Data processing method and device of industrial intelligent system

Abstract

The invention discloses a data processing method and device of an industrial intelligent system. Through an industrial intelligent system developed based on a three-dimensional kernel component, trajectory planning of an industrial robot is realized, to-be-processed data is acquired, the to-be-processed data comprises development demand data and process demand data, and the development demand data is related data used for representing development demands of the industrial intelligent system; the process demand data is related data used for representing the process demand of the industrial intelligent system; performing system construction processing on the development demand data based on the three-dimensional kernel component to obtain target development data, the target development data being data used for representing the constructed industrial intelligent system; and trajectory planning processing based on the target development data is carried out on the process demand data, target process execution data is obtained, and the target process execution data is data used for representing a trajectory corresponding to the execution demand process of the industrial robot. According to the invention, the required process execution in multiple industrial application scenarios is realized.

Description

Technical Field

[0001] The present application relates to the field of computers, and in particular to a data processing method and device for an industrial intelligent system. Background Art

[0002] In recent years, with the continuous development and improvement of offline programming technology for industrial robots, it has been widely used in various fields and industries, and has been increasingly integrated with processes in scenarios such as intelligent welding, grinding, and deburring. More and more manufacturers or university research institutions need to have an offline programmable industrial intelligent system for their own industrial scenarios.

[0003] In the existing technology, the main method is to purchase open source or paid 3D platform kernels and develop based on the kernels. However, the existing 3D platform kernels do not have offline programming capabilities, which requires users to implement by themselves. Offline programming technology cannot be quickly mastered overnight, so it requires huge investment of manpower and financial resources, and it is difficult to meet the needs in a short period of time.

[0004] Therefore, this application is proposed to address the problems in the development and application of industrial intelligent systems in the prior art. Summary of the invention

[0005] The main purpose of this application is to provide a data processing method and device for an industrial intelligent system to solve the problems in the development and application of industrial intelligent systems in the prior art.

[0006] In order to achieve the above-mentioned purpose, the first aspect of the present application proposes a data processing method for an industrial intelligent system, wherein the industrial intelligent system is developed based on a three-dimensional core component to realize trajectory planning of an industrial robot, including:

[0007] Acquire data to be processed, wherein the data to be processed includes development requirement data and process requirement data, the development requirement data is relevant data for indicating the development requirement of the industrial intelligence system, and the process requirement data is relevant data for indicating the process requirement of the industrial intelligence system;

[0008] Processing the development demand data based on the system construction of the three-dimensional core component to obtain target development data, wherein the target development data is data used to represent the constructed industrial intelligent system;

[0009] The process requirement data is processed by trajectory planning based on the target development data to obtain target process execution data, wherein the target process execution data is data used to represent the trajectory corresponding to the industrial robot executing the required process.

[0010] Furthermore, the process requirement data is processed by trajectory planning based on the target development data to obtain target process execution data including:

[0011] Identify and process the process requirement data to obtain first process requirement data and second process requirement data, wherein the first process requirement data is data for representing an industrial robot that performs a required process, and the second process requirement data is data for representing a motion trajectory corresponding to the required process;

[0012] Performing a model conversion process based on a preset data structure on the first process requirement data to obtain conversion model data, wherein the conversion model data is data for representing a three-dimensional model of an industrial robot converted into the preset data structure;

[0013] Performing motion geometric feature extraction processing on the second process requirement data to obtain motion geometric feature data, wherein the motion geometric feature data is geometric feature data corresponding to the motion trajectory of the industrial robot;

[0014] The conversion model data and the motion geometric feature data are processed for motion trajectory generation to obtain the target process execution data.

[0015] Furthermore, the conversion model data and the motion geometry feature data are processed for motion trajectory generation to obtain the target process execution data, including:

[0016] Performing motion trajectory generation processing on the conversion model data and the motion geometric feature data to obtain process motion trajectory data;

[0017] Performing collision detection processing on the process motion trajectory data to determine whether the process motion trajectory data meets the preset trajectory planning rules,

[0018] If the process motion trajectory planning data satisfies the preset collision detection rule, the process motion trajectory data satisfies the preset trajectory planning rule, and the target process execution data is obtained;

[0019] If the process motion trajectory planning data does not satisfy the preset collision detection rules, the process motion trajectory data does not satisfy the preset trajectory planning rules, and the motion trajectory generation processing is repeated on the conversion model data and the motion geometric feature data until the process motion trajectory data satisfies the preset trajectory planning rules to obtain the target process execution data.

