Alarm processing method, device and equipment of robot demonstrator and medium

Abstract

The embodiment of the invention provides an alarm processing method and device for a robot demonstrator, electronic equipment and a medium, and the method comprises the steps: receiving alarm data transmitted by a robot controller, and determining an alarm event according to the alarm data, the alarm event comprising an alarm number, an alarm type, alarm information and alarm time. Then, the alarm options are displayed according to the alarm event, and the user can perform corresponding operation according to the alarm options. And finally, in response to a first operation of the user for the alarm option, an alarm detailed interface is displayed, and the alarm detailed interface comprises an alarm event and a solution. According to the embodiment of the invention, the processing flow of the robot fault by the user is simplified, the maintainability and traceability of the system are enhanced, and more convenient and efficient use experience is provided for the user.

Description

Technical Field

[0001] The present invention relates to the technical field of alarm processing of a robot teaching pendant, and in particular to an alarm processing method, device, equipment and medium of a robot teaching pendant. Background Art

[0002] With the improvement of industrial automation level, robots play an increasingly important role in production lines. In order to ensure the safety and efficient operation of the production line, the abnormal status of the robot needs to be detected and responded to in time. As an important tool for robot programming and operation, the teach pendant allows workers to program and operate the robot to achieve various complex tasks. During the operation of the robot, various abnormal situations may occur, such as collision, over-limit movement or equipment failure. Traditional robot teach pendants mainly consider factors such as real-time, stability, and reliability to design alarm processing methods to ensure the safety and efficiency of robot operation. The handling of alarms often requires users to be fully aware of the situation before they can be solved, and the solution steps are very cumbersome. Summary of the invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide an alarm processing method, device, equipment and medium for a robot teaching pendant that overcomes the above problems or at least partially solves the above problems.

[0004] In order to solve the above problems, an embodiment of the present invention discloses a method for alarm processing of a robot teaching pendant, comprising:

[0005] Receive alarm data sent by the robot controller;

[0006] Determine an alarm event according to the alarm data, wherein the alarm event includes an alarm number, an alarm type, an alarm message and an alarm time;

[0007] According to the alarm event, display alarm options;

[0008] In response to the user's first operation on the alarm option, an alarm detail interface is displayed; the alarm detail interface includes the alarm event and a solution.

[0009] Optionally, the alarm data includes a function code; and determining an alarm event according to the alarm data includes:

[0010] Analyze the function code of the alarm data to determine the alarm number, alarm type and alarm time;

[0011] Obtain an alarm event comparison table, wherein the alarm event comparison table includes alarm information corresponding to different alarm numbers;

[0012] The alarm information corresponding to the alarm number is queried from the alarm event comparison table.

[0013] Optionally, the alarm event comparison table further includes: solutions corresponding to different alarm numbers; the detailed alarm display interface includes:

[0014] Determine the solution corresponding to the alarm number from the alarm event comparison table, and display the alarm detail interface according to the solution corresponding to the alarm number.

[0015] Optionally, the alarm type includes a first alarm type, a second alarm type, a third alarm type and a fourth alarm type;

[0016] The first alarm type indicates that the robot is in an emergency stop alarm;

[0017] The second alarm type indicates that the robot is alarming for a program syntax error;

[0018] The third alarm type indicates that the robot is in a communication alarm;

[0019] The fourth alarm type indicates that the robot is in a driving alarm.

[0020] Optionally, when the alarm type is the second alarm type or the third alarm type, the alarm detail interface further includes a solution function option; and the method further includes:

[0021] In response to a second operation of the user on the solution function option, jump to an interface corresponding to the solution measure.

[0022] Optionally, the jumping to an interface corresponding to the solution includes:

[0023] When the alarm type is the second alarm type, jump to the program programming interface and highlight the error code;

[0024] When the alarm type is the third alarm type, jump to the communication interface interface.

[0025] Optionally, displaying alarm options according to the alarm event includes:

[0026] Based on the at least one alarm event, at least one alarm option is displayed on the main interface; and / or based on the latest alarm event, alarm options are displayed in the alarm bar.

[0027] Correspondingly, an embodiment of the present invention further discloses a fault analysis device for household electrical appliances, the device comprising:

[0028] A data receiving module, used for receiving alarm data sent by the robot controller;

[0029] An event determination module, used to determine an alarm event according to the alarm data, wherein the alarm event includes an alarm number, an alarm type, an alarm message and an alarm time;

[0030] An option display module, used to display alarm options according to the alarm event;

[0031] The operation response module is used to display an alarm detail interface in response to a first operation of the user on the alarm option; the alarm detail interface includes the alarm event and a solution.

[0032] Optionally, the event determination module includes:

[0033] A function code analysis submodule, used to analyze the function code of the alarm data, determine the alarm number, alarm type and alarm time;

[0034] An event acquisition submodule is used to acquire an alarm event comparison table, wherein the alarm event comparison table includes alarm information corresponding to different alarm numbers;

[0035] The information query submodule is used to query the alarm information corresponding to the alarm number from the alarm event comparison table.

[0036] Optionally, the alarm event comparison table further includes: solutions corresponding to different alarm numbers; the operation response module includes;

[0037] The interface display submodule is used to determine the solution corresponding to the alarm number from the alarm event comparison table, and display the alarm detailed interface according to the solution corresponding to the alarm number.

