Inspection system, method, device and equipment for industrial robot and medium

Abstract

The embodiment of the invention provides an inspection system, method, device and equipment for industrial robots and a medium. The inspection system comprises a glasses device, an inspection pushing module, light wave emitting balls arranged for the industrial robots and first distance sensors arranged for the industrial robots. Wherein a light wave receiver and a second distance sensor are arranged on the glasses device; the light wave receiver is used for receiving light waves emitted by the light wave emitting ball; and the inspection pushing module is used for determining a target industrial robot according to the light wave received by the light wave receiver and the distance between the glasses device and each industrial robot determined by the first distance sensor and the second distance sensor, and pushing a target inspection event of the target industrial robot to the glasses device for display. According to the embodiment of the invention, inspection personnel can conveniently check, operate and maintain the industrial robot.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot inspection, and in particular to an inspection system for an industrial robot, an inspection method for an industrial robot, an inspection device for an industrial robot, an electronic device and a computer-readable storage medium. Background Art

[0002] Most existing industrial robots use teach pendants to control and view their status. A teach pendant is a device with a display screen that is connected to the robot control cabinet via a cable. One robot is equipped with one teach pendant. Due to the entanglement of cables, the teach pendant is generally installed near the robot body. If the operator needs to view the status of the robot through the teach pendant, he needs to go to the teaching installation location of the robot.

[0003] A large number of industrial robots are often used in modern factory production lines. Inspection personnel need to go to the location of the teaching pendant one by one to check the industrial robots one-on-one. The inspection process is time-consuming and labor-intensive. Summary of the invention

[0004] In view of the above problems, an inspection system for an industrial robot, an inspection method for an industrial robot, an inspection device for an industrial robot, an electronic device and a computer-readable storage medium are proposed to overcome the above problems or at least partially solve the above problems, including:

[0005] A patrol inspection system for industrial robots, the patrol inspection system comprising: a glasses device, a patrol inspection push module, and a light wave transmitting ball set for each industrial robot and a first distance sensor set for the industrial robot; wherein:

[0006] The eyeglass device is provided with a light wave receiver and a second distance sensor; the light wave receiver is used to receive the light wave emitted by the light wave emitting ball;

[0007] The inspection push module is used to determine the target industrial robot based on the light waves received by the light wave receiver and the distance between the eyewear device and each industrial robot determined by the first distance sensor and the second distance sensor, and push the target inspection event of the target industrial robot to the eyewear device for display.

[0008] Optionally, the light wave emitting balls provided for different industrial robots emit light waves of different wavelengths.

[0009] Optionally, the inspection and pushing module is used to determine a target wavelength of the light wave received by the light wave receiver; and determine the target industrial robot according to the target wavelength and the distance between the eyewear device and each industrial robot.

[0010] Optionally, the optical wave receiver comprises a double-layer lens;

[0011] The inspection and pushing module is used to determine the target wavelength according to the offset of the light waves of each wavelength on the double-layer lens.

[0012] Optionally, the target inspection event includes a daily inspection event;

[0013] The inspection push module is used to send the daily operation data of the target industrial robot to the eyewear device;

[0014] The eyeglass device is used to display the daily operation data.

[0015] Optionally, the target inspection event includes an abnormal inspection event;

[0016] The inspection push module is used to send an alarm signal for the target industrial robot to the eyewear device;

[0017] The eyeglass device is used to display the warning signal for the target industrial robot.

[0018] Optionally, the inspection system further includes a signal light set for each industrial robot;

[0019] The signal light corresponding to the target industrial robot is used to light up when the eyeglass device displays a target inspection event of the target industrial robot.

[0020] Optionally, the target inspection event includes a daily inspection event or an abnormal inspection event, and the eyewear device further includes a mode switching button;

[0021] The inspection push module is used to switch between the daily inspection mode corresponding to the daily inspection event and the abnormal inspection mode corresponding to the abnormal inspection event according to the operation of the mode switching button.

[0022] An embodiment of the present invention further provides an inspection method of an industrial robot, which is applied to the inspection system as described above; the method comprises:

[0023] Determine the target industrial robot according to the light waves received by the light wave receiver and the distances between the eyewear device and each industrial robot determined by the first distance sensor and the second distance sensor;

[0024] The target inspection event of the target industrial robot is pushed to the eyewear device for display.

[0025] The embodiment of the present invention further provides an inspection device for an industrial robot, which is applied to the inspection system described above; the device comprises:

[0026] A determination module, which determines a target industrial robot according to the light waves received by the light wave receiver and the distances between the eyewear device and each industrial robot determined by the first distance sensor and the second distance sensor;

[0027] A display module is used to push the target inspection event of the target industrial robot to the eyewear device for display.

[0028] An embodiment of the present invention further provides an electronic device, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the above inspection method for an industrial robot when executed by the processor.

[0029] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above inspection method for an industrial robot is implemented.