[0020] Furthermore, the second process requirement data is subjected to extraction processing based on motion geometry features, and the obtained motion geometry feature data includes:

[0021] Identify and process the second process requirement data to obtain workpiece feature data and point feature data, wherein the workpiece feature data is feature data used to represent the workpiece processed by the required process, and the point feature data is feature data used to represent the trajectory points of the required process;

[0022] The workpiece feature data is subjected to extraction processing based on geometric topological features to obtain first motion geometric feature data, wherein the first motion geometric feature data is data used to represent geometric topological features of the workpiece to be processed by the required process;

[0023] The point feature data is subjected to point data conversion processing to obtain second motion geometry feature data, wherein the second motion geometry feature data is feature data used to represent the conversion of required process trajectory points into trajectory points in an industrial intelligence system.

[0024] Further, the development requirement data is processed based on the system construction of the three-dimensional core component to obtain target development data including:

[0025] Performing configuration processing based on the display area on the development requirement data to obtain process area configuration data, wherein the process area configuration data is data used to represent the configuration display area of ​​the industrial intelligence system;

[0026] Performing construction processing based on application scenarios on the process area configuration data to obtain process scenario configuration data, wherein the process scenario configuration data is data used to represent an application scenario of an industrial intelligent system configuration;

[0027] Functional configuration processing is performed on the process scenario configuration data to obtain target development data.

[0028] Furthermore, the development requirement data is subjected to configuration processing based on the display area, and the obtained process area configuration data includes:

[0029] Performing identification processing based on the display area on the development demand data to obtain feature data of the area to be displayed, wherein the feature data of the area to be displayed is feature data used to plan the display area of ​​the industrial intelligence system;

[0030] Performing display area planning processing on the three-dimensional core component according to the feature data of the area to be displayed to obtain display area planning data;

[0031] Performing identification processing based on the handle interface on the data to be processed to obtain characteristic data of the handle interface to be configured, wherein the characteristic data of the handle interface to be configured is characteristic data for planning the handle interface of the industrial intelligent system;

[0032] The display area planning data is processed by handle interface configuration according to the handle interface characteristic data to be configured to obtain the process area configuration data.

[0033] According to a second aspect of the present application, a data processing device of an industrial intelligent system is proposed. The industrial intelligent system is developed based on a three-dimensional core component to realize trajectory planning of an industrial robot, including:

[0034] A data acquisition module, used to acquire data to be processed, wherein the data to be processed includes development requirement data and process requirement data, wherein the development requirement data is relevant data for indicating the development requirement of the industrial intelligence system, and the process requirement data is relevant data for indicating the process requirement of the industrial intelligence system;

[0035] A system construction module, used for processing the system construction of the development demand data based on the three-dimensional core component to obtain target development data, wherein the target development data is data used to represent the constructed industrial intelligent system;

[0036] The trajectory planning module is used to perform trajectory planning processing on the process requirement data based on the target development data to obtain target process execution data, wherein the target process execution data is data used to represent the trajectory corresponding to the industrial robot executing the required process.

[0037] Furthermore, the trajectory planning module includes:

[0038] an identification module, used to identify and process the process requirement data to obtain first process requirement data and second process requirement data, wherein the first process requirement data is data used to represent an industrial robot that performs a required process, and the second process requirement data is data used to represent a motion trajectory corresponding to the required process;

[0039] A model conversion module, used to perform model conversion processing on the first process requirement data based on a preset data structure to obtain conversion model data, wherein the conversion model data is data used to represent a three-dimensional model of an industrial robot converted into the preset data structure;

[0040] A motion feature extraction module, used for performing motion geometric feature extraction processing on the second process requirement data to obtain motion geometric feature data, wherein the motion geometric feature data is geometric feature data corresponding to the motion trajectory of the industrial robot;

[0041] The trajectory generation module is used to perform motion trajectory generation processing on the conversion model data and the motion geometric feature data to obtain the target process execution data.

[0042] According to a third aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the data processing method of the industrial intelligence system described above.

[0043] According to a fourth aspect of the present application, an electronic device is proposed, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor executes the data processing method of the above-mentioned industrial intelligence system.

[0044] The technical solution provided by the embodiments of the present application may have the following beneficial effects:

[0045] In this application, through the industrial intelligent system developed based on the three-dimensional core component, the trajectory planning of the industrial robot is realized, and the data to be processed is obtained, wherein the data to be processed includes development demand data and process demand data, wherein the development demand data is the relevant data used to represent the development demand of the industrial intelligent system, and the process demand data is the relevant data used to represent the process demand of the industrial intelligent system; the development demand data is processed based on the system construction of the three-dimensional core component to obtain the target development data, wherein the target development data is the data used to represent the constructed industrial intelligent system; the process demand data is processed based on the trajectory planning of the target development data to obtain the target process execution data, wherein the target process execution data is the data used to represent the trajectory corresponding to the industrial robot executing the required process. The required process execution in multiple industrial application scenarios is realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The drawings constituting a part of this application are used to provide a further understanding of this application, so that other features, purposes and advantages of this application become more obvious. The schematic embodiment drawings and their descriptions of this application are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