[0038] Optionally, the alarm type includes a first alarm type, a second alarm type, a third alarm type and a fourth alarm type;

[0039] The first alarm type indicates that the robot is in an emergency stop alarm;

[0040] The second alarm type indicates that the robot is alarming for a program syntax error;

[0041] The third alarm type indicates that the robot is in a communication alarm;

[0042] The fourth alarm type indicates that the robot is in a driving alarm.

[0043] Optionally, when the alarm type is the second alarm type or the third alarm type, the device further includes:

[0044] The interface jump module is used to jump to the interface corresponding to the solution measure in response to the user's second operation on the solution function option.

[0045] Optionally, the interface jump module includes:

[0046] A first jump submodule, used for jumping to a program programming interface and highlighting an error code when the alarm type is a second alarm type;

[0047] The second jump submodule is used to jump to the communication interface when the alarm type is the third alarm type.

[0048] Optionally, the option display module includes:

[0049] The option determination submodule is used to display at least one alarm option on the main interface according to the at least one alarm event; and / or, according to the latest alarm event, display the alarm option in the alarm bar.

[0050] Correspondingly, an embodiment of the present invention discloses an electronic device, comprising: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the various steps of the alarm processing method embodiment of the above-mentioned robot teaching pendant.

[0051] Correspondingly, an embodiment of the present invention discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various steps of the alarm processing method embodiment of the above-mentioned robot teaching pendant are implemented.

[0052] The embodiments of the present invention include the following advantages:

[0053] In an embodiment of the present invention, the robot teaching pendant can receive the alarm data sent by the robot controller; then determine the alarm event based on the alarm data, the alarm event includes the alarm number, alarm type, alarm information and alarm time; then display the alarm options according to the alarm event; finally, in response to the user's first operation on the alarm option, display the alarm detail interface; the alarm detail interface includes the alarm event and the solution. In this way, the user can quickly understand the current status of the robot and the possible causes of the failure, and perform corresponding operations according to the provided solutions. In addition, the teaching pendant can also record each alarm event and its processing process for subsequent analysis and optimization, thereby improving the stability and reliability of the robot's operation. The embodiment of the present invention not only simplifies the user's processing flow for robot failures, but also enhances the maintainability and traceability of the system, providing users with a more convenient and efficient use experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a flowchart of the steps of an embodiment of an alarm processing method of a robot teaching pendant of the present invention;

[0055] Figure 2 is a flowchart of another embodiment of an alarm processing method for a robot teaching pendant of the present invention;

[0056] Figure 3 is a flow chart of an example of an alarm processing method of a robot teaching pendant of the present invention;

[0057] Figure 4 is a schematic diagram of an alarm bar in an embodiment of the present invention;

[0058] Figure 5 is a schematic diagram of an alarm panel in a main interface of a teaching pendant in an embodiment of the present invention;

[0059] Figure 6 is a schematic diagram of a program alarm details interface in an embodiment of the present invention;

[0060] Figure 7 is a schematic diagram of an alarm details interface after a program alarm is processed in an embodiment of the present invention;

[0061] Figure 8 is a schematic diagram of a communication alarm details interface in an embodiment of the present invention;

[0062] Fig. 9 is a schematic diagram of an alarm details interface after a communication alarm is processed in an embodiment of the present invention;

[0063] Fig.10 is a schematic diagram of an alarm details interface after driving alarm processing in an embodiment of the present invention;

[0064] Fig.11 It is a structural block diagram of an embodiment of an alarm processing device of a robot teaching pendant of the present invention. DETAILED DESCRIPTION

[0065] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0066] In modern industrial production, with the continuous advancement of automation technology, robots have become a key role in production lines. In order to ensure the safety and efficiency of the production process, it is particularly important to detect and respond to abnormal conditions of robots in a timely manner. The teach pendant is the core tool for robot programming and operation. Workers can use it to accurately program and control robots to complete various complex tasks. However, during the operation of the robot, it may encounter a variety of abnormal situations, such as collision, over-limit movement or equipment failure.

[0067] Although traditional robot teaching pendants are designed with real-time, stability and reliability in mind, their alarm processing mechanisms are often complex and require users to have in-depth professional knowledge to effectively respond. The resolution steps are cumbersome, time-consuming and labor-intensive. This not only increases the difficulty of operation, but may also affect the continuity and efficiency of the production line.

[0068] One of the core concepts of the embodiment of the present invention is that the robot teaching pendant can link with the controller to receive alarm data in real time to ensure the immediacy and accuracy of data transmission. By accurately analyzing these alarm data, the teaching pendant can accurately identify the current alarm event, including the alarm number, alarm type, alarm information and alarm time. Based on these alarm events, the teaching pendant will display the corresponding alarm options so that the user can respond quickly. When the user selects an alarm option, the system will further display a detailed alarm interface, which not only contains detailed information on the alarm event, but also provides targeted solutions to help users efficiently handle alarm situations.

[0069] Reference Figure 1 , shows a flowchart of an alarm processing method embodiment of a robot teaching pendant of the present invention, which may specifically include the following steps:

[0070] Step 101, receiving alarm data sent by the robot controller;

[0071] Specifically, the teach pendant can receive alarm data sent from the robot controller.

[0072] In the embodiment of the present invention, it can be applied to a robot teaching pendant and can have abnormality detection and emergency processing functions. The user can monitor and manage the operating status of the robot through the robot teaching pendant.