[0030] The embodiments of the present invention have the following advantages:

[0031] In an embodiment of the present invention, the inspection system includes: a glasses device, an inspection push module, and a light wave transmitting ball set for each industrial robot and a first distance sensor set for the industrial robot; wherein: a light wave receiver and a second distance sensor are set on the glasses device; the light wave receiver is used to receive the light wave emitted by the light wave transmitting ball; the inspection push module is used to determine the target industrial robot according to the light wave received by the light wave receiver and the distance between the glasses device and each industrial robot determined by the first distance sensor and the second distance sensor, and push the target inspection event of the target industrial robot to the glasses device for display. Through the embodiment of the present invention, it is convenient for inspection personnel to view and operate industrial robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0033] Figure 1 is a schematic diagram of an inspection system for an industrial robot according to an embodiment of the present invention;

[0034] Figure 2 is a schematic structural diagram of an eye device according to an embodiment of the present invention;

[0035] Figure 3 is a schematic diagram of a scenario in an embodiment of the present invention;

[0036] Figure 4 It is a schematic diagram of the relationship between various modules in a patrol inspection system according to an embodiment of the present invention;

[0037] Figure 5 This is a flowchart of inspection steps in an embodiment of the present invention;

[0038] Figure 6 is a flowchart of another inspection step of an embodiment of the present invention;

[0039] Figure 7 is a flowchart of another inspection step of an embodiment of the present invention;

[0040] Figure 8 is a flowchart of another inspection step of an embodiment of the present invention;

[0041] Fig. 9 is a flowchart of another inspection step of an embodiment of the present invention;

[0042] Fig.10 is a flow chart of steps of a switching mode according to an embodiment of the present invention;

[0043] Fig.11 is a flowchart of a method for inspecting an industrial robot according to an embodiment of the present invention;

[0044] Fig.12 It is a structural schematic diagram of an inspection device for an industrial robot according to an embodiment of the present invention.

[0045] Figure ID:

[0046] 1. Inspection system, 2. Glasses device, 3. Inspection push module, 4. Industrial robot, 5. Light wave transmitting ball, 6. First distance sensor, 7. Light wave receiver, 8. Second distance sensor, 9. Mode switching button, 10. AR lens, 11. Temple, 12. Robot subsystem, 13. Robot group, 14. Communication bus, 15. Data acquisition / output module, 16. Data processor, 17. Event queue, 18. Identity authentication module, 19. Event registration module, 20. Event reminder module, 21. Screen display, 22. Network connection module, 23. Network, 24. Inspection personnel, 25. Event control module, 26. Event monitoring module. DETAILED DESCRIPTION

[0047] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] In order to facilitate the inspection of each industrial robot by the inspection personnel, an embodiment of the present invention provides an inspection system for industrial robots, which may include a glasses device, an inspection push module, and a light wave transmitting ball set for each industrial robot and a first distance sensor set for the industrial robot. When the inspection personnel wear the glasses device and approach an industrial robot, or look at a robot, the data (hereinafter referred to as events) such as the operating time, operating procedures, production volume, and to-be-completed production volume of the industrial robot can be seen on the glasses device, which greatly facilitates the inspection personnel to analyze the data in the production line.

[0049] Furthermore, when an industrial robot malfunctions, the inspector can wear glasses to scan the robot group. When looking at the industrial robot that malfunctions, an obvious alarm mark can be seen in the glasses, which can help the inspector quickly locate the position of the industrial robot that malfunctions, greatly facilitating the inspection and maintenance of the inspector. Figure 1 , shows a schematic structural diagram of an inspection system for an industrial robot according to an embodiment of the present invention.

[0050] like Figure 1 As shown, the inspection system 1 may include: a glasses device 2, an inspection push module 3, and a light wave transmitting ball 5 set for each industrial robot 4 and a first distance sensor 6 set for the industrial robot 4; wherein:

[0051] The eyeglass device 2 is provided with a light wave receiver 7 and a second distance sensor 8; the light wave receiver 7 is used to receive the light waves emitted by the light wave emitting ball 5;

[0052] The inspection push module 3 is used to determine the target industrial robot based on the light waves received by the light wave receiver 7 and the distance between the eyewear device 2 and each industrial robot 4 determined by the first distance sensor 6 and the second distance sensor 8, and push the target inspection event of the target industrial robot to the eyewear device 2 for display.

[0053] In the embodiment of the present invention, a light wave transmitting ball 5 can be respectively arranged at the position of each industrial robot 4, and a first distance sensor 6 can be respectively arranged at the position of each industrial robot 4. The light wave transmitting ball 5 can be used to transmit invisible light waves; the light wave transmitting ball 5 is spherical, so the light waves emitted by the light wave transmitting ball 5 can be emitted in 360° directions.

[0054] In addition, a light wave receiver 7 for receiving light waves emitted by the light wave transmitting ball 5 can be set on the eyeglass device 2, and a second sensor for interacting with the first distance sensor 6 to determine the distance of the eyeglass device 2 relative to the industrial robot 4 can be set on the eyeglass device 2.

[0055] When the inspector wears the eyeglass device 2 and walks between the industrial robots 4, he can look at the industrial robots 4 one by one; for example, when the inspector looks at an industrial robot 4, the light wave receiver 7 in the eyeglass device 2 will receive the light wave emitted by the light wave transmitting ball 5 corresponding to the target industrial robot.

[0056] After detecting that the light wave receiver 7 receives the light wave emitted by the light wave transmitting ball 5 corresponding to the industrial robot 4, the inspection push module 3 can determine that the industrial robot 4 is the target industrial robot, and push the target inspection event corresponding to the target industrial robot to the eyewear device 2 for display; illustratively, the target inspection event may include data such as the target industrial robot's operating time, operating procedures, produced output, and to-be-completed output, and may also include an abnormal identification of the target industrial robot (the abnormal identification will only be displayed when there is an abnormality in the target industrial robot).

[0057] In some feasible embodiments, based on the distances between the eyeglass device 2 and each industrial robot 4 determined by the first distance sensor 6 and the second distance sensor 8, the industrial robot 4 closest to the eyeglass device 2 can be used as the target robot, and then the target inspection event corresponding to the target industrial robot can be pushed to the eyeglass device 2 for display.