[0047] Figure 1 A flowchart of a data processing method for an industrial intelligence system provided in this application;

[0048] Figure 2 A flowchart of a data processing method for an industrial intelligence system provided in this application;

[0049] Figure 3 A flowchart of a data processing method for an industrial intelligence system provided in this application;

[0050] Figure 4A flowchart of a data processing method for an industrial intelligence system provided in this application;

[0051] Figure 5 A schematic diagram of a data processing device for an industrial intelligence system provided in this application;

[0052] Figure 6 A schematic diagram of another data processing device of an industrial intelligence system provided in the present application. DETAILED DESCRIPTION

[0053] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0054] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application 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 application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0055] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0056] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0057] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0058] In some optional embodiments of the present application, a data processing method for an industrial intelligence system is proposed. Figure 1 This is a flow chart of a data processing method for an industrial intelligent system proposed in this application. In an embodiment of this application, the industrial intelligent system is developed based on a three-dimensional core component to realize trajectory planning of an industrial robot. The method includes the following steps:

[0059] S101: Obtain data to be processed;

[0060] The data to be processed include development requirement data and process requirement data. The development requirement data is relevant data used to represent the development requirements of the industrial intelligent system, and the process requirement data is relevant data used to represent the process requirements of the industrial intelligent system.

[0061] The process requirement data refers to the relevant data of the industrial intelligent system to be developed by the industrial intelligent system developer, including the business logic of the industrial intelligent system, industrial scenario data, software settings and other related data. The business logic of the industrial intelligent system includes smart welding business logic, workpiece grinding business logic, etc.

[0062] The process requirement data are relevant data that require an industrial robot to execute a process in a specific application scenario, including data used to represent the physical structure of the industrial robot, which may be three-dimensional model data of the industrial robot. The industrial robot includes a motion mechanism that executes the required process, such as a robot body, a positioner, and guide rails. The three-dimensional model data of the industrial robot includes three-dimensional model data of motion mechanisms such as a robot body, a positioner, and guide rails. The process requirement data also include relevant data used to represent the motion trajectory of the required process, which may be data of a workpiece to be processed, or may be preset trajectory point data. The trajectory for the process processing of the workpiece may be generated based on the data of the workpiece to be processed, or the trajectory of the required process may be generated based on preset trajectory point data.

[0063] S102: Processing the development requirement data based on the system construction of the three-dimensional core component to obtain target development data;

[0064] The target development data is data used to represent the constructed industrial intelligent system;

[0065] In some optional embodiments of the present application, a data processing method for an industrial intelligence system is proposed. Figure 2 This is a flow chart of a data processing method for an industrial intelligence system proposed in this application, such as Figure 2 As shown, the method comprises the following steps:

[0066] S201: Perform configuration processing on the development requirement data based on the display area to obtain process area configuration data;

[0067] The process area configuration data is data used to represent the configuration display area of ​​the industrial intelligence system;

[0068] In some optional embodiments of the present application, a data processing method for an industrial intelligence system is proposed.

[0069] Performing identification processing on the development demand data based on the display area to obtain feature data of the area to be displayed, where the feature data of the area to be displayed is feature data used to plan the display area of ​​the industrial intelligent system;

[0070] Performing display area planning processing on the three-dimensional core component according to the feature data of the area to be displayed, to obtain display area planning data;

[0071] In an embodiment of the present application, a three-dimensional display area is extracted from a three-dimensional core component, and an interface of the three-dimensional display area of ​​the three-dimensional core component is extracted. The industrial intelligent system calls the interface of the three-dimensional display area of ​​the three-dimensional core component to display the three-dimensional display area in the industrial intelligent system interface; according to the size characteristics of the display area in the characteristic data of the area to be displayed, the size of the three-dimensional display area displayed in the industrial intelligent system interface is set, and according to the format characteristics of the display area in the characteristic data of the area to be displayed, the format of the three-dimensional display area displayed in the industrial intelligent system interface is set.

[0072] Performing identification processing on the data to be processed based on the handle interface to obtain characteristic data of the handle interface to be configured, wherein the characteristic data of the handle interface to be configured is characteristic data used for planning the handle interface of the industrial intelligent system;

[0073] In an embodiment of the present application, the characteristic data of the handle interface to be configured is characteristic data used to plan the handle interface of the industrial intelligent system, and the docked window handle of the three-dimensional kernel component is extracted and processed to extract all the docked window handles in the three-dimensional kernel component; the characteristic data of the handle interface to be configured includes the position setting characteristics of the window handle and the characteristics of the window handle to be displayed, and all the docked window handles in the extracted three-dimensional kernel component are screened according to the characteristics of the window handle to be displayed to obtain the window handle data displayed in the industrial intelligent system interface, and the interface of the above-mentioned window handle data displayed in the industrial intelligent system interface is extracted; according to the position setting characteristics of the window handle, the position of the window handle displayed in the industrial intelligent system interface is set.

