Station teaching method and device based on magnetic drive conveying line and electronic equipment

Abstract

The invention provides a station teaching method and device based on a magnetic drive conveying line and electronic equipment, and the method comprises the steps: obtaining the position information of a target rotor after movement in response to the movement operation of an operator on the target rotor on a magnetic drive line body; the position information of the target rotor after movement is uploaded to a station teaching system, and the position information of the target rotor after movement is displayed on a human-computer interface of the station teaching system; and in response to the operation of an operator on the human-computer interface, storing the position information of the target rotor after movement as a new station position, and sending the new station position to the manipulator system, so that the manipulator system performs loading or unloading based on the new station position. According to the invention, the operation difficulty of station teaching is reduced, and meanwhile, the risk of station setting errors is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of conveyor lines, and in particular to a workstation teaching method, device and electronic equipment based on a magnetic drive conveyor line. Background Art

[0002] The magnetic drive conveyor line is a conveying equipment based on the principle of magnetic coupling, and its core components include a stator module and a mover module. The stator module generates a traveling wave magnetic field by periodic energization, which interacts with the permanent magnet array on the mover module, thereby driving the mover module to move along a predetermined route to realize material transportation. During the material delivery process, a loading and unloading point or a material unloading grasping point is set near the loading robot or the unloading robot to load and unload the material through the robot. At present, in order to enable the external loading and unloading robot on the magnetic drive conveyor line to automatically adjust the grasping or placement position according to the changes in the workstation position information on the magnetic drive line, the workstation parameter setting method can be used, or the loading and unloading method of the loading robot can be modified through the teaching pendant operation method. However, the existing teaching method is complicated to operate and prone to errors. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a workstation teaching method, device and electronic equipment based on a magnetic drive conveyor line, so as to reduce the operational difficulty of workstation teaching and reduce the risk of errors in workstation setting.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows: In the first aspect, the present invention provides a workstation teaching method based on a magnetic drive conveyor line, comprising: in response to an operator's operation of moving a target mover on a magnetic drive line, obtaining position information of the target mover after movement; uploading the position information of the target mover after movement to a workstation teaching system, and displaying the position information of the target mover after movement on a human-machine interface of the workstation teaching system; in response to an operator's operation on the human-machine interface, saving the position information of the target mover after movement as a new workstation position, and sending the new workstation position to a robot system, so that the robot system loads or unloads materials based on the new workstation position.

[0005] Optionally, before responding to the operator's movement operation on the target mover on the magnetic drive line, it also includes: calibrating the working coordinate system of the manipulator based on the running direction of the mover on the magnetic drive line and the position of the manipulator; wherein the running direction of the mover is the positive Y direction under the working coordinate system of the manipulator; and calibrating the working range area of ​​the manipulator in the Y direction of the working coordinate system based on the working coordinate system of the manipulator.

[0006] Optionally, obtaining the position information of the target mover after movement includes: obtaining the encoding value of the encoder at the position where the target mover is located after movement; converting the encoding value into coordinate information in the working coordinate system of the manipulator to obtain the position information of the target mover after movement.

[0007] Optionally, after obtaining the position information of the target mover after movement, it also includes: based on the pre-calibrated working range area of ​​the manipulator, judging whether the position of the target mover after movement exceeds the working range area of ​​the manipulator; if it exceeds the working range area of ​​the manipulator, issuing a prompt warning message to prompt the operator to move the target mover again; if it does not exceed the working range area of ​​the manipulator, uploading the position information of the target mover after movement to the work station teaching system.

[0008] Optionally, it also includes: obtaining physical structure information of the magnetic drive conveyor line, and establishing a three-dimensional model of the magnetic drive line based on the physical structure information; collecting data of each component through sensors set on the magnetic drive conveyor line, and associating the data of each component with the three-dimensional model; and displaying the three-dimensional model on a human-computer interface.