[0058] In other feasible embodiments, the target industrial robot can be determined by combining the light waves received by the light wave receiver 7 and the distances between the eyeglass device 2 and each industrial robot 4 determined by the first distance sensor 6 and the second distance sensor 8, and then the target inspection event corresponding to the target industrial robot is pushed to the eyeglass device 2 for display. For example, when the light wave receiver 7 receives light waves emitted by multiple light wave emitting balls 5, the industrial robot 4 can be determined by combining the distances between the eyeglass device 2 and each industrial robot 4.

[0059] Exemplarily, the inspection personnel may determine which industrial robot 4 is approaching based on the distance; then the industrial robot 4 at the intersection of the approaching industrial robot 4 and the industrial robot 4 corresponding to the light wave transmitting ball 5 corresponding to the received light wave is taken as the target industrial robot.

[0060] As another example, the industrial robot 4 that the inspection personnel is approaching within the preset range of distance can be determined based on the distance; then the industrial robot 4 that is within the preset range of distance and the industrial robot 4 that the inspection personnel is approaching and the industrial robot 4 corresponding to the light wave transmitting ball 5 corresponding to the received light wave are taken as the target industrial robot, and the embodiments of the present invention are not limited to this.

[0061] In actual applications, if it is a display of information, it can be displayed directly on the lens of the eyeglass device 2; if it is an alarm, it can be displayed directly on the lens of the eyeglass device 2, or the eyeglass device 2 can be vibrated to remind the inspection personnel that there is an abnormality in the industrial robot 4 currently being viewed. The embodiment of the present invention does not limit this.

[0062] In the embodiment of the present invention, the inspection system 1 includes: a glasses device 2, an inspection push module 3, and a light wave transmitting ball 5 and a first distance sensor 6 set for each industrial robot 4; wherein: a light wave receiver 7 and a second distance sensor 8 are set on the glasses device 2; the light wave receiver 7 is used to receive the light waves emitted by the light wave transmitting ball 5; the inspection push module 3 is used to determine the target industrial robot according to the light waves received by the light wave receiver 7 and the distance between the glasses device 2 and each industrial robot 4 determined by the first distance sensor 6 and the second distance sensor 8, and push the target inspection event of the target industrial robot to the glasses device 2 for display. Through the embodiment of the present invention, it is convenient for inspection personnel to view and operate the industrial robot 4.

[0063] In one embodiment of the present invention, the light wave emitting balls 5 provided for different industrial robots 4 emit light waves of different wavelengths.

[0064] In some feasible embodiments, the wavelengths of light waves emitted by the light wave transmitting balls 5 set for different industrial robots 4 are different; based on this, the inspection push module 3 can determine which industrial robot 4 the inspection personnel is looking at based on the wavelength of the light waves received by the light wave receiver 7 in the eyeglass device 2, so that when the inspection personnel looks at the target industrial robot, they can see the relevant target inspection events on the eyeglass device 2, which is convenient for the inspection personnel's daily operation and maintenance and inspection.

[0065] In one embodiment of the present invention, the inspection and pushing module 3 is used to determine the target wavelength of the light wave received by the light wave receiver 7; and determine the target industrial robot according to the target wavelength and the distance between the eyewear device 2 and each industrial robot 4.

[0066] In some feasible embodiments, the inspection push module 3 can first determine the target wavelength of the light wave received by the light wave receiver 7; then, the target wavelength and the distance between the eyewear device 2 and each industrial robot 4 can be combined to determine the industrial robot 4 that the inspection personnel may want to check, and use the industrial robot 4 as the target industrial robot.

[0067] Exemplarily, after detecting that the light wave receiver 7 receives the light wave of a specific wavelength emitted by the light wave transmitting ball 5 corresponding to the industrial robot 4, the inspection push module 3 can determine that the industrial robot 4 is the target industrial robot, and push the target inspection event corresponding to the target industrial robot to the eyewear device 2 for display.

[0068] In some feasible embodiments, based on the distances between the eyeglass device 2 and each industrial robot 4 determined by the first distance sensor 6 and the second distance sensor 8, the industrial robot 4 closest to the eyeglass device 2 can be used as the target robot, and then the target inspection event corresponding to the target industrial robot can be pushed to the eyeglass device 2 for display.

[0069] In other feasible embodiments, the target industrial robot can be determined by combining the light waves received by the light wave receiver 7 and the distances between the eyeglass device 2 and each industrial robot 4 determined by the first distance sensor 6 and the second distance sensor 8, and then the target inspection event corresponding to the target industrial robot is pushed to the eyeglass device 2 for display. For example, when it is detected that the light wave receiver 7 receives light waves of specific multiple wavelengths, the industrial robot 4 can be determined by combining the distances between the eyeglass device 2 and each industrial robot 4.

[0070] Exemplarily, based on the distance, it is possible to determine which industrial robot 4 the inspector is approaching; then the industrial robot 4 at the intersection of the approaching industrial robot 4 and the industrial robot 4 corresponding to the light wave transmitting ball 5 corresponding to the received light wave of the specific wavelength is taken as the target industrial robot.

[0071] As another example, the industrial robot 4 that the inspection personnel is approaching within the preset distance range can be determined based on the distance; then the industrial robot 4 that is within the preset distance range and the industrial robot 4 that the inspection personnel is approaching and the industrial robot 4 corresponding to the light wave transmitting ball 5 corresponding to the received light wave of the specific wavelength are taken as the target industrial robot, and the embodiments of the present invention are not limited to this.