[0074] The display area planning data is processed by the handle interface configuration according to the handle interface characteristic data to be configured, so as to obtain the process area configuration data.

[0075] The industrial intelligence system interface is set according to the interface of the three-dimensional display area of ​​the above-mentioned three-dimensional core component and the interface of the window handle data displayed in the above-mentioned industrial intelligence system interface, the three-dimensional display area interface in the three-dimensional core component and the window handle interface required by the industrial intelligence system are integrated into the display interface of the industrial intelligence system, and the industrial intelligence system interface is adjusted according to the display area size, format and window handle position in the development data to realize the interface display area configuration of the industrial intelligence system.

[0076] S202: Performing construction processing on the process area configuration data based on the application scenario to obtain process scenario configuration data;

[0077] The process scenario configuration data is data used to represent the industrial intelligent system configuration application scenario;

[0078] In some embodiments of the present application, the data to be processed is identified and processed based on the application scenario to obtain scene file data, wherein the scene file data is data used to represent the scene file in the industrial intelligence system; and the process area configuration data is scene configured based on the three-dimensional kernel component according to the scene file data to obtain process scene configuration data.

[0079] The scene file data is identified based on the scene file type to obtain first type scene file data or second type scene file data, wherein the first type scene file data is scene physical model data and the second type file data is scene construction indication data; the scene physical model data is subjected to scene object extraction processing based on the three-dimensional kernel component, and scene configuration processing is performed according to the scene object extraction result data to obtain process scene configuration data; the scene construction indication data is subjected to scene object matching processing based on the three-dimensional kernel component, and scene configuration processing is performed according to the scene object matching result data to obtain process scene configuration data.

[0080] In an optional embodiment of the present application, the scene file data is processed based on the scene file type to obtain the first type of scene file data and the second type of scene file data, wherein the first type of scene file data is the constructed scene physical model data, and the second type of file data is the scene construction indication data; the method for developing an industrial intelligent system according to the first type of scene file data includes initializing the first type of scene file data based on the three-dimensional kernel component, extracting the scene object in the first type of scene file, and extracting the interface of the scene object in the first type of scene file to realize the integration of the scene object in the industrial intelligent system. The method for developing an industrial intelligent system according to the second type of scene file data includes matching the scene object corresponding to the scene construction indication data in the three-dimensional kernel component object library to obtain the matching scene object; identifying the connection relationship characteristics of the scene object in the scene construction indication data, and constructing the scene for the matching scene object according to the connection relationship characteristics to obtain the constructed scene; extracting the interface of the constructed scene, and calling the corresponding scene through the interface of the constructed scene to realize the configuration of the application scene in the industrial intelligent system.

[0081] In another optional embodiment of the present application, multiple operation objects are integrated in the three-dimensional core component, including: documents, mechanisms, trajectories, parts, tools, trajectory points, etc.; interface extraction processing is performed on the operation phases corresponding to the multiple operation objects in the above-mentioned three-dimensional core component, and the interface of the operation item of the three-dimensional core component operation object is extracted. The industrial intelligent system calls the interface of the operation item of the three-dimensional core component operation object to integrate the above-mentioned operation object operation items in the industrial intelligent system and realize the configuration of the operation objects in the industrial intelligent system.

[0082] S203: Perform function configuration processing on the process scenario configuration data to obtain target development data.

[0083] In some embodiments of the present application, a data processing method for an industrial intelligence system is proposed. Figure 3 A flowchart of a data processing method for an industrial intelligence system provided in this application, such as Figure 3 As shown, the method comprises the following steps:

[0084] S301: Perform function file identification processing on process scenario configuration data to obtain function file data;

[0085] The function file is data used to represent the function file in the industrial intelligence system.

[0086] S302: performing a change process on the function file data based on the command object to achieve a change on the function file command processing object;

[0087] In an embodiment of the present application, multiple functional modules are integrated in a three-dimensional core component, and the functional modules are extracted from the three-dimensional core component to extract the interfaces of the functional modules required by the industrial intelligent system in the three-dimensional core component. The industrial intelligent system calls the interfaces of the functional modules of the three-dimensional core component to integrate the required functional modules in the industrial intelligent system; command object change processing is performed on the required functional modules, and the acquisition of internal processing objects of these module commands is changed to be passed in from the outside, and the functional modules are called through the interfaces of the functional modules of the three-dimensional core component, wherein different functional modules correspond to different functional feature identifiers.

