Data processing method and robot control cabinet

Abstract

The invention discloses a data processing method and a robot control cabinet. The method comprises the steps that target function types of a plurality of IO ports are read, a target processing strategy is determined according to the corresponding relation between the function types and the processing strategy, IO port transmission data are processed, and the robot is controlled to work. And when the target function type is a safety IO type, safety verification results of the multiple groups of transmission data are compared, and the robot is controlled to run or decelerate and stop according to the verification results. And if the target function type is a common IO type, determining the working state of the IO expansion chip, processing the data according to the state, and controlling the robot to work. The invention further relates to a robot control cabinet, a nonvolatile storage medium and a computer program product to execute the method. The technical problems that the number of interfaces in a small-size robot control cabinet is limited, and actual application requirements cannot be met are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control cabinets, and in particular to a data processing method and a robot control cabinet. Background Art

[0002] As the application scenarios of robots equipped with AGVs, robot dogs and other mobile platforms are becoming more diverse, in order to better meet market demand, reduce transportation costs and improve deployment flexibility, the weight of the robot and the volume and weight of the control cabinet have become key considerations in the design. However, while reducing weight and size, it also brings the challenge of limited number of interfaces, especially for the mini version of the robot control cabinet. How to provide interfaces with different functions in a limited space has become an urgent problem to be solved.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present invention provide a data processing method and a robot control cabinet to at least solve the technical problem that the number of interfaces in a small-sized robot control cabinet is limited and cannot meet actual application requirements.

[0005] According to one aspect of an embodiment of the present invention, a data processing method is provided, comprising: reading target function types of a plurality of pre-configured IO ports, wherein the plurality of IO ports are arranged in a robot control cabinet and are channels for communication between the robot control cabinet and the robot, the plurality of IO ports are respectively connected to a plurality of IO expansion chips, and the target function types include ordinary IO types and safety IO types; determining a target processing strategy corresponding to the target function type according to a correspondence between a pre-set function type and a processing strategy; according to the target processing strategy, processing data transmitted by the plurality of IO ports through the plurality of IO expansion chips, and controlling the robot to work according to the data of the plurality of IO ports.

[0006] Optionally, when the target function type is a safe IO type, according to the target processing strategy, the data transmitted by the multiple IO ports are processed by multiple IO expansion chips, and the robot is controlled to work according to the data of the multiple IO ports, including: controlling the multiple IO expansion chips to read the data transmitted by the corresponding IO ports respectively to obtain multiple groups of transmission data; comparing the multiple groups of transmission data to obtain security verification results of the multiple groups of transmission data, and according to the security verification results, processing the data transmitted by the multiple IO ports, and controlling the robot to work according to the data of the multiple IO ports.

[0007] Optionally, multiple groups of transmission data are compared to obtain security verification results of the multiple groups of transmission data, and based on the security verification results, the data transmitted by multiple IO ports are processed, and the robot is controlled to operate based on the data of multiple IO ports, including: when the error between the multiple groups of transmission data does not exceed a predetermined threshold, determining that the security verification result is that the data is normal; when the security verification result is that the data is normal, controlling the robot to operate based on any group of data in the multiple groups of transmission data.

[0008] Optionally, when the error between multiple sets of transmission data exceeds a predetermined threshold, the safety verification result is determined to be a data abnormality; when the safety verification result is a data abnormality, the multiple sets of transmission data are recorded, and the robot is controlled to decelerate to a stop.

[0009] Optionally, when the target function type is a common IO type, according to the target processing strategy, the data transmitted by the multiple IO ports are processed by multiple IO expansion chips, and the robot is controlled to work according to the data from the multiple IO ports, including: determining the working status of each of the multiple IO expansion chips; according to the working status of each of the multiple IO expansion chips, the data transmitted by the multiple IO ports are processed, and the robot is controlled to work according to the data from the multiple IO ports.

[0010] Optionally, according to the respective working states of the multiple IO expansion chips, the data transmitted by the multiple IO ports are processed, and the operation of the robot is controlled according to the data of the multiple IO ports, including: when there is an abnormal state in the respective working states of the multiple IO expansion chips, the data transmitted by the multiple IO ports are recorded, and the robot is controlled to decelerate to stop.