[0072] In actual applications, if it is a display of information, it can be displayed directly on the lens of the eyeglass device 2; if it is an alarm, it can be displayed directly on the lens of the eyeglass device 2, or the eyeglass device 2 can be vibrated to remind the inspection personnel that there is an abnormality in the industrial robot 4 currently being viewed. The embodiment of the present invention does not limit this.

[0073] In one embodiment of the present invention, the light wave receiver 7 comprises a double-layer lens;

[0074] The inspection and pushing module 3 is used to determine the target wavelength according to the offset of the light waves of each wavelength on the double-layer lens.

[0075] In some feasible embodiments, in order to prevent the non-orthodox industrial robot 4 from being taken as the target industrial robot, the light wave receiver 7 may include a double layer of lenses; if it is squinting, there will be a certain offset at the points where the light waves reach the two layers of lenses, and the target wavelength with the most correct viewing angle can be determined by calculating the offset between the two points; then, the light wave transmitting ball 5 that can emit the target wavelength can be determined, and the broadcast transmitter can be used as the target light wave transmitting ball 5.

[0076] Furthermore, the industrial robot 4 corresponding to the target light wave emitting ball 5 can be used as the target industrial robot; thus, the industrial robot 4 facing the inspection personnel can be used as the target industrial robot.

[0077] In one embodiment of the present invention, the target inspection event includes a daily inspection event;

[0078] Inspection and push module 3, used to send daily operation data of the target industrial robot to the eyewear device 2;

[0079] The eyeglass device 2 is used to display daily operation data.

[0080] In some feasible embodiments, the target inspection event may include a daily inspection event; when the target inspection event is a daily inspection event, the inspection push module 3 may send the daily operation data of the target industrial robot to the eyeglass device 2, such as: operation time, operation procedure, output produced, output to be completed and other data, so that the eyeglass device 2 can display these daily operation data.

[0081] For example, when the inspection personnel wear the eyeglass device 2 and walk between the industrial robots 4, they can look at each industrial robot 4. When the inspection personnel looks at an industrial robot 4, the inspection push module 3 can take the industrial robot 4 as the target industrial robot, and obtain the daily operation data of the target industrial robot and push it to the eyeglass device 2.

[0082] The eyeglass device 2 can display these daily operation data on the lens; thus, the inspection personnel can understand the situation of the target industrial robot without going to the location of the teaching pendant of the target industrial robot.

[0083] In one embodiment of the present invention, the target inspection event includes an abnormal inspection event;

[0084] Inspection and push module 3, used to send an alarm signal for a target industrial robot to the eyewear device 2;

[0085] The eyeglass device 2 is used to display the warning signal for the target industrial robot.

[0086] In some feasible embodiments, the target inspection event may include an abnormal inspection event; when the target inspection event is an abnormal inspection event, the inspection push module 3 may send an alarm signal for the target industrial robot to the eyeglass device 2 so that the eyeglass device 2 can display the alarm signal for the target industrial robot.

[0087] For example, when the inspection personnel wear the eyeglass device 2 and walk between the industrial robots 4, they can look at each industrial robot 4. When the inspection personnel looks at an industrial robot 4 with an abnormality, the inspection push module 3 can take the industrial robot 4 as the target industrial robot, and obtain the alarm signal of the target industrial robot and push it to the eyeglass device 2.

[0088] The eyeglass device 2 can display an alarm signal on the lens; thus, the inspection personnel can know which industrial robot 4 has an abnormality and quickly locate its location without going to the location of the teaching pendant of the target industrial robot.

[0089] In one embodiment of the present invention, the inspection system 1 further includes a signal light provided for each industrial robot 4;

[0090] The signal light corresponding to the target industrial robot is used to light up when the eyewear device 2 displays a target inspection event of the target industrial robot.

[0091] In some feasible embodiments, a signal light may also be provided for each industrial robot 4; thus, when the inspection personnel looks at a target industrial robot and a target inspection event corresponding to the target industrial robot is displayed in the eyeglass device 2, the signal light corresponding to the target industrial robot may light up, so that the inspection personnel may determine which surrounding industrial robot 4 the target inspection event displayed in the eyeglass device 2 is for.

[0092] In one embodiment of the present invention, the target inspection event includes a daily inspection event or an abnormal inspection event, and the eyewear device 2 further includes a mode switching button 9;

[0093] The inspection push module 3 is used to switch between the daily inspection mode corresponding to the daily inspection event and the abnormal inspection mode corresponding to the abnormal inspection event according to the operation of the mode switching button 9.

[0094] In some feasible embodiments, the eyeglass device 2 may further include a mode switching button 9; the target inspection event includes a daily inspection event or a daily inspection event.

[0095] The inspection personnel can operate the mode switching button 9 based on the needs to switch between the daily inspection mode corresponding to the daily inspection event and the abnormal inspection mode corresponding to the abnormal inspection event.

[0096] Specifically, when the inspection system 1 is in the daily inspection mode, if the inspection personnel performs an operation on the mode switching button (for example, pressing the mode switching button 9), the inspection push module 3 can switch the daily inspection mode from the daily inspection event to the abnormal inspection mode according to the operation on the mode switching button 9.

[0097] On the contrary, if the current inspection mode is the abnormal inspection mode, if the inspection personnel performs an operation on the mode switching button (for example, pressing the mode switching button 9), the inspection push module 3 can switch the target inspection event from the abnormal inspection mode to the daily inspection mode according to the operation of the mode switching button 9. The embodiment of the present invention does not limit this.