[0088] In another optional embodiment of the present application, the function file data also includes a new function module, which is a function module different from the three-dimensional core component. The file data of the new function module is obtained, a calling interface is generated for the new function module, a function special identifier corresponding to the new function module is generated, and the calling interface of the new function module is integrated with the above-mentioned required three-dimensional core component function module interface, so that the command objects are obtained through external input, thereby realizing the functional configuration of the industrial intelligent system.

[0089] S303: performing feature identification generation processing on the function file data to obtain function feature identification data;

[0090] The function feature identification data corresponds one-to-one to the function file, and the calling interface calls the corresponding function module according to the function feature identification.

[0091] S304: Perform call interface configuration processing on the function file according to the function feature identification data to obtain a target industrial intelligent system.

[0092] In some embodiments of the present application, a data processing method for industrial intelligent system development is proposed, which is applied to a three-dimensional core component. The three-dimensional core component is integrated in the industrial intelligent system to provide an offline programming function for the industrial intelligent system to realize the development of the industrial intelligent system. The three-dimensional core component includes: a cross-language integration component and an offline programming function component. The method includes:

[0093] Acquire data to be processed, wherein the data to be processed is relevant data for representing the development of an industrial intelligent system; identify a first business system based on the data to be processed, wherein the first business system is a system for representing the business logic of the industrial intelligent system; perform initialization interface processing on the three-dimensional kernel component, including: generating a kernel function interface identifier corresponding to the offline programming function component; matching the kernel function corresponding to the first business system according to the cross-language integration component, calling the kernel function interface identifier, realizing the integration processing of the first business system and the three-dimensional kernel component, and obtaining the target industrial intelligent system.

[0094] In some embodiments of the present application, a three-dimensional kernel component is proposed. The three-dimensional kernel component is integrated in the industrial intelligent system to provide offline programming functions for the industrial intelligent system to realize the development of the industrial intelligent system. The three-dimensional kernel component includes: a cross-language integration component and an offline programming function component; the cross-language integration component can be integrated with the business logic system of the industrial intelligent system to be developed, and the interface of the offline programming function component is exposed in the cross-language integration component, including: kernel component related interface, module execution related interface, data interaction related interface, etc. The industrial intelligent system developer calls the above interface through the cross-language integration component to execute the corresponding function to develop an industrial intelligent system with the above functions. The cross-language integration component can be integrated with the offline programming function component in development languages ​​such as C++ and C#, and application frameworks such as MFC, QT, WinForm, and WPF. The cross-language integration component can be a communication component developed and implemented based on COM technology to realize the integration of the above offline programming function component with the business system of the software to be developed, and realize the development of an industrial intelligent system with offline programming capabilities.

[0095] Various process interfaces are encapsulated in the three-dimensional core component. The industrial intelligent system is developed based on the three-dimensional core component. In the industrial intelligent system, by calling various process interfaces in the three-dimensional core component, the corresponding functional modules in the three-dimensional core component are called in specific application scenarios to realize the process flow.

[0096] The three-dimensional core component integrates process modules such as welding module, grinding module, and spraying module.

[0097] S103: Perform trajectory planning processing on the process requirement data based on the target development data to obtain target process execution data.

[0098] The target process execution data is data used to represent the trajectory corresponding to the industrial robot executing the required process.

[0099] The industrial robot system is developed based on three-dimensional core components to realize trajectory planning of industrial robots in specific application scenarios.

[0100] In some embodiments of the present application, a data processing method for an industrial intelligence system is proposed. Figure 4 A flowchart of a data processing method for an industrial intelligence system provided in this application, such as Figure 3 As shown, the method comprises the following steps:

[0101] S401: Identify and process the process requirement data to obtain first process requirement data and second process requirement data;

[0102] The first process requirement data is data used to represent the industrial robot that performs the required process, and the second process requirement data is data used to represent the motion trajectory corresponding to the required process;

[0103] S402: performing model conversion processing based on a preset data structure on the first process requirement data to obtain conversion model data;

[0104] The conversion model data is data used to represent the three-dimensional model of the industrial robot converted into a preset data structure. The industrial intelligent system is developed based on the three-dimensional core component. The industrial intelligent system presets the model data structure. The acquired three-dimensional model data of the industrial robot is converted into the preset data structure in the industrial intelligent system to obtain the conversion model data.

[0105] In an optional embodiment of the present application, the industrial intelligent system includes a robot library, which stores file data of motion mechanisms such as robots, positioners, and guide rails. The file data of each motion mechanism in the robot library can be obtained after model conversion processing of the acquired first process requirements, and can be file data of multiple motion mechanisms preset in the three-dimensional core component.