[0073] In an embodiment of the present invention, the teach pendant and the controller can be integrated into a drive and control unit. The controller can determine whether there is an execution error based on the data generated by the robot's operation status. If an error occurs, a function code is generated to generate an alarm, and the alarm data can be uploaded to the teach pendant through the TCP protocol. The teach pendant parses the alarm data according to preset rules, and finally generates alarm information to display on the teach pendant interface.

[0074] The robot teach pendant can receive alarm data sent by the robot controller. This data may include information that needs to be updated in real time, such as the robot's abnormality type, abnormality occurrence time, robot status, etc. It can also include information such as the robot's model and production date that only needs to be initially input by the user once and does not need to be dynamically updated.

[0075] In some embodiments, intelligent robots may also be deployed in the user's factory or warehouse, such as intelligent handling robots, intelligent inspection robots, etc. These intelligent robots may have self-diagnosis functions, and when abnormalities are detected, they may automatically generate alarm information and status information, and send these data to the robot teaching pendant through the robot controller.

[0076] In some embodiments, a sensor network can be set up at key locations in the user's factory or warehouse. The sensors can collect the robot's operating data, such as position, speed, load, etc., and transmit the collected data to the robot controller. The robot teaching pendant can monitor the robot's operating status in real time based on this data and generate alarm data when an abnormality is detected.

[0077] The robot teaching pendant can also communicate with the cloud server and receive abnormal solutions and maintenance suggestions sent by the cloud server. The cloud server can analyze the abnormal causes based on the robot's alarm data and provide corresponding solutions and maintenance suggestions to help users quickly solve the abnormal problems of the robot.

[0078] By receiving the alarm data sent by the robot controller and combining the collaborative work of the robot teaching pendant and the cloud server, real-time monitoring of the robot's operating status, abnormality detection and emergency processing can be achieved, thereby improving the reliability and maintenance efficiency of the robot system and helping users quickly resolve abnormal problems with the robot.

[0079] Step 102, determining an alarm event according to the alarm data, wherein the alarm event includes an alarm number, an alarm type, an alarm message and an alarm time;

[0080] Specifically, the teaching pendant may perform data analysis based on the alarm data obtained in step 101 to determine an alarm event, wherein the alarm event may include information such as an alarm number, an alarm type, an alarm message, and an alarm time.

[0081] In an embodiment of the present invention, the robot teaching pendant can parse and process the received alarm data to determine a specific alarm event. The alarm event is a specific description of the abnormal situation by the robot teaching pendant, which includes key information such as the alarm number, alarm type, alarm information, and alarm time. The alarm event and the alarm data can be matched one by one according to the alarm event comparison table. When the teaching pendant is turned on, the alarm event comparison can be cached in the memory of the teaching pendant.

[0082] The alarm number is a unique identifier for the alarm event, which is used to distinguish different alarm events. The alarm type describes the category of the abnormal situation, such as mechanical failure, sensor abnormality, power supply problem, etc. The alarm information is a detailed description of the abnormal situation, including the location, cause, and scope of impact of the abnormal situation. The alarm time can be the time point when the abnormal situation occurs, which is used to record and trace the order of occurrence of abnormal events.

[0083] In some embodiments, the robot teaching pendant can also classify and prioritize alarm events according to the severity of the alarm events. For example, for serious alarm events that may cause robot downtime or cause significant losses, the robot teaching pendant can give priority to handling them and promptly notify relevant maintenance personnel for emergency processing.

[0084] In some embodiments, the robot teaching pendant can also compare the alarm event with a preset fault library to determine whether there is a known fault mode. If there is a known fault mode, the robot teaching pendant can automatically call the corresponding fault handling solution to quickly restore the normal operation of the robot.

[0085] In some embodiments, the robot teaching pendant can also record the alarm event into the log system for subsequent fault analysis and maintenance management. The log system can record detailed information of the alarm event, including the alarm number, alarm type, alarm information, alarm time, processing results, etc., to provide data support for subsequent fault troubleshooting and prevention.

[0086] By parsing and processing the received alarm data, determining the specific alarm event, and combining it with the alarm event comparison table, it achieves rapid identification and classification of robot abnormalities, provides detailed alarm information and solutions, thereby improving the reliability and maintenance efficiency of the robot system, and helping users quickly resolve robot abnormalities.

[0087] Step 103, displaying alarm options according to the alarm event;

[0088] Specifically, the teaching pendant can display alarm options in the robot main interface according to the alarm event determined in step 102, thereby providing the user with an alarm processing solution.

[0089] In an embodiment of the present invention, the robot teaching pendant can display corresponding alarm options to the user according to the determined alarm event. The alarm options are suggestions and operation guidelines for handling abnormal situations provided by the robot teaching pendant to the user, which can help the user quickly respond to and handle alarm events.