[0098] For example, Figure 2 As shown, the eyeglass device 2 can be composed of a second distance sensor 8, a mode switching button 9, an AR (Augmented Reality) lens, a light wave receiver 7 and a temple 11; wherein, the second distance sensor 8, the mode switching button 9 and the light wave receiver 7 can be arranged on both sides of the AR lens 10.

[0099] like Figure 3 As shown, when the inspector wears the eyeglass device 2 and walks between various robot subsystems 12 (a robot subsystem 12 may include an industrial robot 4, a first distance sensor 6 set for the industrial robot 4, and a light wave transmitting ball 5 set for the industrial robot 4), the inspector can conduct an inspection and look at each industrial robot 4; at this time, the first distance sensor 6 and light wave transmitting ball 5 corresponding to each industrial robot 4 will cooperate with the second distance sensor 8 and light wave receiver 7 in the eyeglass device 2, so that the inspection push device can determine the industrial robot 4 that the inspector is currently looking at. Mode

[0100] like Figure 4As shown, the inspection system 1 may include a robot group 13 (the robot group 13 may include individual industrial robots 4, as well as a first distance sensor 6 and a light wave emitting ball 5 set for each industrial robot 4), a communication bus 14, a data acquisition / output module 15, a data processor 16, an event control module 25, an event monitoring module 26, an event queue 17, an identity authentication module 18, an event registration module 19, an event reminder module 20, a screen display 21, an inspection push module 3, a network connection module 22, a network 23 and a glasses device 2.

[0101] The robot group 13 may include a plurality of robot subsystems 12. The communication bus 14 enables the robot group 13 to communicate data with other modules in the inspection system 1.

[0102] The data acquisition / output module 15 has two functions: one is to collect data from the robot group 13 and send it to other modules in the inspection system 1 ; the other is to transmit the data from other modules in the inspection system 1 to the corresponding robot subsystem 12 .

[0103] The data processor 16 is used to process the data collected from the robot group 13 and present it to the user through the screen display 21. At the same time, the data processor 16 can make corresponding processing when receiving instructions issued by the user through an interactive device (such as a keyboard, mouse, etc.).

[0104] The event control module 25 assigns a unique event code to all information that the user may need to monitor to identify the information and divides the information into different types of events, such as trigger type, Boolean type, value type, etc., so that the event monitoring module 26 can determine whether the information has changed by monitoring the type value of the information. When the event monitoring module 26 monitors that the information has changed, it packages some attributes of the information (such as event code, occurrence time, type value of the event, etc.) and pushes them to the event queue 17 for each module to read. The event control module 25 provides monitoring types for events according to the type of event (such as Boolean type events provide monitoring types such as occurrence value and value change, and digital types provide monitoring types such as >, >=, <, <=, !=, etc. in addition to occurrence value and value change).

[0105] The interface of the event registration module 19 displays the event code, event name, event type, and event monitoring type provided by the event control module 25. After the user's identity is verified in the identity authentication module 18, the user completes the event registration operation by checking the events to be monitored, selecting the event monitoring type, and filling in the threshold in the event registration module 19.

[0106] If it is not registered, the reminder is ignored; if it is registered, when the registered event occurs within the set conditions (determined by comparing whether the type value of the information reaches the range determined by the set monitoring type and monitoring threshold), the event reminder module 20 can sort out the content information of the event and push it to the designated user. The screen display 21 is used to display some interfaces of the system.

[0107] The network connection module 22 is used to realize the communication among the inspection push module 3 , the data processor 16 , the bracelet device, and the glasses device 2 .

[0108] like Figure 5 As shown, after the inspection system 1 starts running, you can first register in the identity authentication module 18 and log in to the account; after the account verification is passed, the account can be bound to the IP of the eyewear device 2; then, the inspection personnel can set the event of the industrial robot 4 to be monitored, and when the event occurs, the event reminder module 20 can push it to the inspection push module 3.

[0109] Then, the inspection and push module 3 can make a decision and determine the events that currently need to be pushed to the eyeglass device 2; specifically, it can determine which industrial robot 4 event to push based on the wavelength of the light wave received by the light wave receiver 7 and the distance between the eyeglass device 2 and each industrial robot 4.

[0110] Next, the inspection push module 3 first pushes the target inspection event to the network 23 module; then, the network 23 module can push the target inspection event to the network 23 according to the IP of the eyeglass device 2, and transmit it to the eyeglass device 2 via the network 23.

[0111] After receiving the target inspection event from the network 23 , the eyewear device 2 may remind or display the target inspection event; at this point, the inspection system 1 ends.

[0112] In some feasible embodiments, Zhang Hao and the eyewear device 2 may be bound via other information other than IP information, such as a unique identifier, etc. This is not limited in the embodiment of the present invention.

[0113] like Figure 6 As shown, after the inspection system 1 starts running, it can monitor whether a preset inspection event occurs; when the event is monitored to occur, it can detect whether the eyewear device 2 receives the light wave emitted by the light wave emitting ball 5; if not, the process ends.

[0114] If it is detected that the eyewear device 2 receives the light wave emitted by the light wave emitting ball 5 , the wavelength of the light wave can be analyzed and the industrial robot 4 corresponding to the light wave can be determined.

[0115] Next, the inspection event of the industrial robot 4 may be pushed to the network 23 .