[0106] In another optional embodiment of the present application, the first process requirement data is processed for identification of identity characteristics to obtain robot identity characteristic data, and the mechanism file data corresponding to the robot identity characteristic is matched in a preset industrial intelligent system database; the first process requirement data is processed for identification of position characteristics to obtain position characteristic data, and the position characteristic data is characteristic data for representing the positional relationship of each motion mechanism in the industrial robot that executes the required process; the mechanism file data is processed for scene building data based on the position characteristic data to obtain model data of motion mechanisms such as robots that execute the required process in the industrial intelligent system.

[0107] The model conversion process of the acquired motion mechanism data includes: the user calls the definition mechanism interface of the 3D kernel component to convert the required 3D models of the robot, positioner, and guide rail into the corresponding data structure. The converted robot, positioner, guide rail and other motion mechanisms have forward kinematics algorithms and inverse kinematics algorithms to realize motion control of the above mechanisms.

[0108] In another optional embodiment of the present application, the three-dimensional core component encapsulates a tool definition interface and a part definition interface, and the tool digital model is converted into a tool by calling the tool definition interface, and the part digital model is converted into a part by calling the part definition interface; the three-dimensional core component encapsulates a custom post-processing interface, and the custom post-processing interface is called to add a post-processing format to the defined robot, so as to output the designed and planned robot motion path into a program recognizable by the robot for running on the computer.

[0109] S403: performing extraction processing based on motion geometry features on the second process requirement data to obtain motion geometry feature data;

[0110] The motion geometric feature data is the geometric feature data corresponding to the motion trajectory of the industrial robot;

[0111] In some embodiments of the present application, a data processing method for an industrial intelligence system is proposed, the method comprising:

[0112] Identify and process the second process requirement data to obtain workpiece feature data and point feature data, wherein the workpiece feature data is feature data used to represent the workpiece processed by the required process, and the point feature data is feature data used to represent the trajectory points of the required process;

[0113] Performing extraction processing based on geometric topological features on the workpiece feature data to obtain first motion geometric feature data, wherein the first motion geometric feature data is data used to represent the geometric topological features of the workpiece to be processed by the required process;

[0114] In an optional embodiment of the present application, a process robot performs a processing process on a workpiece. In an industrial intelligent system, a trajectory generation function module in a three-dimensional core component is called to generate a robot motion processing trajectory by identifying the geometric topological information of the workpiece to be processed.

[0115] The point feature data is subjected to point data conversion processing to obtain second motion geometry feature data, wherein the second motion geometry feature data is feature data used to represent the conversion of the required process trajectory points into trajectory points in the industrial intelligence system.

[0116] In the industrial intelligent system, by calling the import trajectory point interface, the external trajectory point data (points based on the pose data in a certain coordinate system, such as x, y, z, a, b, c) is converted into the trajectory point data of the three-dimensional core component, and the converted trajectory point data is simulated and tested. For example, the external trajectory point data is generated by the visual software, and by calling the import trajectory point structure, the external trajectory point data generated by the visual software is converted and processed, and subsequent operations are performed after the conversion.

[0117] In another optional embodiment of the present application, in an industrial intelligent system, the point, edge, and surface data of the workpiece digital model and the correlation between these data are obtained by calling an interface, and trajectory data is obtained to realize intelligent trajectory planning. For example, in a smart welding process, the weld trajectory is obtained through the relationship between the edge and the surface returned by the interface.

[0118] S404: Perform motion trajectory generation processing on the conversion model data and the motion geometry feature data to obtain target process execution data.

[0119] In some embodiments of the present application, a data processing method for an industrial intelligence system is proposed, the method comprising:

[0120] The conversion model data and the motion geometry feature data are processed by motion trajectory generation to obtain process motion trajectory data; the process motion trajectory data are processed by collision detection to determine whether the process motion trajectory data satisfies the preset trajectory planning rules. If the process motion trajectory planning data satisfies the preset collision detection rules, the process motion trajectory data satisfies the preset trajectory planning rules, and the target process execution data is obtained; if the process motion trajectory planning data does not satisfy the preset collision detection rules, the process motion trajectory data does not satisfy the preset trajectory planning rules, and the motion trajectory generation processing is repeated on the conversion model data and the motion geometry feature data until the process motion trajectory data satisfies the preset trajectory planning rules, and the target process execution data is obtained.

[0121] The three-dimensional core component integrates a collision detection function module. In the intelligent industrial system, static collision detection is performed on objects by calling the interface; collision pairs are set through the interface, and dynamic collision detection is performed in the simulation.

[0122] In the intelligent industrial system, the interface is called to simulate the specific industrial scenario. The interface can be called to simulate the individual trajectory or trajectory group of a single robot to verify whether the trajectory planning is appropriate, obtain the target process execution data, and generate the robot program.