[0090] In some embodiments, the alarm options may include the following types:

[0091] Ignore alarm: If the user believes that the alarm event is a false alarm or unimportant, he can choose to ignore the alarm. The robot teaching pendant will record the user's operation and mark the alarm event as handled;

[0092] Pause the robot: If the alarm event may cause the robot to continue running and cause greater damage, the user can choose to pause the robot. The robot teaching pendant will immediately stop the robot's operation and wait for further processing instructions;

[0093] Restart the robot: If the alarm event is caused by a temporary fault, the user can choose to restart the robot. The robot teaching pendant will try to restart the robot and check whether it can resume normal operation;

[0094] View detailed information: Users can choose to view detailed information of alarm events, including alarm number, alarm type, alarm information, alarm time, etc. The robot teaching pendant will display a detailed description of the alarm event to help users understand the specific details of the abnormal situation;

[0095] Calling fault handling solutions: If the alarm event matches the fault mode in the preset fault library, the user can choose to call the corresponding fault handling solution, and the robot teaching pendant will automatically execute the preset processing steps to try to restore the normal operation of the robot;

[0096] Contact maintenance personnel: If the user cannot handle the alarm event by himself, he can choose to contact maintenance personnel. The robot teaching pendant will generate a report of the alarm event and notify the maintenance personnel by email, SMS, etc., so that they can handle it on site in time.

[0097] In some embodiments, the robot teaching pendant can also automatically recommend corresponding alarm options according to the severity of the alarm event. For example, for serious alarm events that may cause the robot to shut down or cause significant losses, the robot teaching pendant can prioritize the options of pausing the robot or contacting maintenance personnel.

[0098] In some embodiments, the robot teaching pendant can also associate the alarm option with the user's operating authority. For example, only users with corresponding authority can choose to pause the robot or call a fault handling solution to ensure the safety and effectiveness of the operation.

[0099] Step 104: In response to the user's first operation on the alarm option, display an alarm detail interface; the alarm detail interface includes the alarm event and solution.

[0100] Specifically, the user may select one of the alarm options provided in step 103 to enter the alarm details interface, wherein the alarm details interface may include the alarm event determined in step 102 and the corresponding solution.

[0101] In the embodiment of the present invention, the robot teaching pendant can display the alarm detailed interface according to the user's selection. The alarm detailed interface is the detailed information and operation guide provided by the robot teaching pendant to the user, which can help the user to deeply understand the specific situation of the alarm event and take corresponding solutions.

[0102] In some embodiments, the alarm details interface may include the following:

[0103] Alarm event details: The alarm details interface will display detailed information about the alarm event, including alarm number, alarm type, alarm information, alarm time, etc. This information can help users fully understand the specific details of the abnormal situation.

[0104] Solution: The alarm details interface will display the solution for the alarm event. The solution is the advice and operation guide provided by the robot teaching pendant for users to deal with abnormal situations, which can help users quickly respond to and handle alarm events.

[0105] In some embodiments, the robot teaching pendant can also automatically recommend corresponding solutions based on the severity of the alarm event. For example, for serious alarm events that may cause robot downtime or cause significant losses, the robot teaching pendant can prioritize the solution of contacting maintenance personnel or calling automatic processing solutions.

[0106] In some embodiments, the robot teaching pendant can also associate the alarm detail interface with the user's operation authority. For example, only users with corresponding authority can view certain sensitive information or perform certain key operations to ensure the safety and effectiveness of the operation.

[0107] The teach pendant can accurately identify the current alarm event, including the alarm number, alarm type, alarm information and alarm time, by accurately analyzing these alarm data. Based on these alarm events, the teach pendant will display the corresponding alarm options so that users can respond quickly. When the user selects an alarm option, the system will further display a detailed alarm interface, which not only contains detailed information about the alarm event, but also provides targeted solutions to help users efficiently handle alarm situations.

[0108] The embodiments of the present invention not only improve the efficiency and automation level of robot fault handling, but also enable the robot teach pendant to dynamically adjust the fault handling strategy according to the actual operating status and abnormality type of the robot, so as to better adapt to the needs of different robots and environments. By combining the alarm data sent by the robot controller, the robot teach pendant realizes real-time monitoring of the robot's operating status, abnormality detection and emergency handling, thereby improving the reliability and maintenance efficiency of the robot system, and helping users to quickly solve abnormal problems of the robot. In addition, through automated fault analysis and after-sales support, the teach pendant can quickly respond to and solve robot problems, reducing the user's maintenance costs and time investment, and enhancing user satisfaction and trust.

[0109] Reference Figure 2 , shows a flowchart of another alarm processing method embodiment of a robot teaching pendant of the present invention, which may specifically include the following steps:

[0110] Step 201, receiving alarm data sent by the robot controller; the alarm data includes a function code;

[0111] Specifically, the teach pendant may receive alarm data sent by the controller, wherein the alarm data may include a function code.

[0112] In an embodiment of the present invention, the robot teaching pendant can receive alarm data sent by the robot controller. The alarm data is an important information source for the robot teaching pendant to obtain abnormal conditions of the robot. It includes information that needs to be updated in real time, such as the type of abnormality of the robot, the time of abnormality occurrence, and the status of the robot. It can also include information such as the model and production date of the robot that only needs to be initially input once by the user and does not need to be dynamically updated.

[0113] In an embodiment of the present invention, the function code can be generated by the robot controller, and the controller sends data to the robot teach pendant through the TCP / IP protocol. The teach pendant and the controller can be integrated with the drive and control, and the controller can determine whether there is an error in the execution based on the data generated by the robot operation. If an error occurs, a function code can be generated to generate an alarm, and the function code can be uploaded to the teach pendant through the TCP protocol. The teach pendant can parse the function code according to the preset rules, and finally generate an alarm information to be displayed on the teach pendant interface.