[0116] like Figure 7 As shown, after the inspection system 1 starts running, it can monitor whether a preset inspection event occurs; when an event is monitored to occur, it can detect whether the eyewear device 2 enters the distance that can be sensed by the first distance sensor 6 of a certain industrial robot 4, that is, within the preset distance; if not, the process ends.

[0117] If the detection eyewear device 2 enters a distance that can be sensed by the first distance sensor 6 of a certain industrial robot 4 , the inspection event of the industrial robot 4 can be pushed to the network 23 .

[0118] like Figure 8 As shown, after the inspection system 1 starts running, it can detect whether the eyeglass device 2 receives the light waves emitted by the light wave emitting ball 5; if not, it can further detect whether the eyeglass device 2 enters the distance that can be sensed by the first distance sensor 6 of a certain industrial robot 4.

[0119] If the eyeglass device 2 receives the light wave emitted by the light wave emitting ball 5 , the inspection event of the industrial robot 4 corresponding to the light wave can be displayed on the eyeglass device 2 .

[0120] If it is detected that the eyeglass device 2 enters a distance that can be sensed by the first distance sensor 6 of a certain industrial robot 4 , the inspection event of the industrial robot 4 corresponding to the first distance sensor 6 can be displayed on the eyeglass device 2 .

[0121] like Fig. 9 As shown, after the inspection system 1 starts running, it can monitor whether a preset inspection event occurs; when the event is monitored to occur, it can detect whether the eyewear device 2 receives the light wave emitted by the light wave emitting ball 5; if not, the process ends.

[0122] If it is detected that the eyewear device 2 receives the light wave emitted by the light wave emitting ball 5 , the wavelength of the light wave can be analyzed and the industrial robot 4 corresponding to the light wave can be determined.

[0123] Next, the inspection event of the industrial robot 4 may be pushed to the network 23 ; at this time, if the inspection event is an abnormal inspection event, the eyewear device 2 may display an alarm icon after receiving the abnormal inspection event from the network 23 .

[0124] like Fig.10 As shown, after the inspection system 1 starts running, the inspection personnel can press the mode switching button 9 on the eyewear device 2 to directly switch between the daily inspection mode and the abnormal inspection mode.

[0125] Then, the eyewear device 2 can display the inspection events corresponding to the current inspection mode; for example: if the inspection mode is the daily inspection mode, daily inspection events are displayed; if the inspection mode is the abnormal inspection mode, abnormal inspection events are displayed, and the embodiment of the present invention does not limit this.

[0126] Reference Fig.11 , shows a step flow chart of an inspection method for an industrial robot in an embodiment of the present invention, and the inspection method can be applied to the inspection system mentioned in the above embodiment.

[0127] like Fig.11 As shown, the inspection method for the industrial robot may include the following steps:

[0128] Step 1101: determine a target industrial robot according to the light waves received by the light wave receiver and the distances between the eyewear device and each industrial robot determined by the first distance sensor and the second distance sensor.

[0129] When the inspector wears the glasses device and walks between the industrial robots, he can look at the industrial robots one by one; for example, when the inspector looks at an industrial robot, the light wave receiver in the glasses device will receive the light waves emitted by the light wave transmitting ball corresponding to the target industrial robot.

[0130] After the inspection and pushing module detects that the light wave receiver receives the light wave emitted by the light wave transmitting ball corresponding to the industrial robot, it can determine that the industrial robot is the target industrial robot.

[0131] In some feasible embodiments, the industrial robot closest to the eyeglass device may be selected as the target robot based on the distances between the eyeglass device and each industrial robot determined by the first distance sensor and the second distance sensor.

[0132] In other feasible embodiments, the target industrial robot may be determined by combining the light waves received by the light wave receiver and the distances between the glasses device and each industrial robot determined by the first distance sensor and the second distance sensor. For example, when the light wave receiver receives light waves emitted by multiple light wave emitting balls, the industrial robot may be determined by combining the distances between the glasses device and each industrial robot.

[0133] Exemplarily, the industrial robot that the inspector is approaching can be determined based on the distance; then the industrial robot at the intersection of the approaching industrial robot and the industrial robot corresponding to the light wave transmitting ball corresponding to the received light wave is taken as the target industrial robot.

[0134] As another example, the distance can be used to determine which industrial robot the inspection personnel is approaching within a preset range of distances; then, the industrial robot at the intersection of the preset range of distances and the industrial robot corresponding to the light wave transmitting ball corresponding to the received light wave is taken as the target industrial robot, and the embodiments of the present invention do not limit this.

[0135] Step 1102: Push the target inspection event of the target industrial robot to the eyewear device for display.

[0136] After determining the target industrial robot, the inspection push module can push the target inspection event corresponding to the target industrial robot to the eyewear device for display; exemplarily, the target inspection event may include data such as the target industrial robot's operating time, operating procedures, produced output, and to-be-completed output, and may also include an abnormality mark of the target industrial robot (the abnormality mark will only be displayed when there is an abnormality in the target industrial robot).

[0137] In actual applications, if it is a display of information, it can be displayed directly on the lens of the eyeglass device; if it is an alarm, it can be displayed directly on the lens of the eyeglass device, or the eyeglass device can be vibrated to remind the inspection personnel that there is an abnormality in the industrial robot currently being viewed. The embodiment of the present invention does not limit this.

