle data of the industrial robot, and sends them to the industrial robot monitoring and early warning module; when an obstacle appears, an XOY coordinate system with the ground as the origin and the center point of the industrial robot's working plant as the reference plane is established, a path planning is performed for the industrial robot that needs to avoid obstacles, and obstacles that appear are avoided; at the same time, the processing weight of each obstacle is calculated, and the staff is remotely reminded to clear them in turn. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a schematic diagram of the system framework of the present invention; Figure 2 It is a schematic diagram of the process of the present invention. DETAILED DESCRIPTION
[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0017] See also Figure 1-2 , the industrial robot remote monitoring system includes an industrial robot state detection and analysis module, an industrial robot obstacle avoidance analysis module, an industrial robot working environment analysis module and an industrial robot monitoring and early warning module; The industrial robot state detection and analysis module includes an industrial robot operation state data acquisition unit and an industrial robot state analysis unit. The industrial robot operation state data acquisition unit is used to collect the operation state data of the industrial robot when it is operating. The industrial robot state analysis unit performs calculation and analysis based on the operation state data of the industrial robot when it is operating, and obtains state detection and analysis data. The industrial robot state detection and analysis module sends the calculated state detection and analysis data to the industrial robot monitoring and early warning module. The industrial robot operation state data acquisition unit collects the operation state data of the industrial robot when it is operating, including the total operation time, the operation load and the operation temperature of each driving component. The specific expression is as follows: ,in, Indicates the running status data. express The total running time recorded at all times, express Industrial robots are always running loads, Respectively represent the first driving component of the industrial robot Operating temperature at all times, 、Industrial Robots The drive components Operating temperature at all times, 、Industrial Robots The drive components The operating temperature at the moment, the industrial robot state analysis unit performs calculation and analysis based on the operating state data of the industrial robot during operation, and obtains the specific expression of the state detection analysis data as follows: ,in, Indicates status detection analysis data, Indicates standard operating load, Indicates the standard runtime. express The total running time recorded at all times, express Industrial robots are always running loads, Respectively represent the first driving component of the industrial robot Operating temperature at all times, 、Industrial Robots The drive components Operating temperature at all times, 、Industrial Robots The drive components The operating temperature at the time, express The drive components The maximum operating temperature at the moment, express The corresponding drive component temperature safety threshold in; The industrial robot working environment analysis module includes an industrial robot working environment data acquisition unit and a working environment analysis unit. The industrial robot working environment data acquisition unit is used to collect the working environment data of the industrial robot. The working environment analysis unit performs analysis and calculation based on the collected working environment data of the industrial robot to obtain the working environment analysis data and obstacle data of the industrial robot, and sends them to the industrial robot monitoring and early warning module. The working environment analysis unit performs analysis and calculation based on the collected working environment data of the industrial robot to obtain the obstacle data as follows: first, an XOY coordinate system with the ground as the origin and the center point of the industrial robot working plant as the reference plane is established, and a corresponding plane map is produced, in which the motion trajectory of each industrial robot is marked; secondly, the image data in the operating environment of the industrial robot is analyzed and calculated. Identify and obtain the specific coordinates of the obstacle, determine whether the specific coordinates of the obstacle are on the walking trajectory of any working robot, and if the walking trajectory of the working robot coincides with the specific coordinates of the obstacle, then feedback the specific coordinates of the obstacle to the industrial robot monitoring and early warning module. The industrial robot monitoring and early warning module determines whether to issue an early warning to the industrial robot obstacle avoidance analysis module based on the obstacle data. The specific expression of the industrial robot working environment data acquisition unit to collect the industrial robot working environment data is as follows: ,in, Indicates the number of times a worker enters the operating environment of the industrial robot. Indicates the cleanliness of the floor. They represent the image data in the operating environment of the industrial robot respectively. The working environment analysis unit performs analysis and calculation based on the collected working environment data of the industrial robot, and obtains the specific expression of the working environment analysis data of the industrial robot as follows: ,in, Represents the industrial robot working environment analysis data, Indicates the number of times a worker enters the operating environment of the industrial robot. Expressed as a natural constant is the logarithmic function of the base, Indicates the cleanliness of the ground. The specific expression is as follows: ,in, Represents the total ground area of the industrial robot operating environment, Indicates the area of ground stains. After determining the presence of ground stains, the current working environment of the industrial robot can be comprehensively evaluated. The smaller the value, the better the environment and the higher the cleanliness. After receiving the warning from the industrial robot monitoring and warning module, the industrial robot obstacle avoidance analysis module plans the path of the industrial robot that needs to avoid obstacles and avoids the obstacles that appear. The specific steps of the industrial robot obstacle avoidance analysis module are as follows: preferentially determine the minimum rectangular frame selection for the obstacle, and the two sides of the rectangular frame are parallel to their corresponding coordinate axes, then clear the route of the industrial robot and the edge of the minimum rectangular frame selection, and re-enter the route along the edge of the minimum rectangular frame selection, so as to ensure that the industrial robot does not collide with the fallen goods, and record the number of modified industrial robot routes. , and finally calculate the processing weight of each obstacle , thereby completing the remote avoidance of obstacles and ensuring that the industrial robot will not collide with falling goods.