[0123] In some embodiments of the present application, a data processing device for an industrial intelligent system is proposed. The industrial intelligent system is developed based on a three-dimensional core component to realize trajectory planning of an industrial robot. Figure 5 A schematic diagram of a data processing device of an industrial intelligence system provided in this application, such as Figure 5 As shown, the device comprises:

[0124] The data acquisition module 51 is used to acquire the data to be processed, wherein the data to be processed includes development requirement data and process requirement data, wherein the development requirement data is the relevant data used to represent the development requirement of the industrial intelligence system, and the process requirement data is the relevant data used to represent the process requirement of the industrial intelligence system;

[0125] A system construction module 52, used for processing the system construction of the development demand data based on the three-dimensional core component to obtain target development data, wherein the target development data is data used to represent the constructed industrial intelligent system;

[0126] The trajectory planning module 53 is used to perform trajectory planning processing on the process requirement data based on the target development data to obtain target process execution data, wherein the target process execution data is data used to represent the trajectory corresponding to the industrial robot executing the required process.

[0127] In some embodiments of the present application, a data processing device for an industrial intelligence system is proposed. Figure 6 A schematic diagram of another data processing device of an industrial intelligence system provided in this application, such as Figure 6 As shown, the device comprises:

[0128] The identification module 61 is used to identify and process the process requirement data to obtain first process requirement data and second process requirement data, wherein the first process requirement data is data used to represent the industrial robot that performs the required process, and the second process requirement data is data used to represent the motion trajectory corresponding to the required process;

[0129] A model conversion module 62, configured to perform model conversion processing on the first process requirement data based on a preset data structure to obtain conversion model data, wherein the conversion model data is data for representing a three-dimensional model of an industrial robot converted into the preset data structure;

[0130] A motion feature extraction module 63 is used to extract the second process requirement data based on motion geometric features to obtain motion geometric feature data, wherein the motion geometric feature data is geometric feature data corresponding to the motion trajectory of the industrial robot;

[0131] The trajectory generation module 64 is used to perform motion trajectory generation processing on the conversion model data and the motion geometry feature data to obtain target process execution data.

[0132] The specific manner of executing the operation of each unit in the above embodiment has been described in detail in the embodiment of the method, and will not be elaborated here.

[0133] In summary, in this application, through the industrial intelligent system developed based on the three-dimensional core component, the trajectory planning of the industrial robot is realized, and the data to be processed is obtained, wherein the data to be processed includes development demand data and process demand data, wherein the development demand data is the relevant data used to represent the development demand of the industrial intelligent system, and the process demand data is the relevant data used to represent the process demand of the industrial intelligent system; the development demand data is processed based on the system construction of the three-dimensional core component to obtain the target development data, wherein the target development data is the data used to represent the constructed industrial intelligent system; the process demand data is processed based on the trajectory planning of the target development data to obtain the target process execution data, wherein the target process execution data is the data used to represent the trajectory corresponding to the industrial robot executing the required process. The required process execution in multiple industrial application scenarios is realized.

[0134] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0135] Obviously, those skilled in the art should understand that the above-mentioned units or steps of the present application can be implemented by a general-purpose computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. In this way, the present application is not limited to any specific combination of hardware and software.

[0136] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A data processing method for an industrial intelligent system, characterized in that: The industrial intelligent system is developed based on three-dimensional core components to realize the trajectory planning of industrial robots including: Acquire data to be processed, wherein the data to be processed includes development requirement data and process requirement data, the development requirement data is relevant data for indicating the development requirement of the industrial intelligence system, and the process requirement data is relevant data for indicating the process requirement of the industrial intelligence system; Processing the development demand data based on the system construction of the three-dimensional core component to obtain target development data, wherein the target development data is data used to represent the constructed industrial intelligent system; The process requirement data is processed by trajectory planning based on the target development data to obtain target process execution data, wherein the target process execution data is data used to represent the trajectory corresponding to the industrial robot executing the required process.

2. The data processing method according to claim 1, characterized in that: The process requirement data is processed by trajectory planning based on the target development data to obtain target process execution data including: Identify and process the process requirement data to obtain first process requirement data and second process requirement data, wherein the first process requirement data is data for representing an industrial robot that performs a required process, and the second process requirement data is data for representing a motion trajectory corresponding to the required process; Performing a model conversion process based on a preset data structure on the first process requirement data to obtain conversion model data, wherein the conversion model data is data for representing a three-dimensional model of an industrial robot converted into the preset data structure; Performing motion geometric feature extraction processing on the second process requirement data to obtain motion geometric feature data, wherein the motion geometric feature data is geometric feature data corresponding to the motion trajectory of the industrial robot; The conversion model data and the motion geometric feature data are processed for motion trajectory generation to obtain the target process execution data.