[0009] Optionally, the method further includes: obtaining movement information of the target mover, and uploading the movement information to the three-dimensional model to simulate the movement process of the target mover in the three-dimensional model.

[0010] In the second aspect, the present invention provides a workstation teaching device based on a magnetic drive conveyor line, comprising: an information acquisition module for responding to an operator's operation of moving a target mover on a magnetic drive line body, and acquiring position information of the target mover after movement; a teaching module for uploading the position information of the target mover after movement to a workstation teaching system, and displaying the position information of the target mover after movement on a human-machine interface of the workstation teaching system; a workstation update module for responding to an operator's operation on the human-machine interface, saving the position information of the target mover after movement as a new workstation position, and sending the new workstation position to a robot system, so that the robot system can load or unload materials based on the new workstation position.

[0011] Optionally, it also includes: a calibration module, which is used to calibrate the working coordinate system of the manipulator based on the running direction of the mover on the magnetic drive line and the position of the manipulator; wherein the running direction of the mover is the positive Y direction in the working coordinate system of the manipulator; and calibrate the working range area of ​​the manipulator in the Y direction of the working coordinate system based on the working coordinate system of the manipulator.

[0012] In a third aspect, the present invention provides an electronic device comprising a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the steps of any one of the methods provided in the first aspect above.

[0013] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the computer program executes the steps of any one of the methods provided in the first aspect.

[0014] The present invention brings the following beneficial effects: The above-mentioned workstation teaching method, device and electronic equipment based on the magnetic drive conveyor line provided by the present invention first respond to the operator's movement operation of the target mover on the magnetic drive line body, and obtain the position information of the target mover after moving; then upload the position information of the target mover after moving to the workstation teaching system, and display the position information of the target mover after moving on the human-machine interface of the workstation teaching system; finally, in response to the operator's operation on the human-machine interface, the position information of the target mover after moving is saved as a new workstation position, and the new workstation position is sent to the manipulator system, so that the manipulator system loads or unloads based on the new workstation position. The above method manually moves the target mover to the new workstation position by the operator, and saves the new workstation position and synchronously updates it to the manipulator system, so that the manipulator system loads or unloads based on the new workstation position, thereby enabling on-site operators to quickly and conveniently realize workstation customization according to production needs, reducing the operational difficulty of workstation teaching, and reducing the risk of errors in workstation setting.

[0015] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purposes and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0016] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the preferred embodiments are specifically listed below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic diagram of the overall layout of a magnetic drive line provided by an embodiment of the present invention; Figure 2 A schematic diagram of a blanking station provided in an embodiment of the present invention; Figure 3A flow chart of a workstation teaching method based on a magnetic drive conveyor line provided by an embodiment of the present invention; Figure 4 A flow chart for implementing a teaching method for a blanking station provided by an embodiment of the present invention; Figure 5 A schematic structural diagram of a workstation teaching device based on a magnetic drive conveyor line provided by an embodiment of the present invention; Figure 6 A schematic structural diagram of an electronic device provided by an embodiment of the present invention.

[0019] icon: 300-mover; 301-workpiece; 200-loading robot; 201-unloading robot; 100-loading station before modification; 101-loading station after modification; 102-unloading station before modification; 103-unloading station after modification; 400-working range area of ​​the robot in the Y direction. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0021] Currently, to enable external loading and unloading robots on magnetic drive conveyor lines to automatically adjust their gripping or placement positions based on changes in workstation position information on the magnetic drive line, station parameter settings can be used, or the loading and unloading methods of the loading robot can be modified through the use of a teach pendant. However, existing teaching methods are complex and prone to errors.

[0022] Based on this, the embodiments of the present invention provide a workstation teaching method, device and electronic equipment based on a magnetic drive conveyor line, which can reduce the operational difficulty of workstation teaching and reduce the risk of errors in workstation setting.