[0011] Optionally, a configuration instruction of the target object is obtained; and in response to the configuration instruction of the target object, the target function types of the plurality of IO ports are configured as a common IO type or a safe IO type.

[0012] According to another aspect of an embodiment of the present invention, a robot control cabinet is also provided, including: a processor, multiple IO expansion chips and multiple IO ports, wherein the multiple IO ports are respectively connected to the multiple IO expansion chips, and the multiple IO expansion chips are connected to the processor; the processor is used to execute any one of the above-mentioned data processing methods.

[0013] Optionally, when the number of the multiple IO ports exceeds two and the number of the multiple IO expansion chips is two, the multiple IO ports are divided into odd ports and even ports, the odd ports are connected to one IO expansion chip, and the even ports are connected to another IO expansion chip.

[0014] According to another aspect of an embodiment of the present invention, a non-volatile storage medium is provided, the non-volatile storage medium including a stored program, wherein when the program is running, the device where the non-volatile storage medium is located is controlled to execute any one of the above data processing methods.

[0015] According to yet another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, any one of the above data processing methods is implemented.

[0016] In an embodiment of the present invention, a combination of software function reuse and hardware isolation is adopted, by reading the target function type of multiple pre-configured IO ports, wherein the multiple IO ports are arranged in a robot control cabinet, which are channels for communication between the robot control cabinet and the robot, and the multiple IO ports are respectively connected to multiple IO expansion chips, and the target function type includes a common IO type and a safety IO type; according to the correspondence between the pre-set function type and the processing strategy, the target processing strategy corresponding to the target function type is determined; according to the target processing strategy, the data transmitted by the multiple IO ports are processed by the multiple IO expansion chips, and the robot is controlled to work according to the data of the multiple IO ports, thereby achieving the purpose of flexibly configuring the IO port function type, thereby achieving the technical effect of improving the adaptability and efficiency of the small-sized robot control cabinet in different application scenarios, and further solving the technical problem that the number of interfaces in the small-sized robot control cabinet is limited and cannot meet the actual application needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 A hardware structure block diagram of a computer terminal for implementing a data processing method is shown;

[0019] Figure 2 is a flow chart of a data processing method provided according to an optional embodiment of the present invention;

[0020] Figure 3 is a structural block diagram of a robot control cabinet provided according to an embodiment of the present invention;

[0021] Figure 4 is a hardware structure diagram of an IO expansion chip 1 provided according to an optional embodiment of the present invention;

[0022] Figure 5 is a hardware structure diagram of an IO expansion chip 2 provided according to an optional embodiment of the present invention;

[0023] Figure 6 It is a hardware structure diagram of a part of a robot control cabinet provided according to an optional embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] According to an embodiment of the present invention, a method embodiment of data processing is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0027] The method embodiment provided in the first embodiment of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 1 FIG. 1 shows a hardware structure block diagram of a computer terminal for implementing a data processing method. Figure 1 As shown, the computer terminal 10 may include one or more (102a, 102b, ..., 102n are used to illustrate) processors (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the BUS bus), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 1The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0028] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computer terminal 10. As described in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0029] The memory 104 can be used to store software programs and modules of application software, such as program instructions / data storage devices corresponding to the data processing method in the embodiment of the present invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, realizing the data processing method of the above-mentioned application program. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computer terminal 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0030] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 10 .

[0031] With the widespread use of robots in various application scenarios, reducing the weight of the robot and reducing the size and weight of the control cabinet have become crucial considerations in the design. This is mainly because lightweighting and miniaturization can reduce the transportation cost of the robot, improve the deployment flexibility of the robot, and make it easier to use in different scenarios.

[0032] However, as the size and weight of robot control cabinets decrease, the problem of limited number of interfaces also arises. For example, the size of the robot control cabinet is only enough to provide 5 IO interfaces, but some application scenarios require both 3 ordinary IO interfaces and 4 safety IO interfaces that can provide safety verification functions. At this time, there is a problem that the interfaces provided by the small-sized robot control cabinet cannot meet the needs. In other words, for the mini version of the robot control cabinet, the space is limited. How to provide interfaces with different functions in a limited space has become a challenge that needs to be solved in circuit design.