3. The data processing method according to claim 2, characterized in that: Performing motion trajectory generation processing on the conversion model data and the motion geometric feature data to obtain the target process execution data includes: Performing motion trajectory generation processing on the conversion model data and the motion geometric feature data to obtain process motion trajectory data; Performing collision detection processing on the process motion trajectory data to determine whether the process motion trajectory data meets the preset trajectory planning rules, If the process motion trajectory planning data satisfies the preset collision detection rule, the process motion trajectory data satisfies the preset trajectory planning rule, and the target process execution data is obtained; If the process motion trajectory planning data does not satisfy the preset collision detection rules, the process motion trajectory data does not satisfy the preset trajectory planning rules, and the motion trajectory generation processing is repeated on the conversion model data and the motion geometric feature data until the process motion trajectory data satisfies the preset trajectory planning rules to obtain the target process execution data.

4. The data processing method according to claim 2, characterized in that: The second process requirement data is subjected to extraction processing based on motion geometric features, and the obtained motion geometric feature data includes: Identify and process the second process requirement data to obtain workpiece feature data and point feature data, wherein the workpiece feature data is feature data used to represent the workpiece processed by the required process, and the point feature data is feature data used to represent the trajectory points of the required process; The workpiece feature data is subjected to extraction processing based on geometric topological features to obtain first motion geometric feature data, wherein the first motion geometric feature data is data used to represent geometric topological features of the workpiece to be processed by the required process; The point feature data is subjected to point data conversion processing to obtain second motion geometry feature data, wherein the second motion geometry feature data is feature data used to represent the conversion of required process trajectory points into trajectory points in an industrial intelligence system.

5. The data processing method according to claim 1, characterized in that: The development requirement data is processed based on the system construction of the three-dimensional core component to obtain target development data including: Performing configuration processing based on the display area on the development requirement data to obtain process area configuration data, wherein the process area configuration data is data used to represent the configuration display area of ​​the industrial intelligence system; Performing construction processing based on application scenarios on the process area configuration data to obtain process scenario configuration data, wherein the process scenario configuration data is data used to represent an application scenario of an industrial intelligent system configuration; Functional configuration processing is performed on the process scenario configuration data to obtain target development data.

6. The data processing method according to claim 5, characterized in that: The development requirement data is processed based on the configuration of the display area to obtain the process area configuration data including: Performing identification processing based on the display area on the development demand data to obtain feature data of the area to be displayed, wherein the feature data of the area to be displayed is feature data used to plan the display area of ​​the industrial intelligence system; Performing display area planning processing on the three-dimensional core component according to the feature data of the area to be displayed to obtain display area planning data; Performing identification processing based on the handle interface on the data to be processed to obtain characteristic data of the handle interface to be configured, wherein the characteristic data of the handle interface to be configured is characteristic data for planning the handle interface of the industrial intelligent system; The display area planning data is processed by handle interface configuration according to the handle interface characteristic data to be configured to obtain the process area configuration data.

7. A data processing device for an industrial intelligent system, characterized in that: The industrial intelligence system is developed based on 3D core components to realize trajectory planning of industrial robots, including: A data acquisition module, used to acquire data to be processed, wherein the data to be processed includes development requirement data and process requirement data, wherein the development requirement data is relevant data for indicating the development requirement of the industrial intelligence system, and the process requirement data is relevant data for indicating the process requirement of the industrial intelligence system; A system construction module, used for processing the system construction of the development demand data based on the three-dimensional core component to obtain target development data, wherein the target development data is data used to represent the constructed industrial intelligent system; The trajectory planning module is used to perform trajectory planning processing on the process requirement data based on the target development data to obtain target process execution data, wherein the target process execution data is data used to represent the trajectory corresponding to the industrial robot executing the required process.

8. The data processing device according to claim 7, characterized in that: Trajectory planning module, including: an identification module, used to identify and process the process requirement data to obtain first process requirement data and second process requirement data, wherein the first process requirement data is data used to represent an industrial robot that performs a required process, and the second process requirement data is data used to represent a motion trajectory corresponding to the required process; A model conversion module, used to perform model conversion processing on the first process requirement data based on a preset data structure to obtain conversion model data, wherein the conversion model data is data used to represent a three-dimensional model of an industrial robot converted into the preset data structure; A motion feature extraction module, used for performing motion geometric feature extraction processing on the second process requirement data to obtain motion geometric feature data, wherein the motion geometric feature data is geometric feature data corresponding to the motion trajectory of the industrial robot; The trajectory generation module is used to perform motion trajectory generation processing on the conversion model data and the motion geometric feature data to obtain the target process execution data.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the data processing method of the industrial intelligence system according to any one of claims 1 to 6.

10. An electronic device, characterized in that: include: at least one processor; And a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor executes the data processing method of the industrial intelligence system according to any one of claims 1 to 6.

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