[0023] To facilitate understanding of this embodiment, the following is a detailed description of a station teaching method based on a magnetic drive conveyor line disclosed in an embodiment of the present invention. Figure 1The figure shows a schematic diagram of the overall layout of a magnetic drive line, in which the magnetic drive line includes a plurality of movers 300 and workpieces 301. The movers 300 are located on the magnetic drive line, and the workpieces 301 are placed on the movers 300. The movers 300 circulate in a clockwise direction. The loading robot 200 is located on the loading side of the line, and the loading station 100 before modification and the loading station 101 after modification are located within the working range that the loading robot 200 can reach. The unloading robot 201 is located on the unloading side of the line, and the unloading station 102 before modification and the unloading station 103 after modification are located within the working range that the unloading robot 201 can reach.

[0024] Before teaching, the working system and working range of the manipulator need to be calibrated, specifically including: calibrating the working coordinate system of the manipulator based on the running direction of the mover on the magnetic drive line and the position of the manipulator; wherein, the running direction of the mover is the positive Y direction of the working coordinate system of the manipulator; calibrating the working range area of ​​the manipulator in the Y direction of the working coordinate system based on the working coordinate system of the manipulator.

[0025] In the specific implementation, see Figure 2 As shown, taking the feeding robot as an example, the position of the robot can be used as the origin of the robot's working coordinate system, and the running direction of the magnetic drive line mover can be calibrated as the Y positive direction of the robot's working coordinate system; then, the working range area 400 of the robot in the Y direction of the working coordinate system is calibrated according to the movable range of the robot.

[0026] Further, see Figure 3 The flowchart of a workstation teaching method based on a magnetic drive conveyor line is shown, which illustrates that the method mainly includes the following steps S301 to S303: Step S301: in response to an operator's operation of moving a target mover on a magnetic drive line, obtaining position information of the target mover after the move.

[0027] In one embodiment, the target mover is the mover corresponding to the workstation. After the magnetic drive line is powered on and initialized, and the emergency stop switch is pressed, the operator can manually push the target mover to the desired workstation position and obtain the position information of the target mover after the movement.

[0028] In specific implementation, the code value of the encoder at the position of the target mover after movement can be obtained; the code value is converted into coordinate information in the working coordinate system of the manipulator to obtain the position information of the target mover after movement.

[0029] Specifically, an encoder can be installed on the magnetic drive conveyor line to collect the position information of the mover. When the target mover is manually moved, the encoder's code value at the position of the target mover after the move can be obtained, and then the code value can be converted into corresponding coordinate information, that is, the position information of the target mover after the move.

[0030] Step S302: uploading the position information of the target mover after the movement to the workstation teaching system, and displaying the position information of the target mover after the movement on the human-machine interface of the workstation teaching system.

[0031] Step S303: In response to the operator's operation on the human-machine interface, the position information of the target mover after movement is saved as a new workstation position, and the new workstation position is sent to the robot system so that the robot system loads or unloads materials based on the new workstation position.

[0032] In one embodiment, the robotic arm system includes a loading robot and a unloading robot, and the corresponding workstation positions include a loading station and an unloading station. During specific implementation, the position information of the target mover after movement can be uploaded to the teaching system and displayed on the human-machine interface of the teaching system. The operator can save the position information by clicking the save button on the human-machine interface, and the position information is synchronously updated to the robotic arm system. After receiving the workstation information, the robotic arm system can adjust the grasping or placement position according to the changes in the magnetic workstation position information, and load or unload the material according to the new workstation position.

[0033] The above-mentioned workstation teaching method based on the magnetic drive conveyor line provided by the embodiment of the present invention is that the operator manually moves the target mover to the new workstation position, and saves the new workstation position and synchronously updates it to the robot system, so that the robot system can load or unload materials based on the new workstation position, thereby enabling on-site operators to quickly and conveniently realize workstation customization according to production needs, reducing the operational difficulty of workstation teaching and reducing the risk of workstation setting errors.