[0033] In order to solve the above problems, the present invention proposes a data processing method applied to a robot control cabinet. Figure 2 is a flow chart of a data processing method according to an embodiment of the present invention. Figure 2 As shown, the method comprises the following steps:

[0034] Step S201, read the target function type of multiple pre-configured IO ports, wherein the multiple IO ports are set in the robot control cabinet, which are the channels for communication between the robot control cabinet and the robot, and the multiple IO ports are respectively connected to multiple IO expansion chips, and the target function type includes ordinary IO type and safety IO type.

[0035] In this step, the execution subject can be the processor in the control cabinet. The target function type can include ordinary IO type and safe IO type. In addition, multiple IO expansion chips are added to the robot control cabinet, and each IO port is connected to an IO expansion chip. The IO expansion chip can process the data transmitted through the IO interface based on the instructions of the processor. The interface with the function type of ordinary IO type, that is, ordinary IO interface, is an interface for realizing the basic input and output functions between the robot and external devices. The interface with the function type of safe IO type, that is, safe IO interface, is an interface specially designed for transmitting high-security and high-reliability signals.

[0036] Step S202: determine the target processing strategy corresponding to the target function type.

[0037] In this step, the target processing strategy mainly refers to a series of processing steps or methods that the processor needs to implement according to the functional type of the IO interface, so that the corresponding function can be realized when the IO port is configured as the functional type.

[0038] Step S203, processing the data transmitted by the multiple IO ports through the multiple IO expansion chips, and controlling the robot to work according to the data of the multiple IO ports.

[0039] In this step, under the control of the processor, multiple IO expansion chips will process the data from or to the IO port according to the target processing strategy, acting as a bridge between the processor and the IO port to perform specific signal conversion and security processing tasks. When the processor and IO expansion chip complete the data processing, the processor will control the specific operation of the robot based on the processed data, which may include starting, stopping, accelerating, decelerating, direction control, etc.

[0040] Through the above steps, the purpose of flexibly configuring the function type of the IO port can be achieved, and the function type of the IO port can be dynamically configured and adjusted according to the needs of the actual application scenarios, thereby achieving the technical effect of improving the adaptability and efficiency of the small-sized robot control cabinet in different application scenarios, and further solving the technical problem that the number of interfaces in the small-sized robot control cabinet is limited and cannot meet the actual application needs.

[0041] As an optional embodiment, when the target function type is a safe IO type, according to the target processing strategy, the data transmitted by multiple IO ports are processed by multiple IO expansion chips, and the robot is controlled to work according to the data of the multiple IO ports. This can be achieved through the following steps: control multiple IO expansion chips to read the data transmitted by the corresponding IO ports respectively to obtain multiple groups of transmission data; compare the multiple groups of transmission data to obtain security verification results of the multiple groups of transmission data, and according to the security verification results, process the data transmitted by multiple IO ports, and control the robot to work according to the data of multiple IO ports.

[0042] Optionally, after the processor recognizes that the target function type of the IO port is a safe IO type, it will initialize the corresponding safety channel and activate the safety signal verification mechanism of the safety-related part (SRP / CS) in the control system to ensure the safety and reliability of subsequent data transmission. The processor controls multiple IO expansion chips respectively, allowing them to read the data transmitted by the IO ports connected to them. The processor will compare the multiple sets of transmission data read by the expansion chip to check whether they are consistent, that is, whether the two-way signals of the safety channel are the same. The purpose of data comparison is to discover potential hardware failures, signal interference or software errors. If the data is consistent, it means that the transmission is normal; if the data is inconsistent, it means that an abnormal situation may have occurred. This redundant reading and comparison mechanism is the key to realizing safety functions. It can promptly discover and handle data anomalies caused by hardware failures, signal interference or software errors, and ensure the integrity and consistency of data during transmission.

[0043] As an optional embodiment, multiple groups of transmission data are compared to obtain security verification results of the multiple groups of transmission data, and based on the security verification results, the data transmitted by multiple IO ports are processed, and the robot is controlled to work based on the data of multiple IO ports. This can be achieved through the following steps: when the error between the multiple groups of transmission data does not exceed a predetermined threshold, determine that the security verification result is that the data is normal; when the security verification result is that the data is normal, control the robot to work based on any group of data in the multiple groups of transmission data.

