Production line exception handling method and device, electronic equipment and storage medium

Abstract

The invention relates to the field of production line operation and maintenance, in particular to an exception handling method and device for a production line, electronic equipment and a storage medium. The method comprises the following steps: receiving abnormal work order information of a production line, wherein the abnormal work order information at least comprises information of abnormal equipment of the production line; controlling the field robot to go to an abnormal position of the abnormal equipment according to the abnormal work order information; acquiring field condition information of the abnormal position through a field robot; and controlling the field robot to process according to the field condition information so as to eliminate the abnormal condition of the production line. According to the method disclosed by the invention, the problem of low efficiency of a traditional production line exception handling process can be solved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of production line operation and maintenance, and more particularly, to an abnormality processing method and device for a production line, an electronic device and a storage medium. BACKGROUND

[0002] In modern manufacturing, efficient and stable operation of a production line is of great importance. However, various abnormal conditions such as component failure, material blockage, parameter deviation, etc. are inevitable in the long-time continuous operation of production equipment. If these abnormalities are not handled in time and effectively, the whole production line will be shut down, causing huge economic losses. Currently, the conventional process of abnormality processing of a production line mainly relies on manual operation: when an abnormality is found by a sensor of the equipment or an operator, an abnormality work order or an alarm information is usually generated; then, maintenance personnel or engineers need to carry necessary tools or spare parts and manually go to the location of the faulty equipment to conduct on-site investigation and maintenance according to the work order information. The whole response and processing process is time-consuming, especially in large and complex production workshops. Meanwhile, when the abnormality work order description is inaccurate and the abnormality cause cannot be determined, the maintenance personnel cannot carry all the tools and spare parts, which will make the maintenance personnel go back and forth repeatedly, resulting in low efficiency of abnormality processing of the production line. SUMMARY

[0003] An object of the present disclosure is to provide an abnormality processing device, method, electronic device and storage medium for a production line, which can solve the problem of low efficiency of the conventional abnormality processing process of a production line.

[0004] According to a first aspect of the present disclosure, an abnormality processing method for a production line is provided, comprising:

[0005] receiving abnormality work order information of the production line, the abnormality work order information comprising at least information of an abnormal device of the production line;

[0006] controlling a field robot to go to an abnormal position of the abnormal device according to the abnormality work order information;

[0007] obtaining field situation information of the abnormal position by the field robot;

[0008] controlling the field robot to process according to the field situation information, so as to eliminate the abnormal condition of the production line.

[0009] According to a second aspect of the present disclosure, an abnormality processing device for a production line is provided, comprising:

[0010] a receiving module configured to receive abnormality work order information of the production line, the abnormality work order information comprising at least information of an abnormal device of the production line;

[0011] a control module configured to control the field robot to go to the abnormal position of the abnormal equipment according to the abnormal work order information;

[0012] an acquisition module configured to acquire field situation information of the abnormal position by the field robot;

[0013] a processing module configured to control the field robot to perform processing according to the field situation information, so as to eliminate the abnormal situation of the production line.

[0014] According to a third aspect of the present disclosure, an electronic device is provided, comprising a processor and a memory, the memory storing computer instructions, which, when executed by the processor, implement any one of the abnormal method embodiments of the production line.

[0015] According to a fourth aspect of the present disclosure, a storage medium is provided, which stores computer instructions, which, when executed by a processor, implement any one of the abnormal method embodiments of the production line.

[0016] One technical effect of the present disclosure is to provide an abnormal processing method of a production line, which overcomes the response delay and information loss problems caused by relying on manual processing in the prior art. By receiving an abnormal work order and automatically controlling a field robot to quickly reach an abnormal position, the time-consuming personnel movement is saved, and the multi-dimensional and high-precision field information of the abnormal point is acquired in real time by the sensor carried by the robot, completely solving the information lag, one-sidedness and deviation problems existing in manual observation, providing accurate basis for remote or automatic decision-making; and then controlling the robot to perform processing actions based on the information, realizing efficient and accurate disposal of the field abnormality. The method greatly shortens the key time from the occurrence of the abnormality of the production line to the resumption of operation, effectively reduces the downtime loss, and improves the safety and consistency of the processing, thereby ensuring the continuous and efficient operation of the production.

[0017] Other features and advantages of the embodiments of the present disclosure will become clear from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings, which form a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.