[0138] In some feasible embodiments, the wavelengths of light waves emitted by the light wave transmitting balls set for different industrial robots are different; based on this, the inspection push module can determine which industrial robot the inspection personnel is looking at based on the wavelength of the light waves received by the light wave receiver in the eyeglass device, so that when the inspection personnel look at the target industrial robot, they can see the relevant target inspection events on the eyeglass device, which is convenient for the inspection personnel's daily operation and maintenance and inspection.

[0139] In some feasible embodiments, the inspection push module can first determine the target wavelength of the light wave received by the light wave receiver; then, the target wavelength and the distance between the eyewear device and each industrial robot can be combined to determine the industrial robot that the inspector may want to check, and use the industrial robot as the target industrial robot.

[0140] Exemplarily, after detecting that the light wave receiver receives the light wave of a specific wavelength emitted by the light wave transmitting ball corresponding to the industrial robot, the inspection push module can determine that the industrial robot is the target industrial robot and push the target inspection event corresponding to the target industrial robot to the eyewear device for display.

[0141] In some feasible embodiments, based on the distances between the eyeglass device and each industrial robot determined by the first distance sensor and the second distance sensor, the industrial robot closest to the eyeglass device can be used as the target robot, and then the target inspection event corresponding to the target industrial robot can be pushed to the eyeglass device for display.

[0142] In other feasible embodiments, the target industrial robot can be determined by combining the light waves received by the light wave receiver and the distances between the glasses device and each industrial robot determined by the first distance sensor and the second distance sensor, and then the target inspection event corresponding to the target industrial robot is pushed to the glasses device for display. For example, when it is detected that the light wave receiver receives light waves of specific multiple wavelengths, the industrial robot can be determined by combining the distances between the glasses device and each industrial robot.

[0143] Exemplarily, the industrial robot that the inspector is approaching can be determined based on the distance; then the industrial robot at the intersection of the approaching industrial robot and the industrial robot corresponding to the light wave transmitting ball corresponding to the received light wave of the specific wavelength is taken as the target industrial robot.

[0144] As another example, the distance can be used to determine which industrial robot the inspection personnel is approaching within a preset range of distances; then, the industrial robot at the intersection of the preset range of distances and the industrial robot corresponding to the light wave transmitting ball corresponding to the received light wave of a specific wavelength is taken as the target industrial robot, and the embodiments of the present invention are not limited to this.

[0145] In actual applications, if it is a display of information, it can be displayed directly on the lens of the eyeglass device; if it is an alarm, it can be displayed directly on the lens of the eyeglass device, or the eyeglass device can be vibrated to remind the inspection personnel that there is an abnormality in the industrial robot currently being viewed. The embodiment of the present invention does not limit this.

[0146] In some feasible embodiments, in order to prevent a non-orthotropic industrial robot from being taken as a target industrial robot, the light wave receiver may include a double layer of lenses; if it is strabismus, there will be a certain offset at the point where the light wave reaches the two layers of lenses, and the target wavelength with the most positive viewing angle can be determined by calculating the offset between the two points; then, a light wave transmitting ball that can emit the target wavelength can be determined, and the light wave transmitter can be used as the target light wave transmitting ball.

[0147] Furthermore, the industrial robot corresponding to the target light wave emitting ball can be used as the target industrial robot; thus, the industrial robot that the inspection personnel are facing can be used as the target industrial robot.

[0148] In some feasible embodiments, the target inspection event may include a daily inspection event; when the target inspection event is a daily inspection event, the inspection push module may send the daily operation data of the target industrial robot to the eyeglass device, such as: operation time, operating procedures, output produced, output to be completed and other data, so that the eyeglass device can display these daily operation data.

[0149] For example, when the inspection personnel wear the eyeglass device and walk between various industrial robots, they can look at each industrial robot. When the inspection personnel looks at an industrial robot, the inspection push module can take the industrial robot as the target industrial robot and obtain the daily operation data of the target industrial robot and push it to the eyeglass device.

[0150] The eyeglass device can display these daily operating data on the lenses; thus, the inspection personnel can understand the situation of the target industrial robot without going to the location of the teach pendant of the target industrial robot.

[0151] In some feasible embodiments, the target inspection event may include an abnormal inspection event; when the target inspection event is an abnormal inspection event, the inspection push module may send an alarm signal for the target industrial robot to the eyeglass device so that the eyeglass device can display the alarm signal for the target industrial robot.

[0152] For example, when the inspection personnel wear the eyeglass device and walk between various industrial robots, they can look at each industrial robot. When the inspection personnel looks at an industrial robot with an abnormality, the inspection push module can take the industrial robot as the target industrial robot, and obtain the alarm signal of the target industrial robot and push it to the eyeglass device.

[0153] The eyewear device can display an alarm signal on the lens; thus, the inspection personnel can know which industrial robot has an abnormality and quickly locate its location without having to go to the location of the teaching pendant of the target industrial robot.

[0154] In some feasible embodiments, a signal light may also be provided for each industrial robot; thus, when the inspection personnel looks at a target industrial robot and a target inspection event corresponding to the target industrial robot is displayed in the eyewear device, the signal light corresponding to the target industrial robot may light up, so that the inspection personnel may determine which surrounding industrial robot the target inspection event displayed in the eyewear device is for.

[0155] In some feasible embodiments, the eyeglass device may further include a mode switching button; the target inspection event includes a daily inspection event or a daily inspection event.

[0156] The inspection personnel can operate the mode switching button based on the needs to switch between the daily inspection mode corresponding to the daily inspection event and the abnormal inspection mode corresponding to the abnormal inspection event.