[0044] Optionally, according to the system design requirements and the actual application environment, a reasonable error threshold is pre-set to distinguish acceptable data fluctuations (such as slight changes caused by environmental noise) from unacceptable data anomalies (which may be caused by hardware failure or signal interference). The setting of this threshold needs to fully consider safety standards and actual application needs. During the comparison process, if it is found that the difference between multiple groups of transmitted data does not exceed the set error threshold, the processor will determine that the safety verification result is that the data is normal. This means that the integrity and consistency of the signal are guaranteed and the system can continue to operate normally. The set error threshold can filter out signal fluctuations caused by non-fatal factors such as environmental noise, reduce robot work interruptions due to false alarms, and improve the availability of the system.

[0045] As an optional embodiment, the method also includes: when the error between multiple sets of transmission data exceeds a predetermined threshold, determining that the safety verification result is a data abnormality; when the safety verification result is a data abnormality, recording multiple sets of transmission data and controlling the robot to decelerate to stop.

[0046] Optionally, when the comparison finds that the data error exceeds the allowable range, the processor will process the data according to the safety check result. This may include the activation of the "passivation" mechanism, that is, shielding the real external signal of the safety channel until the user actively resets it. The system treats all input signals as exceptions, or stops outputting according to any state or instruction, and keeps the output at a constant safety value. Through the above-mentioned exception processing, potential safety accidents such as collisions and loss of control are effectively prevented, ensuring the safety of operators and working environment; avoiding disturbances to peripheral equipment or environment caused by sudden motion interruptions, such as vibration and noise, reducing potential interference to production lines or workplaces, and improving overall work efficiency and environmental comfort. At the same time, recording multiple sets of transmission data not only helps to analyze the specific causes of the abnormality afterwards, but also provides detailed data support for fault detection and system recovery. This means that even in abnormal situations, the system can collect key information to help engineers quickly locate problems and carry out targeted repairs and optimizations.

[0047] As an optional embodiment, when the target function type is a common IO type, according to the target processing strategy, the data transmitted by multiple IO ports are processed by multiple IO expansion chips, and the robot is controlled to work according to the data of the multiple IO ports. This can be achieved through the following steps: determining the working status of each of the multiple IO expansion chips; according to the working status of each of the multiple IO expansion chips, the data transmitted by the multiple IO ports are processed, and the robot is controlled to work according to the data of the multiple IO ports.

[0048] Optionally, the processor will initialize the status monitoring function of multiple IO expansion chips. Even in normal IO mode, it can continuously monitor the working status of the chip, including key indicators such as signal transmission, chip temperature, voltage level, etc., to promptly detect potential hardware failures or unstable conditions. The processor will periodically read the status information of each IO expansion chip, evaluate its current working status, and ensure that the chip can operate normally. If any chip status is found to be abnormal, such as signal transmission interruption, excessive temperature, or unstable voltage, the processor will record these abnormal conditions. Even in normal IO mode, by regularly detecting the working status of the IO expansion chip and the consistency of data processing, the system can protect itself and avoid abnormal robot behavior caused by hardware failure or data errors, such as sudden stop or loss of control, thereby enhancing the safety of the system to a certain extent.

[0049] As an optional embodiment, according to the working status of each of the multiple IO expansion chips, the data transmitted by the multiple IO ports are processed, and the operation of the robot is controlled according to the data of the multiple IO ports. This can be achieved through the following steps: when there is an abnormal state in the working status of each of the multiple IO expansion chips, the data transmitted by the multiple IO ports are recorded, and the robot is controlled to decelerate to stop.

[0050] Optionally, if the processor detects any hardware failure or data error, it will immediately take exception handling measures, such as triggering the "passivation" mechanism, stopping the output to the affected IO port, or executing a safe restart process to avoid abnormal behavior of the robot, such as sudden stop or loss of control, thereby enhancing the safety of the system to a certain extent. After handling the exception, the processor can try to restore the normal configuration state and execute the fault isolation strategy to ensure that the failure of one or more IO ports will not affect the operation of the entire system, providing users with a stable and reliable operating environment. When the working state of the IO expansion chip is detected to be abnormal, the robot is immediately controlled to slow down to stop, which can quickly avoid the robot out of control or collision accidents caused by IO signal processing errors, and ensure the safety of operators and working environment. Recording the data transmitted by multiple IO ports in abnormal states provides detailed data basis for subsequent fault analysis. This helps to quickly locate the cause of the fault. Whether it is a hardware fault, software error or external interference, clues can be found in the data record to speed up the troubleshooting and repair process.