[0018] in, represents the processing weight of each obstacle, Indicates the number of modified industrial robot routes. represents a natural constant; The industrial robot monitoring and early warning module includes a state warning unit, an environment warning unit and an obstacle avoidance warning unit. The state warning unit warns the operating state of the industrial robot based on the state detection and analysis data obtained by the industrial robot state detection and analysis module, and sends the warning signal to the staff. The environment warning unit warns the operating environment data of the industrial robot based on the working environment analysis data of the industrial robot. The obstacle avoidance warning unit warns the industrial robot obstacle avoidance analysis module based on the obstacle data. The state warning unit warns the industrial robot based on the state detection and analysis data obtained by the industrial robot state detection and analysis module. When it is a positive value, it means that each phase indicator exceeds the corresponding threshold. At this time, the working state of the industrial robot is not safe, or one of the indicators is seriously out of range, resulting in the overall value exceeding the standard. No matter which one it is, it means that the operating state of the industrial robot is warned at this time. The environmental warning unit is When the corresponding threshold is exceeded, an early warning is issued. The obstacle avoidance early warning unit issues an early warning to the industrial robot obstacle avoidance analysis module based on the obstacle data, and then outputs the processing weight of each obstacle to the staff, determines the priority of processing each obstacle, and thus gives priority to processing the paths with more modifications, and restores the original path after the staff clears the obstacles.
[0019] The present invention also provides an industrial robot remote monitoring method, based on the above industrial robot remote monitoring system, comprising the following steps: S1. Collecting the industrial robot operation status data and the industrial robot working environment data during the operation of the industrial robot; S2. Obtaining state detection analysis data, industrial robot working environment analysis data and obstacle data for the industrial robot operation state data and the industrial robot working environment data respectively; S3, sending the state detection analysis data, the industrial robot working environment analysis data and the obstacle data to the industrial robot monitoring and early warning module for judgment and early warning; S4. For the warning generated by the obstacle data, the path of the industrial robot that needs to avoid obstacles is planned, and the obstacles that appear are avoided.
[0020] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. Industrial robot remote monitoring system, characterized by: It includes an industrial robot state detection and analysis module, an industrial robot obstacle avoidance analysis module, an industrial robot working environment analysis module and an industrial robot monitoring and early warning module; the industrial robot state detection and analysis module includes an industrial robot operation state data acquisition unit and an industrial robot state analysis unit, the industrial robot operation state data acquisition unit is used to collect the operation state data of the industrial robot when performing operations, the industrial robot state analysis unit performs calculation and analysis based on the operation state data of the industrial robot when performing operations, and obtains state detection and analysis data, and the industrial robot state detection and analysis module sends the calculated state detection and analysis data to the industrial robot monitoring and early warning module; the industrial robot working environment analysis module includes an industrial robot working environment data acquisition unit and a working environment analysis unit, the industrial robot working environment data acquisition unit is used to collect the working environment data of the industrial robot, the working environment analysis unit performs analysis and calculation based on the collected working environment data of the industrial robot, obtains the working environment analysis data and obstacle data of the industrial robot, and sends them to the industrial robot monitoring and early warning module, and the industrial robot monitoring and early warning module determines whether to give an early warning to the industrial robot obstacle avoidance analysis module in combination with the obstacle data; After receiving the warning from the industrial robot monitoring and warning module, the industrial robot obstacle avoidance analysis module plans the path of the industrial robot that needs to avoid obstacles and avoids the obstacles that appear; the industrial robot monitoring and warning module includes a state warning unit, an environment warning unit and an obstacle avoidance warning unit. The state warning unit warns the operating state of the industrial robot based on the state detection and analysis data obtained by the industrial robot state detection and analysis module, and sends a warning signal to the staff. The environment warning unit warns the operating environment data of the industrial robot based on the working environment analysis data of the industrial robot. The obstacle avoidance warning unit warns the industrial robot obstacle avoidance analysis module based on the obstacle data.