[0034] In one embodiment, in order to avoid errors in the updated workstation position, which may cause the robot to be unable to load or unload materials, the embodiment of the present invention, after obtaining the position information of the target mover after movement, also includes: based on the pre-calibrated working range area of ​​the robot, judging whether the position of the target mover after movement exceeds the working range area of ​​the robot; if it exceeds the working range area of ​​the robot, issuing a prompt warning message to prompt the operator to move the target mover again; if it does not exceed the working range area of ​​the robot, uploading the position information of the target mover after movement to the workstation teaching system.

[0035] During specific implementation, it is possible to determine whether the position of the target mover after movement exceeds the working range of the manipulator based on the pre-calibrated working range of the manipulator and the position information of the target mover after movement; if it exceeds the working range of the manipulator, the system will issue a warning, and the operator can move the target mover again to make the target mover within the working range of the manipulator; if it does not exceed the working range of the manipulator, the position information of the target mover after movement can be uploaded to the workstation teaching system, and the operator can synchronize the new workstation position information to the manipulator system through the save button on the human-machine interface.

[0036] For easier understanding, see Figure 2 As shown, taking the teaching of the material feeding station as an example, the embodiment of the present invention also provides a specific implementation process, see Figure 4 As shown, it mainly includes the following steps: Step 1: The blanking robot 201 calibrates the operating range of the working coordinate system in the Y direction, that is, the working range area 400 of the robot in the Y direction.

[0037] Step 2: After the magnetic drive line is powered on and initialized, the emergency stop switch is pressed and the mover 300 is manually moved. When the mover 300 exceeds the working range 400 in the Y direction of the manipulator, the system sends a prompt warning.

[0038] Step 3: After manually pushing the pusher (300) from the unloading station (102) before modification to the unloading station 103 after modification, the station position information is synchronously updated to the unloading point of the unloading robot 201 through the save button on the human-machine interface of the system. If no over-limit warning is prompted, the station teaching is completed. If an over-range warning is prompted, return to step 2 and start again.

[0039] Step 4: Reset the emergency stop button, the system enters the standby state, and the equipment is ready to run.

[0040] Similarly, the teaching of the loading station can refer to the above steps and will not be repeated here.

[0041] In order to enable operators to more intuitively understand the process of workstation modification, an embodiment of the present invention can also adopt a method of modeling the magnetic drive conveyor line and displaying the workstation modification process in the model. Specifically, the above method provided by the embodiment of the present invention also includes: first obtaining the physical structure information of the magnetic drive conveyor line, and establishing a three-dimensional model of the magnetic drive line body based on the physical structure information; then collecting data of each component through sensors set on the magnetic drive conveyor line, and associating the data of each component with the three-dimensional model; and displaying the three-dimensional model on the human-computer interface.

[0042] In specific implementation, digital twin technology can be used to model the magnetic drive conveyor line, including the following steps: (1) Install sensors on the magnetic drive conveyor line to collect operating parameters such as the stator module current, mover module position, and speed, and transmit the collected data to the digital twin platform in real time through the Internet of Things technology.

[0043] (2) Based on the physical structure of the magnetic drive conveyor line, a three-dimensional model is established in a virtual environment, including components such as the stator, mover, and conveyor track.

[0044] (3) Use simulation software to simulate the operating mechanism of the magnetic drive conveyor line, including magnetic field distribution, mover motion trajectory, etc.

[0045] (4) Associating the collected data with the model so that the virtual model can reflect the status of the physical system in real time.

[0046] (5) The three-dimensional model of the magnetic drive conveyor line is displayed on the human-machine interface, including dynamic information such as the position of the mover and the direction of movement. At the same time, the operating parameters such as current, speed, position, etc. are displayed in real time. The user can manually adjust the operating status of the conveyor line through the interface, such as starting and stopping, speed adjustment, etc.

[0047] Based on this, in an embodiment of the present invention, when the target mover is manually moved, the movement information of the target mover can be obtained and uploaded to the three-dimensional model to simulate the movement process of the target mover in the three-dimensional model.