[0114] The function code can represent the functional classification in the TCP protocol, and the next level also includes sub-function codes for more detailed classification. For example, in the 00510001 protocol header, 0051 represents the function code. In the difference definition of our system, it represents the robot state, and the 0001 sub-function code represents the running state in the robot state. This is used to parse the data and call different functions to process the data. The function code is an important part of the alarm data. It can be used to identify the type and source of the alarm data. The function code can also help the robot teaching pendant quickly identify the meaning of the alarm data and take corresponding processing measures.

[0115] In some embodiments, the robot teaching pendant can also classify and prioritize the alarm data according to the priority of the function code. For example, for serious alarm data that may cause the robot to shut down or cause significant losses, the robot teaching pendant can give priority to processing and promptly notify relevant maintenance personnel for emergency processing.

[0116] In some embodiments, the robot teaching pendant can also compare the alarm data with a preset fault library to determine whether there is a known fault mode. If there is a known fault mode, the robot teaching pendant can automatically call the corresponding fault handling solution to quickly restore the normal operation of the robot.

[0117] In some embodiments, the robot teaching pendant can also record the alarm data into the log system for subsequent fault analysis and maintenance management. The log system can record detailed information of the alarm data, including function code, abnormality type, abnormality occurrence time, robot status, etc., to provide data support for subsequent fault troubleshooting and prevention.

[0118] By receiving the alarm data sent by the robot controller and combining the function code and TCP / IP protocol, real-time monitoring, abnormality detection and emergency processing of the robot's operating status are achieved, and detailed alarm event information and solutions are provided, thereby improving the reliability and maintenance efficiency of the robot system and helping users quickly solve abnormal problems of the robot.

[0119] Step 202, parse the function code of the alarm data to determine the alarm number, alarm type and alarm time; obtain an alarm event comparison table, the alarm event comparison table includes alarm information corresponding to different alarm numbers; query the alarm information corresponding to the alarm number from the alarm event comparison table.

[0120] Among them, the alarm types include the first alarm type, the second alarm type, the third alarm type and the fourth alarm type; the first alarm type indicates that the robot can be an emergency stop alarm; the second alarm type indicates that the robot can be a program syntax error alarm; the third alarm type indicates that the robot can be a communication alarm; the fourth alarm type indicates that the robot can be a drive alarm.

[0121] In an embodiment of the present invention, the teaching pendant can parse the received alarm data to determine the specific alarm number, alarm type and alarm time. The alarm number is a unique identifier of the alarm event, which is used to distinguish different alarm events. The alarm type describes the category of the abnormal situation, and the alarm time is the time point when the abnormal situation occurs, which is used to record and trace the order of occurrence of abnormal events.

[0122] Alarm types can include the following types:

[0123] First alarm type: indicates that the robot is in an emergency stop alarm. Emergency stop alarms are usually caused by the robot detecting serious safety risks or failures and need to stop running immediately to avoid causing greater damage. Emergency stop alarms may be caused by mechanical failures, sensor abnormalities, power supply problems, etc.

[0124] The second alarm type: indicates that the robot is in a program syntax error alarm. The program syntax error alarm is usually caused by a syntax error or logic error in the robot control program, which causes the program to fail to execute normally. The program syntax error alarm may be caused by a programming error, incompatible program version, etc.

[0125] The third alarm type: indicates that the robot is in a communication alarm. Communication alarms are usually caused by communication interruptions or errors between the robot teaching pendant and external devices or networks, resulting in data being unable to be transmitted normally. Communication alarms may be caused by network failures, communication protocol mismatches, etc.

[0126] The fourth alarm type: indicates that the robot is in a drive alarm. The drive alarm is usually caused by a failure in the robot's drive system, which causes the robot to be unable to move normally or perform tasks. The drive alarm may be caused by a motor failure, a drive failure, a power supply problem, etc.

[0127] In some embodiments, the robot teaching pendant can also classify and prioritize alarm events according to the severity of the alarm type. For example, for serious alarm events that may cause robot downtime or cause significant losses, the robot teaching pendant can give priority to handling and promptly notify relevant maintenance personnel for emergency processing.

[0128] In some embodiments, the robot teaching pendant can also compare the alarm event with a preset fault library to determine whether there is a known fault mode. If there is a known fault mode, the robot teaching pendant can automatically call the corresponding fault handling solution to quickly restore the normal operation of the robot.

[0129] In some embodiments, the robot teaching pendant can also record the alarm event into the log system for subsequent fault analysis and maintenance management. The log system can record detailed information of the alarm event, including the alarm number, alarm type, alarm time, processing results, etc., to provide data support for subsequent fault troubleshooting and prevention.

[0130] In some embodiments, the robot teaching pendant can also synchronize alarm events with the cloud server for remote monitoring and management. The cloud server can provide remote diagnosis and maintenance support based on the real-time data of the alarm event to help users quickly solve abnormal problems of the robot.

[0131] By parsing the function code of the alarm data, determining the alarm number, alarm type and alarm time, and combining the alarm event comparison table, the embodiment of the present invention realizes the rapid identification and classification of abnormal situations of the robot, provides detailed alarm information and solutions, thereby improving the reliability and maintenance efficiency of the robot system, and helping users to quickly solve abnormal problems of the robot. In addition, through automated fault analysis and after-sales support, the system can quickly respond to and solve robot problems, reduce users' maintenance costs and time investment, and enhance user satisfaction and trust.