[0051] As an optional embodiment, the method further includes: obtaining a configuration instruction of the target object; and configuring the target function type of the plurality of IO ports as a common IO type or a safe IO type in response to the configuration instruction of the target object.

[0052] Optionally, an intuitive graphical user interface can be developed through which users can directly see the real-time status and current function type (normal IO or safety IO) of all available IO ports. The interface can clearly display the number, type, status and whether each port is in use, and provide easy-to-understand icons or color coding to represent different function types. In the graphical user interface, users can simply click or drag to change the function type of the IO port. When the user changes the function type of the IO port, the graphical user interface can immediately display the result of the change and communicate with the processor in the background to execute the configuration instructions. At the same time, after receiving the configuration instruction, the processor will perform a series of checks, such as checking whether there is a hardware conflict or inconsistency in the safety logic, and then feedback the configuration status to the graphical user interface to confirm whether the function type is successfully switched. In actual applications, the configuration of the target object can be completed through visual software, providing users with a friendly interactive experience, making the configuration process more intuitive and efficient. Users can clearly see the status and function type of each IO port, which is convenient for quick understanding and adjustment, and improves the overall operation experience and user satisfaction. It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0053] Through the description of the above implementation methods, those skilled in the art can clearly understand that the data processing method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a computer, server, or network device, etc.) to execute the methods of various embodiments of the present invention.

[0054] According to an embodiment of the present invention, a robot control cabinet for implementing the above data processing method is also provided. Figure 3 is a structural block diagram of a robot control cabinet provided according to an embodiment of the present invention, such as Figure 3As shown, the robot control cabinet includes: a processor, multiple IO expansion chips and multiple IO ports, wherein the multiple IO ports are respectively connected to the multiple IO expansion chips, and the multiple IO expansion chips are connected to the processor; the processor is used to execute any one of the above-mentioned data processing methods.

[0055] The control cabinet provided by the present invention has multiple additional IO expansion chips, wherein each IO port is connected to an IO expansion chip. It should be noted that multiple IO ports can be connected to the same expansion chip, but all IO ports must be connected to at least two expansion chips respectively, because in the process of implementing the safety verification, at least two different chips are required to verify the data. The processor can execute the above data processing method so that the functions of the IO ports in the entire robot control cabinet are configurable and can adapt to different application scenarios.

[0056] As an optional embodiment, when the number of multiple IO ports exceeds two and the number of multiple IO expansion chips is two, the multiple IO ports are divided into odd ports and even ports, the odd ports are connected to one IO expansion chip, and the even ports are connected to another IO expansion chip.

[0057] Optionally, first, number multiple IO ports to ensure that each port has a unique odd or even identifier. Then, connect all odd ports to the first IO expansion chip, and all even ports to the second IO expansion chip. Through the above-mentioned method of separating odd and even ports, odd and even channels can be combined into a dual-link redundant security channel, which is the hardware basis for realizing secure IO multiplexing.

[0058] A control cabinet including 7 IO ports and 2 IO expansion chips is used as an example for specific description. Figure 4 is a hardware structure diagram of an IO expansion chip 1 provided according to an optional embodiment of the present invention, Figure 5It is a hardware structure diagram of the IO expansion chip 2 provided according to an optional embodiment of the present invention. In the IO expansion chip 1, UDIO_SCL, UDIO_SDA, UDIO INTn and UDIO RSTn are connected to the computer, and are the communication signals between the IO expansion chip 1 and the computer. Among them, UDIO_SCL and UDIO_SDA are two signals in the I2C bus communication protocol, UDIO_SCL is a serial clock signal, and UDIO_SDA is a serial data signal, which is used to transmit data, control signals and status information; UDIO INTn is an interrupt signal for multiple input / output, and UDIO RSTn is a reset signal for multiple input / output; PO1, PO3, PO5 and PO7 are output signals, and PI1, PI3, PI5 and PI7 are input signals. In the IO expansion chip 2, UDIO_SCL, UDIO_SDA, LED_INTn and LED_RSTn are connected to the computer, and are the communication signals between the IO expansion chip 2 and the computer. Among them, UDIO_SCL and UDIO_SDA are consistent with the signals of the same name in IO expansion chip 1; LED_INTn is the interrupt signal of LED, LED_RSTn is the reset signal of LED; PO2, PO4 and PO6 are output signals, PI2, PI4 and PI6 are input signals.