[0048] The above method provided by the embodiment of the present invention calibrates the running direction of the magnetic drive line mover to the Y positive direction in the manipulator working coordinate system, manually pushes the mover on the magnetic drive line to the desired workstation position, records the workstation position information through the human-machine interface, and synchronizes the coordinate value to the loading and unloading placement point or unloading grabbing point of the loading and unloading manipulator through communication after saving. This enables on-site operators to quickly and conveniently customize the workstation according to production needs, truly empowering the flexible production of magnetic drive conveyor lines. Compared with the existing technology, the above method has the following advantages: (1) Compared with the workstation parameter setting, the manual pusher teaching method only requires pushing the mover to the desired position, which is easier to understand; (2) The traditional method of modifying the loading and unloading method of the loading manipulator through the teaching pendant operation method has high requirements for the operator. This method eliminates the teaching operation of the manipulator and reduces the difficulty of the workstation teaching operation; (3) Compared with the traditional workstation definition method, the operation time is shortened and the risk of error is reduced.

[0049] Embodiments of the present invention can also employ technology that automatically generates a magnetically driven conveyor line layout, optimizing workstation locations and path planning through algorithms. Specifically, production requirements, such as the number of workstations, material type, and conveying cycle time, are first received, and a three-dimensional model of the conveyor line is created, including the track structure and workstation locations. A preliminary layout of workstation locations is then generated based on pre-set rules (such as workstation spacing and turning radius). Based on this preliminary layout, the system further adjusts the layout using an optimization algorithm (such as a genetic algorithm or simulated annealing algorithm), with optimization objectives including minimizing conveying time, reducing energy consumption, and improving workstation utilization. The generated layout is then simulated and verified using digital twin technology to verify the feasibility of the path planning and the stability of the system's operation. Finally, the operator manually pushes the slider on the magnetically driven line to the desired workstation location based on the workstation layout, and records the workstation location information through the human-machine interface.

[0050] In specific implementation, the use of genetic algorithms to adjust the layout of magnetic drive conveyor line stations includes the following process: (1) Encode the workstation position. The encoding methods used include: real number encoding (using coordinate values ​​to represent the workstation position) and integer encoding (using index numbers to represent the order of the workstations on the track).

[0051] (2) Randomly generate a certain number of initial layout plans (populations), each of which represents a possible workstation layout.

[0052] (3) Define the fitness function, which includes the following objectives: total length of the conveying path (the shorter the better), minimum spacing between workstations (to meet safety and process requirements), operating time (the shorter the better), and system load balancing (to avoid congestion).

[0053] (4) Select excellent individuals from the current population as “parents” based on their fitness values ​​to generate the next generation.

[0054] (5) Exchange some of the genes of the two parent individuals to generate new offspring individuals. In the embodiments of the present invention, the following crossover methods can be used: single-point crossover: randomly select a crossover point and exchange the parts of the two parent individuals after that point; multi-point crossover: select multiple crossover points and exchange them in sections; sequential crossover: encode according to the workstation sequence and retain the order of the parts in the parent generation.

[0055] (6) Randomly changing the genes of certain individuals to increase population diversity, such as randomly adjusting the position of a workstation, exchanging the order of two workstations, or changing the direction or spacing of workstations.

[0056] (7) When the maximum number of iterations is reached or the fitness value converges, the iteration is stopped and the final workstation layout plan is obtained.

[0057] Regarding the aforementioned workstation teaching method based on a magnetic drive conveyor line, an embodiment of the present invention provides a workstation teaching device based on a magnetic drive conveyor line, see Figure 5 The schematic diagram of the structure of a workstation teaching device based on a magnetic drive conveyor line shows that the system mainly includes the following parts: The information acquisition module 501 is used to obtain the position information of the target mover after the target mover is moved in response to the operator's operation of moving the target mover on the magnetic drive line; The teaching module 502 is used to upload the position information of the target mover after it moves to the workstation teaching system, and display the position information of the target mover after it moves on the human-machine interface of the workstation teaching system; The workstation update module 503 is used to save the position information of the target mover after movement as a new workstation position in response to the operator's operation on the human-machine interface, and send the new workstation position to the robot system so that the robot system can load or unload materials based on the new workstation position.