[0132] Step 203, determining the solution corresponding to the alarm number from the alarm event comparison table, and displaying the alarm detail interface according to the solution corresponding to the alarm number;

[0133] Sub-step 21, when the alarm type is the first alarm type, the alarm detail interface will jump to the original page;

[0134] In the embodiment of the present invention, when the alarm type is the first alarm type (emergency stop alarm), the alarm details interface will jump to the original page to display the detailed information and solutions of the emergency stop alarm. The emergency stop alarm is usually caused by the robot detecting a serious safety risk or failure, and it is necessary to stop running immediately to avoid causing greater damage. The alarm details interface will display the cause of the emergency stop alarm, the scope of impact, the solution and other information to help users quickly respond to and handle the emergency stop alarm.

[0135] Sub-step 22, when the alarm type is the second alarm type, the alarm detail interface jumps to the program programming interface and highlights the error code;

[0136] In the embodiment of the present invention, when the alarm type is the second alarm type (program syntax error alarm), the alarm detail interface will jump to the program programming interface and highlight the error code. The program syntax error alarm is usually caused by a syntax error or logic error in the robot control program, which causes the program to fail to execute normally. The alarm detail interface will display the specific location and error type of the error code to help users quickly locate and fix program errors.

[0137] Sub-step 23, when the alarm type is the third alarm type, the alarm detail interface jumps to the control panel interface;

[0138] In the embodiment of the present invention, when the alarm type is the third alarm type (communication alarm), the alarm detail interface will directly jump to the control panel interface. Communication alarms are usually caused by communication interruption or error between the robot teaching pendant and the external device or network, resulting in data failure to be transmitted normally. The alarm detail interface will directly open the control panel interface and automatically open the communication interface.

[0139] Sub-step 24, when the alarm type is the fourth alarm type, the alarm detail interface will display detailed information and solutions for the driving alarm.

[0140] In the embodiment of the present invention, the drive alarm is usually caused by a failure in the robot drive system, which causes the robot to be unable to move normally or perform tasks. In this case, the user needs to manually handle it. The alarm details interface will display the cause of the drive alarm, the scope of impact, the solution, and other information to help users quickly respond to and handle the drive alarm.

[0141] Step 204: display at least one alarm option on the main interface according to the at least one alarm event; and / or display alarm options in the alarm bar according to the latest alarm event.

[0142] In an embodiment of the present invention, the robot teaching pendant can display at least one alarm option on the main interface according to at least one alarm event. The alarm option is a suggestion and operation guide for handling abnormal situations provided by the robot teaching pendant to the user, which can help the user quickly respond to and handle the alarm event.

[0143] In some embodiments, the alarm options may include the following types:

[0144] Ignore alarm: If the user believes that the alarm event is a false alarm or unimportant, he can choose to ignore the alarm. The robot teaching pendant will record the user's operation and mark the alarm event as handled;

[0145] Pause the robot: If the alarm event may cause the robot to continue running and cause greater damage, the user can choose to pause the robot. The robot teaching pendant will immediately stop the robot's operation and wait for further processing instructions;

[0146] Restart the robot: If the alarm event is caused by a temporary fault, the user can choose to restart the robot. The robot teach pendant will try to restart the robot and check whether it can resume normal operation;

[0147] View detailed information: Users can choose to view detailed information of alarm events, including alarm number, alarm type, alarm information, alarm time, etc. The robot teaching pendant will display a detailed description of the alarm event to help users understand the specific details of the abnormal situation;

[0148] Calling fault handling solutions: If the alarm event matches the fault mode in the preset fault library, the user can choose to call the corresponding fault handling solution, and the robot teaching pendant will automatically execute the preset processing steps to try to restore the normal operation of the robot;

[0149] Contact maintenance personnel: If the user cannot handle the alarm event by himself, he can choose to contact the maintenance personnel. The robot teaching pendant will generate a report of the alarm event and notify the maintenance personnel by email, SMS, etc., so that they can handle it on site in time;

[0150] In some embodiments, the robot teaching pendant can also display alarm options in the alarm bar according to the latest alarm event. The alarm bar is an interface provided by the robot teaching pendant for users to quickly respond to alarm events. It can help users quickly select alarm options and take corresponding processing measures.

[0151] In some embodiments, when the fault is resolved, the user can click the clear alarm button, and the teach pendant can send alarm clearing data to the robot controller. After the controller returns to normal state and returns that the alarm is cleared successfully, the teach pendant alarm bar can display no alarm.

[0152] The embodiment of the present invention utilizes the alarm data sent by the robot controller received by the teach pendant, and combines the function code and TCP / IP protocol to ensure efficient and stable data transmission between the teach pendant and the controller, ensure the real-time and accuracy of the alarm data, realize real-time monitoring of the robot's operating status, abnormality detection and emergency processing, and provide detailed alarm event information and solutions, thereby improving the reliability and maintenance efficiency of the robot system and helping users quickly solve abnormal problems of the robot. In addition, through automated fault analysis and after-sales support, the system can quickly respond to and solve robot problems, reduce users' maintenance costs and time investment, and enhance user satisfaction and trust.

[0153] Reference Figure 3 , shows a flowchart of an example of an alarm processing method of a robot teaching pendant of the present invention, which is as follows:

[0154] First, the robot controller generates an alarm, and the operations are as follows:

[0155] The controller uploads the function code to the alarm parser of the teaching pendant through the TCP / IP protocol;

[0156] Then, the teach pendant analyzer determines the alarm number and operates as follows:

[0157] The teach pendant will parse the function code according to the preset rules. For example, in a protocol header marked as 00510001, 0051 represents the function code, and 0001 represents different operating states of the robot. The teach pendant will parse 0001 and parse out the corresponding alarm number.