[0019] Figure 1 is a flowchart of an abnormal processing method of a production line provided by the present application;

[0020] Figure 2 is a structural schematic diagram of an abnormal processing device of a production line provided by the present application;

[0021] Figure 3is a structural schematic diagram of an electronic device provided by the present application. DETAILED DESCRIPTION

[0022] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. Note that the relative arrangement, numerical expressions, and numerical values of components and steps set forth in these embodiments are not limiting to the scope of the present application unless otherwise specifically stated.

[0023] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the scope of the application, its application, or uses.

[0024] Techniques and equipment known to those of ordinary skill in the relevant art can not be discussed in detail, but should be considered part of the specification where appropriate.

[0025] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0026] Note that like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be discussed further in subsequent drawings.

[0027] It should be noted that all actions of obtaining signals, information, or data in the embodiments of the present disclosure are carried out in compliance with the corresponding data protection regulations and policies of the country where the device is located, and with the authorization given by the corresponding device owner.

[0028] In one example of the present embodiment, an abnormality processing method of a production line is also provided, as shown in Figure 1 The method includes steps S11-S14:

[0029] Step S11, receiving abnormal work order information of the production line, the abnormal work order information at least including information of an abnormal device of the production line.

[0030] In the embodiments of the present application, receiving abnormal work order information of the production line is the initial step of starting the automated abnormality processing procedure. The "abnormal work order information" refers to a structured data information package used by the production line monitoring system, the manufacturing execution system, and the device's own alarm system to report and record the failure or abnormal state of a specific device of the production line, or a specific description of the abnormal phenomenon of the production line manually entered by the operator, such as "conveyor belt stagnation", "abnormal noise of a certain device", etc. The information package at least contains "information of the abnormal device" for accurately locating the source of the failure. In the embodiments of the present application, the abnormal state information can also include the contact information of the work order entry personnel for further communication.

[0031] Step S12: Control the on-site robot to go to the abnormal location of the abnormal equipment according to the abnormal work order information.

[0032] In an embodiment of the present application, the on-site robot includes: a driving module, a perception module and an operation module, wherein the on-site robot moves based on the driving module, the perception module includes at least one of an image sensor, an audio sensor, a temperature sensor, a pressure sensor and a data interface unit, and the operation module is used to perform processing operations to eliminate abnormal conditions on the production line.

[0033] The field robot described in this application refers to an intelligent robotic device deployed in a production environment, capable of autonomous mobility, environmental perception, and physical manipulation. The robot's drive module includes a drive unit, such as a wheeled, tracked, or foot-based chassis, and a navigation system, such as laser SLAM, visual SLAM, map-based path planning, and obstacle avoidance sensors, enabling it to autonomously plan paths, safely navigate, and accurately reach the location of abnormal equipment specified by an abnormal work order within a complex production environment.

[0034] The on-site robot also includes a perception module. The robot can integrate a perception system composed of multiple sensors to obtain real-time, all-round information about the on-site situation at abnormal locations. For example, cameras can include multiple cameras such as visible light, infrared, and 3D depth cameras to capture visual images, infrared images, video streams, and spatial information to cope with the dark environment of unmanned production lines. Audio perception devices, such as high-precision microphone arrays, are used to collect abnormal sounds or equipment operating noise. In addition, force sensors, proximity sensors, temperature sensors, gas sensors, etc. can be included to obtain multi-dimensional environmental and equipment status data. In one example, the on-site robot also includes a data interface unit. This data interface unit can establish a wired communication connection with the on-site equipment based on control to perform software-level data acquisition and adjustment, as well as system updates and repairs for certain devices that are not connected to the network or are disconnected from the network. In this example, the data interface unit can establish a wired connection with the abnormal on-site equipment through the operation of the robotic arm.

[0035] Operation Module: To perform actual exception handling actions, the robot is equipped with an actuator, typically a multi-degree-of-freedom robotic arm. Its end can be connected to a manipulator, gripper, suction cup, specialized tools, or a quick-change interface for tool replacement. This allows it to perform physical operations such as toggling a reset button, clearing jammed materials, performing simple debugging, and replacing small components according to instructions. This integrated capability of movement, perception, and operation is the key foundation for on-site robots to effectively replace manual labor in automated exception handling.

[0036] In this example, for each device of the production line, the system can pre-store the corresponding position of each device. When the abnormal work order information is obtained and the abnormal device is determined, the on-site robot can be controlled to move to the position of the corresponding abnormal device. Further, based on the sensor information obtained by the on-site robot, the on-site robot can be accurately controlled to move to the abnormal position.

[0037] In step S13, the on-site robot obtains the on-site situation information of the abnormal position.