[0058] The above-mentioned workstation teaching device based on the magnetic drive conveyor line provided by an embodiment of the present invention manually moves the target mover to a new workstation position by the operator, and saves the new workstation position and synchronously updates it to the robot system, so that the robot system can load or unload materials based on the new workstation position, thereby enabling on-site operators to quickly and conveniently realize workstation customization according to production needs, reducing the operational difficulty of workstation teaching and reducing the risk of workstation setting errors.

[0059] In one embodiment, the above-mentioned device also includes: a calibration module, which is used to calibrate the working coordinate system of the manipulator based on the running direction of the mover on the magnetic drive line and the position of the manipulator; wherein the running direction of the mover is the positive Y direction under the working coordinate system of the manipulator; and calibrate the working range area of ​​the manipulator in the Y direction of the working coordinate system based on the working coordinate system of the manipulator.

[0060] In one embodiment, the above-mentioned information acquisition module 501 is specifically used to: obtain the position information of the target mover after movement, including: obtaining the encoding value of the encoder at the position where the target mover is located after movement; converting the encoding value into coordinate information in the working coordinate system of the manipulator to obtain the position information of the target mover after movement.

[0061] In one embodiment, the above-mentioned device also includes: a judgment module, which is used to judge whether the position of the target mover after moving exceeds the working range area of ​​the manipulator based on a pre-calibrated working range area of ​​the manipulator; if it exceeds the working range area of ​​the manipulator, a prompt warning message is issued to prompt the operator to move the target mover again; if it does not exceed the working range area of ​​the manipulator, the position information of the target mover after moving is uploaded to the work station teaching system.

[0062] In one embodiment, the above-mentioned device also includes: a model building module, which is used to obtain the physical structure information of the magnetic drive conveyor line and establish a three-dimensional model of the magnetic drive line based on the physical structure information; collect data of each component through sensors set on the magnetic drive conveyor line, and associate the data of each component with the three-dimensional model; and display the three-dimensional model on the human-computer interface.

[0063] In one embodiment, the teaching module 502 is further configured to obtain movement information of the target mover and upload the movement information to the three-dimensional model to simulate the movement process of the target mover in the three-dimensional model.

[0064] It should be noted that the implementation principle and technical effects of the device provided in the embodiment of the present invention are the same as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference can be made to the corresponding content in the aforementioned method embodiment.

[0065] An embodiment of the present invention further provides an electronic device. Specifically, the electronic device includes a processor and a storage device. The storage device stores a computer program, and when the computer program is executed by the processor, it executes the method described in any one of the above embodiments.

[0066] Figure 6 A structural diagram of an electronic device provided in an embodiment of the present invention, the electronic device 600 includes: a processor 60, a memory 61, a bus 62 and a communication interface 63, wherein the processor 60, the communication interface 63 and the memory 61 are connected via the bus 62; the processor 60 is used to execute an executable module stored in the memory 61, such as a computer program.

[0067] Memory 61 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage. Communication between the system network element and at least one other network element is achieved through at least one communication interface 63 (which may be wired or wireless), and may utilize the Internet, a wide area network, a local area network, a metropolitan area network, or the like.

[0068] The bus 62 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, Figure 6 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0069] Among them, the memory 61 is used to store programs, and the processor 60 executes the program after receiving the execution instruction. The method executed by the device for flow process definition disclosed in any embodiment of the above-mentioned embodiment of the present invention can be applied to the processor 60 or implemented by the processor 60.

[0070] The processor 60 may be an integrated circuit chip with signal processing capabilities. During implementation, the steps of the above method may be performed by hardware integrated logic circuits or software instructions within the processor 60. The processor 60 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in conjunction with the embodiments of the present invention may be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules within the decoding processor. The software modules may be located in storage media well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or the like. The storage medium is located in the memory 61 , and the processor 60 reads the information in the memory 61 and completes the steps of the above method in combination with its hardware.