[0158] According to the analyzed alarm number and the alarm event comparison table cached in the teach pendant, the corresponding alarm information, such as alarm type and solution, can be obtained;

[0159] Finally, the teach pendant displays the alarm information and provides a solution.

[0160] The teach pendant displays the analyzed alarm information. The alarm panel on the main interface of the teach pendant can display the detailed alarm interface and provide options for processing solutions, and can also provide a "one-click solution" function.

[0161] If it is a communication interface alarm, the teach pendant will automatically jump to the interface interface. For example, when the "Modbus Tcp connection not established" alarm occurs, the teach pendant will jump to the control panel interface after analysis and open the Modbus Tcp communication interface.

[0162] If the alarm is caused by a program syntax error, the teach pendant will jump to the program editing interface and the error code line will be highlighted;

[0163] If an alarm is caused by an emergency stop of the robot, the interface will jump to the fault interface.

[0164] If it is a drive alarm, such as "servo control abnormality alarm", the user needs to manually jump to the original fault interface according to the alarm prompt and check and solve them one by one.

[0165] When the fault is resolved, the user clicks the Clear Alarm button, and the teach pendant sends the alarm clear data to the robot controller. After the controller returns to normal and the alarm is cleared successfully, the teach pendant alarm bar displays no alarm.

[0166] Figure 4-9 , shows a specific alarm processing example, as follows:

[0167] Figure 4 , showing a schematic diagram of an alarm bar in an embodiment of the present invention:

[0168] Among them, the alarm options can be displayed in the alarm bar, "!" means the "clear alarm" option, "1102" is the alarm number, the corresponding alarm message is "program syntax error", and "×" means "close alarm option".

[0169] Figure 5 , showing a schematic diagram of an alarm panel in a main interface of a teaching pendant according to an embodiment of the present invention:

[0170] Among them, the top of the alarm panel can include Figure 4 As shown in the alarm bar, all alarm options parsed by the teach pendant can be displayed below the alarm panel, and the alarm options are arranged in chronological order and sorted by timestamp. The first one always displays the latest alarm information.

[0171] Figure 6 , showing a schematic diagram of a program alarm details interface in an embodiment of the present invention:

[0172] When the user clicks on one of the alarm messages in the alarm section of the teach pendant main interface, the page will jump to Figure 6 interface, where Figure 6 The interface contains the following information alarm: the event code is 1102, the alarm time is 24 / 06 / 25 15:38:53, and the specific content of the alarm event is: program syntax error. The solutions given are: 1. Wrong motion instructions were entered; 2. Check whether the program is written correctly.

[0173] Figure 7 , showing a schematic diagram of an alarm details interface after a program alarm is processed in an embodiment of the present invention:

[0174] When the user clicks Figure 6 In the "One-click Solution" section of the interface, the teach pendant interface will automatically jump to the program coding interface and highlight the erroneous program code. In this interface, you can edit and modify the program to quickly correct the program loopholes.

[0175] Figure 8 , showing a schematic diagram of a communication alarm details interface in an embodiment of the present invention:

[0176] When the alarm type is a communication alarm, for example, when the "Modbus TCP connection not established" alarm occurs, click Figure 5 After the alarm information is displayed, it will jump to this interface.

[0177] Fig. 9 , showing a schematic diagram of an alarm details interface after a communication alarm is processed in an embodiment of the present invention:

[0178] When the user clicks Figure 8After clicking the "One-click Solution" section in the interface, the teach pendant will automatically jump to the control panel interface and prompt the user to connect the corresponding interface, such as opening the Modbus TCP physical end. This process can also be automatically executed by the controller.

[0179] Fig.10 , showing a schematic diagram of an alarm details interface after a driving alarm process in an embodiment of the present invention:

[0180] When the alarm message is displayed as "Motion path failed, the path...", the fault details given by the teach pendant are: motion path failed, the path will pass through the singularity point; when running automatically, the planned path summary will pass through the singularity point. Because the situation is more complicated, the teach pendant provides two solutions: clear the alarm and start the program from the beginning. At this time, the user can choose according to their needs.

[0181] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0182] Reference Fig.11 , shows a structural block diagram of an embodiment of an alarm processing device for a robot teaching pendant of the present invention, which may specifically include the following modules:

[0183] The data receiving module 301 is used to receive the alarm data sent by the robot controller;

[0184] An event determination module 302 is used to determine an alarm event according to the alarm data, wherein the alarm event includes an alarm number, an alarm type, an alarm message and an alarm time;

[0185] An option display module 303, used to display alarm options according to the alarm event;

[0186] The operation response module is used to display an alarm detail interface in response to a first operation of the user on the alarm option; the alarm detail interface includes the alarm event and a solution.

[0187] In this embodiment of the present invention, the event determination module 302 includes:

[0188] A function code analysis submodule, used to analyze the function code of the alarm data, determine the alarm number, alarm type and alarm time;

[0189] An event acquisition submodule is used to acquire an alarm event comparison table, wherein the alarm event comparison table includes alarm information corresponding to different alarm numbers;

[0190] The information query submodule is used to query the alarm information corresponding to the alarm number from the alarm event comparison table.