2. The industrial robot remote monitoring system according to claim 1, characterized in that: The industrial robot operation status data collection unit collects the operation status data of the industrial robot during operation, including the total operation time, the operation load and the operation temperature of each driving component, and the specific expression thereof is as follows: ,in, Indicates the running status data. express The total running time recorded at all times, express Industrial robots are always running loads, Respectively represent the first driving component of the industrial robot Operating temperature at all times, 、Industrial Robots The drive components Operating temperature at all times, 、Industrial Robots The drive components Operating temperature at all times.
3. The industrial robot remote monitoring system according to claim 2, characterized in that: The industrial robot state analysis unit performs calculation and analysis based on the operating state data of the industrial robot when performing operations, and obtains the specific expression of the state detection analysis data as follows: ,in, Indicates status detection analysis data, Indicates standard operating load, Indicates the standard runtime. express The total running time recorded at all times, express Industrial robots are always running loads, Respectively represent the first driving component of the industrial robot Operating temperature at all times, 、Industrial Robots The drive components Operating temperature at all times, 、Industrial Robots The drive components The operating temperature at the time, express The drive components The maximum operating temperature at the moment, express The corresponding drive component temperature safety threshold.
4. The industrial robot remote monitoring system according to claim 1, characterized in that: The specific expression for collecting the industrial robot working environment data by the industrial robot working environment data collection unit is as follows: ,in, Indicates the number of times a worker enters the operating environment of the industrial robot. Indicates the cleanliness of the floor. They respectively represent the image data in the operating environment of the industrial robot.
5. The industrial robot remote monitoring system according to claim 4, characterized in that: The working environment analysis unit performs analysis and calculation based on the collected working environment data of the industrial robot, and obtains the specific expression of the working environment analysis data of the industrial robot as follows: ,in, Represents the industrial robot working environment analysis data, Indicates the number of times a worker enters the operating environment of the industrial robot. Indicated by natural constant is the logarithmic function of the base, Indicates the cleanliness of the ground. The specific expression is as follows: ,in, Represents the total ground area of the industrial robot operating environment, Indicates the area of ground stains.
6. The industrial robot remote monitoring system according to claim 4, characterized in that: The specific steps of the working environment analysis unit to analyze and calculate the obstacle data based on the collected working environment data of the industrial robot are as follows: Step A1, establish an XOY coordinate system with the ground as the reference plane with the center point of the industrial robot working area as the origin, and produce a corresponding plane map, in which the motion trajectory of each industrial robot is marked; Step A2: Image data of the industrial robot operating environment Identify and obtain the specific coordinates of the obstacles; Step A3: determine whether the specific coordinates of the obstacle are on the walking trajectory of any working robot; Step A4: If the walking trajectory of the working robot coincides with the specific coordinates of the obstacle, the specific coordinates of the obstacle are fed back to the industrial robot monitoring and early warning module.
7. The industrial robot remote monitoring system according to claim 6, characterized in that: After receiving the warning from the industrial robot monitoring and warning module, the industrial robot obstacle avoidance analysis module performs path planning for the industrial robot that needs to avoid obstacles and avoids the obstacles that appear as follows: Step B1, determine the minimum rectangular frame for the obstacle, and the two sides of the rectangular frame are parallel to the corresponding coordinate axes; Step B2: Clear the route of the industrial robot and the edge of the minimum rectangular frame, and re-enter the route along the edge of the minimum rectangular frame, and record the number of modified routes of the industrial robot. ; Step B3: Calculate the processing weight of each obstacle.
8. The industrial robot remote monitoring system according to claim 7, characterized in that: The specific expression for calculating the processing weight of each obstacle in step B3 is as follows: in, represents the processing weight of each obstacle, Indicates the number of modified industrial robot routes. Represents a natural constant.
9. The industrial robot remote monitoring system according to claim 8, characterized in that: The state warning unit is based on the state detection and analysis data obtained by the industrial robot state detection and analysis module When the value is positive, the operating status of the industrial robot is warned. When the corresponding threshold is exceeded, an early warning is issued. The obstacle avoidance early warning unit issues an early warning to the industrial robot obstacle avoidance analysis module based on the obstacle data and then outputs the processing weight of each obstacle to the staff.
10. A method for remote monitoring of an industrial robot, based on the remote monitoring system for an industrial robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Collecting the industrial robot operation status data and the industrial robot working environment data during the operation of the industrial robot; S2. Obtaining state detection analysis data, industrial robot working environment analysis data and obstacle data for the industrial robot operation state data and the industrial robot working environment data respectively; S3, sending the state detection analysis data, the industrial robot working environment analysis data and the obstacle data to the industrial robot monitoring and early warning module for judgment and early warning; S4. For the warning generated by the obstacle data, the path of the industrial robot that needs to avoid obstacles is planned, and the obstacles that appear are avoided.