[0071] The computer program product of the readable storage medium provided in the embodiment of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the method described in the previous method embodiment. The specific implementation can be referred to the previous method embodiment and will not be repeated here.

[0072] If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0073] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A station teaching method based on a magnetic drive conveyor line, characterized in that: include: In response to an operator's operation of moving a target mover on the magnetic drive line, obtaining position information of the target mover after the move; The position information of the target mover after the movement is uploaded to the workstation teaching system, and the position information of the target mover after the movement is displayed on the human-machine interface of the workstation teaching system; wherein the human-machine interface is also used to display a three-dimensional model of the magnetic drive conveyor line, and display the movement process of the target mover in the three-dimensional model; In response to the operator's operation on the human-machine interface, the position information of the target mover after movement is saved as a new workstation position, and the new workstation position is sent to the robot system so that the robot system loads or unloads materials based on the new workstation position.

2. The method according to claim 1, characterized in that Before responding to the operator's operation of moving the target mover on the magnetic drive line, the method further includes: Based on the running direction of the mover on the magnetic drive line and the position of the manipulator, the working coordinate system of the manipulator is calibrated; wherein the running direction of the mover is the positive Y direction in the working coordinate system of the manipulator; The working range area of ​​the manipulator in the Y direction of the working coordinate system is calibrated based on the manipulator working coordinate system.

3. The method according to claim 2, characterized in that Obtaining the position information of the target mover after movement, including: Obtaining a code value of an encoder at the position where the target mover is located after the move; The encoding value is converted into coordinate information in the working coordinate system of the manipulator to obtain the position information of the target mover after movement.

4. The method according to claim 2, characterized in that After obtaining the position information of the target mover after movement, the method further includes: Based on a pre-calibrated working range of the manipulator, determining whether the position of the target mover after movement exceeds the working range of the manipulator; If the target mover is beyond the working range of the manipulator, a warning message is issued to prompt the operator to move the target mover again; If the moving position does not exceed the working range of the manipulator, the position information of the target mover after the moving position is uploaded to the workstation teaching system.

5. The method according to claim 1, wherein Also includes: Acquiring physical structural information of the magnetic drive transmission line, and establishing a three-dimensional model of the magnetic drive line based on the physical structural information; collecting data of each component through sensors arranged on the magnetic drive conveyor line, and associating the data of each component with the three-dimensional model; The three-dimensional model is displayed on the human-computer interface.

6. The method according to claim 5, characterized in that Also includes: The movement information of the target mover is acquired, and the movement information is uploaded to the three-dimensional model to simulate the movement process of the target mover in the three-dimensional model.

7. A station teaching device based on a magnetic drive conveyor line, characterized in that: include: An information acquisition module is used to obtain position information of the target mover after the target mover is moved in response to an operator's operation of moving the target mover on the magnetic drive line; A teaching module, configured to upload the position information of the target mover after movement to a workstation teaching system, and to display the position information of the target mover after movement on a human-machine interface of the workstation teaching system; wherein the human-machine interface is further configured to display a three-dimensional model of the magnetic drive conveyor line, and to display the movement process of the target mover in the three-dimensional model; The workstation update module is used to save the position information of the target mover after movement as a new workstation position in response to the operator's operation on the human-machine interface, and send the new workstation position to the robot system so that the robot system can load or unload materials based on the new workstation position.

8. The device according to claim 7, characterized in that Also includes: A calibration module is used to calibrate the working coordinate system of the manipulator based on the running direction of the mover on the magnetic drive line and the position of the manipulator; wherein the running direction of the mover is the positive Y direction of the working coordinate system of the manipulator; The working range area of ​​the manipulator in the Y direction of the working coordinate system is calibrated based on the manipulator working coordinate system.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the steps of the method according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are executed.

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