[0059] In the design of IO port multiplexing, compliance with the functional safety regulations of the hardware circuit is the primary concern. In this application, all IO ports are connected to two IO expansion chips respectively, and the UDIO (user digital input and output) is distinguished by odd and even. The odd ports are connected to expansion chip 1 (PIO1, 3, 5, 7), and the even ports are connected to expansion chip 2 (PIO2, 4, 6), ensuring that the odd and even IO ports can be combined into a dual-link redundant safety channel. The input circuit is isolated from the output circuit, such as Figure 4 As shown in PO1 and PI1, the input / output uses different pins of the IO expansion chip. This application uses this hardware isolation method to enable both input / output type circuits to meet the requirements of relevant safety regulations.

[0060] When the integration scenario does not need to use secure IO, the secure IO function can be revoked. At this time, SRP / CS will no longer perform security supervision on the two corresponding port signals, and any port can be configured with ordinary IO function. Although ordinary single-channel IO cannot achieve high fault diagnosis with mutual verification, in order to improve safety, abnormal monitoring circuits and software processing are added to the IO expansion chip. Figure 6This is a hardware structure diagram of a part of the robot control cabinet provided according to an optional embodiment of the present invention. When the IO system is started, SRP / CS will monitor the signal and status of the IO expansion chip. When the SDA signal is disconnected, the "watchdog" mechanism will take effect. At this time, the chip reset will be automatically activated, all signals will be "passivated" and the exception handling mechanism will be triggered. It should be noted that Figure 6 U53 and U54 are two IO expansion chips, and OUT0_1 refers to an input signal, which can be input to two IO expansion chips through two IO ports respectively.

[0061] As a specific embodiment, when the data processing method provided by the present invention is applied to the robot control cabinet provided by the present invention, the following safety channel configuration table can be used to configure the safety channel.

[0062] Table 1 Security channel configuration table

[0063] Safe passage PIO type Channel 1 PIO1 and PIO2 Input / Output Channel 2 PIO3 and PIO4 Input / Output aisle... PIO... Input / Output

[0064] Among them, the odd-numbered ports are connected to the IO expansion chip 1 (such as Figure 4 The even-numbered ports are connected to the IO expansion chip 2 (as shown in Figure 5 The expansion chip shown in the figure) is connected. This parity match meets the hardware redundancy design requirements. After configuring the safety channel, SRP / CS automatically activates the safety signal verification mechanism. When PO 1 and PO 2 are input types, the two IO ports are configured as safety channel 1. At this time, SRP / CS will monitor the two port signals of safety channel 1, that is, Figure 4 PI1 and Figure 5 1Stop), that is, the robot arm is controlled to slow down and stop, the enable signal is invalid and shut down; the input signal of safety channel 1 is "passivated", that is, the real external signal of the safety channel is shielded. Before the user actively resets, SRP / CS will treat all input signals as exceptions to ensure the safety of the system before abnormal reset to avoid dangerous behaviors. Similarly, if PO 1 and PO 2 are set as output types, and the two IO terminals are configured as safety channel 1, SRP / CS will output the signal through two IO expansion chips, that is, Figure 4 PO1 and Figure 5 The PO2 in the readback monitoring is performed. When the readback signal is abnormal, the abnormal processing (Cat.1Stop) is also immediately executed, and the safety channel 1 output signal is "passivated".

[0065] The embodiment of the present invention further provides a non-volatile storage medium. Optionally, in this embodiment, the non-volatile storage medium can be used to store the program code executed by the data processing method provided by the above embodiment.

[0066] Optionally, in this embodiment, the non-volatile storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0067] Optionally, in this embodiment, the non-volatile storage medium is configured to store program codes for executing the following steps: reading target function types of multiple pre-configured IO ports, wherein the multiple IO ports are arranged in a robot control cabinet, which are channels for communication between the robot control cabinet and the robot, and the multiple IO ports are respectively connected to multiple IO expansion chips, and the target function types include ordinary IO types and safety IO types; determining a target processing strategy corresponding to the target function type according to a correspondence between pre-set function types and processing strategies; according to the target processing strategy, processing data transmitted by multiple IO ports through multiple IO expansion chips, and controlling the robot to work according to the data of the multiple IO ports.