[0157] Specifically, when the inspection system is in daily inspection mode, if the inspection personnel performs an operation on the mode switching button (for example, presses the mode switching button), the inspection push module can switch the daily inspection mode from daily inspection events to abnormal inspection mode according to the operation on the mode switching button.

[0158] On the contrary, if the current inspection mode is the abnormal inspection mode, if the inspection personnel performs an operation on the mode switching button (for example, pressing the mode switching button), the inspection push module can switch the target inspection event from the abnormal inspection mode to the daily inspection mode according to the operation of the mode switching button. The embodiment of the present invention does not limit this.

[0159] In the embodiment of the present invention, the target industrial robot is determined according to the light waves received by the light wave receiver and the distances between the eyewear device and each industrial robot determined by the first distance sensor and the second distance sensor; and the target inspection event of the target industrial robot is pushed to the eyewear device for display. Through the embodiment of the present invention, it is convenient for inspection personnel to view and operate industrial robots.

[0160] 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.

[0161] Reference Fig.12 , shows a schematic structural diagram of a patrol inspection device for an industrial robot according to an embodiment of the present invention. The patrol inspection method can be applied to the patrol inspection system mentioned in the above embodiment.

[0162] like Fig.12 As shown, the inspection device for industrial robots may include the following modules:

[0163] A determination module 1201 determines a target industrial robot according to the light waves received by the light wave receiver and the distances between the eyewear device and each industrial robot determined by the first distance sensor and the second distance sensor;

[0164] The display module 1202 is used to push the target inspection event of the target industrial robot to the eyewear device for display.

[0165] In the embodiment of the present invention, the target industrial robot is determined according to the light waves received by the light wave receiver and the distances between the eyewear device and each industrial robot determined by the first distance sensor and the second distance sensor; and the target inspection event of the target industrial robot is pushed to the eyewear device for display. Through the embodiment of the present invention, it is convenient for inspection personnel to view and operate industrial robots.

[0166] An embodiment of the present invention further provides an electronic device, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the above inspection method for the industrial robot is implemented.

[0167] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above inspection method for an industrial robot is implemented.

[0168] 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.

[0169] 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.

[0170] Those skilled in the art will appreciate 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.

[0171] 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.

[0172] 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.

[0173] 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.

[0174] 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.

[0175] 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.

[0176] The above provides a detailed introduction to a patrol system for industrial robots, a patrol method for industrial robots, a patrol device for industrial robots, an electronic device and a computer-readable storage medium. 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 patrol inspection system for industrial robots, characterized in that: The inspection system comprises: a glasses device, an inspection push module, a light wave transmitting ball set for each industrial robot and a first distance sensor set for the industrial robot; wherein: The eyeglass device is provided with a light wave receiver and a second distance sensor; the light wave receiver is used to receive the light wave emitted by the light wave emitting ball; The inspection push module is used to determine the target industrial robot based on the light waves received by the light wave receiver and the distance between the eyewear device and each industrial robot determined by the first distance sensor and the second distance sensor, and push the target inspection event of the target industrial robot to the eyewear device for display.

2. The inspection system according to claim 1, characterized in that: The light wave transmitting balls set for different industrial robots transmit light waves of different wavelengths.

3. The inspection system according to claim 2, characterized in that: The inspection and pushing module is used to determine the target wavelength of the light wave received by the light wave receiver; and determine the target industrial robot according to the target wavelength and the distance between the eyewear device and each industrial robot.

4. The inspection system according to claim 3, characterized in that: The light wave receiver includes a double-layer lens; The inspection and pushing module is used to determine the target wavelength according to the offset of the light waves of each wavelength on the double-layer lens.

5. The inspection system according to claim 1, characterized in that: The target inspection events include daily inspection events; The inspection push module is used to send the daily operation data of the target industrial robot to the eyewear device; The eyeglass device is used to display the daily operation data.

6. The inspection system according to claim 1, characterized in that: The target inspection event includes an abnormal inspection event; The inspection push module is used to send an alarm signal for the target industrial robot to the eyewear device; The eyeglass device is used to display the warning signal for the target industrial robot.

7. The inspection system according to any one of claims 5 to 6, characterized in that: The inspection system also includes a signal light set for each industrial robot; The signal light corresponding to the target industrial robot is used to light up when the eyeglass device displays a target inspection event of the target industrial robot.

8. The inspection system according to claim 1, characterized in that: The target inspection event includes a daily inspection event or an abnormal inspection event, and the eyewear device further includes a mode switching button; The inspection push module is used to switch between the daily inspection mode corresponding to the daily inspection event and the abnormal inspection mode corresponding to the abnormal inspection event according to the operation of the mode switching button.

9. An inspection method for an industrial robot, characterized in that: Applied in the inspection system according to any one of claims 1 to 8; the method comprises: Determine the target industrial robot according to the light waves received by the light wave receiver and the distances between the eyewear device and each industrial robot determined by the first distance sensor and the second distance sensor; The target inspection event of the target industrial robot is pushed to the eyewear device for display.

10. An inspection device for an industrial robot, characterized in that: Applicable to the inspection system according to any one of claims 1 to 8; the device comprises: A determination module, which determines a target industrial robot according to the light waves received by the light wave receiver and the distances between the eyewear device and each industrial robot determined by the first distance sensor and the second distance sensor; A display module is used to push the target inspection event of the target industrial robot to the eyewear device for display.

11. An electronic device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the inspection method of the industrial robot as claimed in claim 9 when executed by the processor.

12. 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 the processor, the inspection method of the industrial robot as claimed in claim 9 is implemented.

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