[0191] In an embodiment of the present invention, the alarm event comparison table further includes: solutions corresponding to different alarm numbers; the operation response module includes;

[0192] The interface display submodule is used to determine the solution corresponding to the alarm number from the alarm event comparison table, and display the alarm detailed interface according to the solution corresponding to the alarm number.

[0193] In an embodiment of the present invention, the alarm type includes a first alarm type, a second alarm type, a third alarm type and a fourth alarm type;

[0194] The first alarm type indicates that the robot is in an emergency stop alarm;

[0195] The second alarm type indicates that the robot is alarming for a program syntax error;

[0196] The third alarm type indicates that the robot is in a communication alarm;

[0197] The fourth alarm type indicates that the robot is in a driving alarm.

[0198] In the embodiment of the present invention, when the alarm type is the second alarm type or the third alarm type, the device further includes:

[0199] The interface jump module is used to jump to the interface corresponding to the solution measure in response to the user's second operation on the solution function option.

[0200] In an embodiment of the present invention, the interface jump module includes:

[0201] A first jump submodule, used for jumping to a program programming interface and highlighting an error code when the alarm type is a second alarm type;

[0202] The second jump submodule is used to jump to the communication interface when the alarm type is the third alarm type.

[0203] In an embodiment of the present invention, the option display module includes:

[0204] The option determination submodule is used to display at least one alarm option on the main interface according to the at least one alarm event; and / or, according to the latest alarm event, display the alarm option in the alarm bar.

[0205] In an embodiment of the present invention, the alarm data sent by the robot controller is received; then, based on the alarm data, the alarm event is determined, and the alarm event includes the alarm number, alarm type, alarm information and alarm time; then, based on the alarm event, the alarm options are displayed; finally, in response to the user's first operation on the alarm option, the alarm detail interface is displayed; the alarm detail interface includes the alarm event and the solution. In this way, the user can quickly understand the current status of the robot and the possible causes of the failure, and perform corresponding operations according to the provided solutions. In addition, the system can also record each alarm event and its processing process for subsequent analysis and optimization, thereby improving the stability and reliability of the robot's operation. The embodiment of the present invention not only simplifies the user's processing flow for robot failures, but also enhances the maintainability and traceability of the system, providing users with a more convenient and efficient use experience.

[0206] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0207] An embodiment of the present invention further provides an electronic device, including:

[0208] It includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, the various processes of the alarm processing method embodiment of the above-mentioned robot teaching pendant are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0209] An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the alarm processing method embodiment of the above-mentioned robot teaching pendant are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0210] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0211] It will be appreciated by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0212] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0213] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0214] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0215] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0216] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0217] The above is a detailed introduction to an alarm processing method for a robot teaching pendant and an alarm processing device for a robot teaching pendant provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for handling alarms of a robot teaching pendant, characterized in that: include: Receive alarm data sent by the robot controller; Determine an alarm event according to the alarm data, wherein the alarm event includes an alarm number, an alarm type, an alarm message and an alarm time; According to the alarm event, display alarm options; In response to the user's first operation on the alarm option, an alarm detail interface is displayed; the alarm detail interface includes the alarm event and a solution.

2. The method according to claim 1, characterized in that: The alarm data includes a function code; and determining an alarm event according to the alarm data includes: Analyze the function code of the alarm data to determine the alarm number, alarm type and alarm time; Obtain an alarm event comparison table, wherein the alarm event comparison table includes alarm information corresponding to different alarm numbers; The alarm information corresponding to the alarm number is queried from the alarm event comparison table.

3. The method according to claim 2, characterized in that The alarm event comparison table also includes: solutions corresponding to different alarm numbers; the detailed alarm display interface includes: Determine the solution corresponding to the alarm number from the alarm event comparison table, and display the alarm detail interface according to the solution corresponding to the alarm number.

4. The method according to claim 1, characterized in that The alarm types include a first alarm type, a second alarm type, a third alarm type and a fourth alarm type; The first alarm type indicates that the robot is in an emergency stop alarm; The second alarm type indicates that the robot is alarming for a program syntax error; The third alarm type indicates that the robot is in a communication alarm; The fourth alarm type indicates that the robot is in a driving alarm.

5. The method according to claim 4, characterized in that When the alarm type is the second alarm type or the third alarm type, the alarm detail interface further includes a solution function option; the method further includes: In response to a second operation of the user on the solution function option, jump to an interface corresponding to the solution measure.

6. The method according to claim 5, characterized in that The step of jumping to the interface corresponding to the solution includes: When the alarm type is the second alarm type, jump to the program programming interface and highlight the error code; When the alarm type is the third alarm type, jump to the communication interface interface.

7. The method according to claim 1, characterized in that The displaying of alarm options according to the alarm event includes: Based on the at least one alarm event, at least one alarm option is displayed on the main interface; and / or based on the latest alarm event, alarm options are displayed in the alarm bar.

8. An alarm processing device for a robot teaching pendant, characterized in that: The device comprises: A data receiving module, used for receiving alarm data sent by the robot controller; An event determination module, used to determine an alarm event according to the alarm data, wherein the alarm event includes an alarm number, an alarm type, an alarm message and an alarm time; An option display module, used to display alarm options according to the alarm event; The operation response module is used to display an alarm detail interface in response to a first operation of the user on the alarm option; the alarm detail interface includes the alarm event and a solution.

9. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the alarm processing method of the robot teaching pendant as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the alarm processing method of the robot teaching pendant as claimed in any one of claims 1 to 7 are implemented.

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