[0068] An embodiment of the present invention further provides a computer program product, including a computer program, which implements the steps of the data processing method in each embodiment of the present application when the computer program is executed by a processor.

[0069] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0070] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0071] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0072] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0073] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0074] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0075] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A data processing method, characterized in that: include: Reading target function types of a plurality of pre-configured IO ports, wherein the plurality of IO ports are arranged in a robot control cabinet and are channels for the robot control cabinet to communicate with the robot, the plurality of IO ports are respectively connected to a plurality of IO expansion chips, and the target function types include a common IO type and a safety IO type; Determine the target processing strategy corresponding to the target function type according to the preset correspondence between the function type and the processing strategy; According to the target processing strategy, the data transmitted by the multiple IO ports are processed by the multiple IO expansion chips, and the robot is controlled to work according to the data of the multiple IO ports.

2. The method according to claim 1, characterized in that In the case where the target function type is a safety IO type, processing the data transmitted by the multiple IO ports through the multiple IO expansion chips according to the target processing strategy, and controlling the robot to work according to the data of the multiple IO ports, including: Controlling the plurality of IO expansion chips to read data transmitted by corresponding IO ports respectively, to obtain a plurality of groups of transmission data; By comparing the multiple groups of transmission data, safety verification results of the multiple groups of transmission data are obtained, and according to the safety verification results, the data transmitted by the multiple IO ports are processed, and the robot is controlled to work according to the data of the multiple IO ports.

3. The method according to claim 2, characterized in that The comparing the multiple sets of transmission data to obtain safety verification results of the multiple sets of transmission data, and processing the data transmitted by the multiple IO ports according to the safety verification results, and controlling the robot to work according to the data of the multiple IO ports, including: In the case where the errors between the multiple groups of transmission data do not exceed a predetermined threshold, determining that the security verification result is that the data is normal; When the safety check result shows that the data is normal, the robot is controlled to work according to any one set of data among the multiple sets of transmission data.

4. The method according to claim 3, characterized in that Also includes: In the case where the errors between the multiple groups of transmission data exceed a predetermined threshold, determining that the security verification result is a data anomaly; When the safety check result is data abnormality, the multiple sets of transmission data are recorded, and the robot is controlled to decelerate and stop.

5. The method according to claim 1, characterized in that In the case where the target function type is a common IO type, the data transmitted by the multiple IO ports are processed through the multiple IO expansion chips according to the target processing strategy, and the robot is controlled to work according to the data of the multiple IO ports, including: Determine the working status of each of the multiple IO expansion chips; According to the respective working states of the multiple IO expansion chips, the data transmitted by the multiple IO ports are processed, and the robot is controlled to work according to the data of the multiple IO ports.

6. The method according to claim 5, characterized in that The processing of the data transmitted by the multiple IO ports according to the respective working states of the multiple IO expansion chips, and the control of the robot to work according to the data of the multiple IO ports, includes: When an abnormal state exists in the working state of each of the plurality of IO expansion chips, data transmitted by the plurality of IO ports is recorded, and the robot is controlled to decelerate to stop.

7. The method according to any one of claims 1 to 6, characterized in that Also includes: Get the configuration instructions of the target object; In response to the configuration instruction of the target object, the target function types of the plurality of IO ports are configured as a common IO type or a safety IO type.

8. A robot control cabinet, characterized in that: include: Processor, multiple IO expansion chips and multiple IO ports, among which, The multiple IO ports are respectively connected to the multiple IO expansion chips, and the multiple IO expansion chips are connected to the processor; The processor is used to execute the data processing method described in any one of claims 1 to 7.

9. The control cabinet according to claim 8, characterized in that: When the number of the multiple IO ports exceeds two and the number of the multiple IO expansion chips is two, the multiple IO ports are divided into odd ports and even ports, the odd ports are connected to one IO expansion chip, and the even ports are connected to another IO expansion chip.

10. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored program, wherein when the program is executed, the device where the non-volatile storage medium is located is controlled to execute the data processing method according to any one of claims 1 to 7.

11. A computer program product comprising computer instructions, characterized in that: The computer instructions are executed by a processor to execute the data processing method according to any one of claims 1 to 7.

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