[0038] In this example, the perception module of the on-site robot can set various sensors according to actual needs to obtain on-site situation information. For example, a camera can be used to obtain on-site image information, and a microphone array can be used to collect on-site audio information. In this example, various sensors can be arranged at different positions of the on-site robot according to actual conditions. For example, the camera can be arranged at a higher position in front of the on-site robot to obtain a better shooting angle, while the audio sensor, pressure sensor, etc. can be arranged at the end of the mechanical arm or as a separate replaceable tool. When it is necessary to collect corresponding sensor data through it, the mechanical arm can control the quick-change interface at the end to replace the corresponding tool for fine detection, such as detecting the audio, pressure, etc. of a certain position of the device.

[0039] In step S14, the on-site robot is controlled according to the on-site situation information to eliminate the abnormal situation of the production line.

[0040] In this example, after obtaining the on-site situation information, the on-site robot can upload it to the operation and maintenance platform for the operation and maintenance personnel or the pre-trained abnormality detection model to determine the abnormal reason of the abnormal device, so as to obtain the specific operation method to solve the reason. When the corresponding operation method can be completed by the on-site robot, the on-site robot can be controlled by the operation and maintenance personnel or based on some pre-set control instructions to repair the abnormal device to eliminate the abnormal situation of the production line. For example, if some interface lines are not plugged in, the mechanical arm of the on-site robot can plug in the corresponding lines. For faults that cannot be solved, the background operation and maintenance personnel also know the fault reason, so they can make targeted preparations before going to the scene for processing, avoiding the situation that the maintenance personnel need to go back and forth to prepare spare parts again after the first judgment of the fault reason because no targeted preparation is made.

[0041] In this example, an abnormality processing method of a production line is provided, which overcomes the problems of response delay and information loss caused by relying on manual processing in the prior art. By receiving an abnormality work order and automatically controlling the on-site robot to quickly reach the abnormal position, the time-consuming personnel movement is saved, and the multi-dimensional and high-precision on-site information of the abnormal point is obtained in real time by using the sensors carried by the robot, thereby completely solving the problems of information lag, one-sidedness and deviation caused by manual observation, and providing accurate basis for remote or automatic decision-making. Then, based on the information, the robot is controlled to perform processing actions, thereby realizing efficient and accurate disposal of on-site abnormalities. The method greatly shortens the key time from the occurrence of the abnormality to the recovery of the production line, effectively reduces the downtime loss, and improves the safety and consistency of the processing, thereby ensuring the continuous and efficient operation of the production.

[0042] In one example of the embodiment, according to the abnormality work order information, the on-site robot is controlled to go to the abnormal position of the abnormal equipment, including: judging the abnormal type of the abnormal equipment based on the abnormality work order information; and in the case that the abnormal type is a first type and a second type, controlling the on-site robot to go to the abnormal position of the abnormal equipment, wherein the first type represents that the abnormal reason of the abnormal equipment cannot be determined, and the second type represents that the processing mode corresponding to the abnormal reason needs to be processed on site.

[0043] In this embodiment, the abnormality work order information usually contains alarm codes, fault description texts or preset classification labels, and the system or operation and maintenance personnel maps them to a pre-defined abnormal type library by analyzing these information. In particular, the first type refers to a scenario where the abnormal reason cannot be determined, which is usually described as ambiguous in the work order content and the specific reason cannot be determined, for example, the work order only describes "equipment downtime" but no specific fault code, or the sensor data is contradictory and cannot be remotely diagnosed. The second type specifically refers to an abnormality that must be physically intervened to solve, such as pressing the device reset button, manually removing the blocked material, manually calibrating mechanical components, etc. Only when it is determined that the abnormal type belongs to the above two types, the system will trigger the robot to go to the scene, avoiding unnecessary scheduling delay for remotely repairable abnormalities.

[0044] In this example, the robot resource utilization is significantly optimized by the above-mentioned method. In the traditional process, personnel are required to be present regardless of the nature of the abnormality, but the present solution ensures that the robot is only dispatched in scenarios that actually require physical operation by accurately identifying the abnormal type that requires on-site intervention. For example: for the first type, the robot can use its multi-modal sensing capabilities to perform on-site diagnosis and real-time return of high-definition video, heat map and other key information to assist remote diagnosis; for the second type, the robot can directly call the mechanical arm to perform reset, obstacle removal and other operations. This intelligent screening mechanism based on abnormal type not only avoids the invalid response of the robot to pure software abnormalities, but also ensures the rapid disposal of physical abnormalities, thereby improving the fault recovery efficiency of the production line as a whole.

[0045] In one example of the embodiment, the controlling the field robot to process according to the field situation information comprises: in a case where the abnormal type is a first type, uploading the field situation information to an operation and maintenance platform, so that an operation and maintenance personnel re-judges the abnormal type of the abnormal equipment; and in a case where the abnormal type is a second type, acquiring a control signal of the operation module, and controlling the operation module based on the control signal to eliminate the abnormal condition of the production line.

[0046] When the abnormality is determined to be the first type, the field robot uploads multi-dimensional field situation information collected by a perception module of the field robot to a central operation and maintenance platform in real time through a network. An operation and maintenance personnel can review these data streams on a platform interactive interface, and perform in-depth analysis in combination with device historical operation logs and a knowledge base, so as to re-judge the abnormal reason and update the abnormal type label. This process will continue until the abnormal type is classified as being able to be solved remotely or upgraded to the second type, and if it is the latter, the subsequent operation of the robot is triggered. This mechanism effectively solves the diagnosis problem caused by the lack of field information in the traditional mode.

[0047] For the abnormality confirmed to be the second type, the system will match or generate a control signal in real time from a remote expert according to the abnormal type and the field situation information, and the signal contains key instructions such as mechanical arm motion trajectory, end effector action parameters, etc. After the robot control unit analyzes the signal, the operation module is driven to perform standardized operations, such as controlling the mechanical arm to unscrew the buckle with a certain torque, manipulating the vacuum suction cup to remove foreign matter, or guiding the multifunctional gripper to press the reset switch. The whole operation is ensured to be accurate through force feedback sensors and visual monitoring, until the sensor feedback or video stream confirms that the abnormal condition is eliminated. This process converts the traditional operation depending on personnel skills into reusable automated actions, significantly improving processing efficiency and consistency.

[0048] In one example of the embodiment, the operation module comprises a mechanical arm, the mechanical arm is controlled through a remote control system, and the remote control system comprises an operating hand, and when the operating hand is triggered to move by the operation and maintenance personnel, a control signal is generated.

[0049] In the embodiment, the mechanical arm in the operation module realizes precise operation by using a master-slave remote control system. Specifically, the system includes a remote control terminal deployed in an operation and maintenance center, and the terminal is equipped with an operation hand, which is usually a multi-degree-of-freedom profiling input device, and can collect the hand action of an operation and maintenance personnel in real time. When the operation and maintenance personnel initiatively triggers the operation hand to move according to the real-time video stream returned by the on-site robot, for example, rotates the wrist and opens and closes the fingers, the high-precision sensor built in the operation hand synchronously generates motion parameters including pose, speed, and force. Further, the control signal is generated, the signal is transmitted to the on-site robot through the network, and the mechanical arm completely reproduces the motion track and force of the operation hand, so as to realize the precise motion mapping of "hand-operation hand-mechanical arm". This design enables the operation and maintenance personnel to remotely handle relatively complex physical troubleshooting tasks.

[0050] In one example of the embodiment, obtaining the control signal of the operation module includes: obtaining a first conversion relationship between the operation hand end coordinate system and the operation hand base coordinate system when the operation hand is triggered to move; determining a second conversion relationship between the mechanical arm end coordinate system and the mechanical arm base coordinate system according to the first conversion relationship and a preset mapping rule; and obtaining the control signal based on the second conversion relationship.

[0051] In one example of the embodiment, obtaining the control signal based on the second conversion relationship includes: obtaining the motion parameters of the operation hand when the operation hand moves; and solving the target angles of each joint of the mechanical arm by bringing the motion parameters into the second conversion relationship through inverse kinematics.

[0052] In this case, the on-site robot and the operation hand are not corresponding to each other. When an abnormal work order occurs, the operation and maintenance center can assign the work order to the corresponding operation and maintenance personnel. If the operation and maintenance personnel need to operate the mechanical arm of the on-site robot, the mechanical arm can be matched with the operation hand corresponding to the operation and maintenance personnel at this time. Therefore, it is necessary to construct the mapping relationship between the operation hand and the mechanical arm, so as to subsequently control the mechanical arm by the operation hand.

[0053] In the remote control system, the accurate spatial coordinate system definition is the core prerequisite for realizing master-slave operation. The coordinate system of the hand end of the operating hand is fixed to the geometric center of the movable part of the operating hand, and the position of the origin and the attitude vector reflect the hand movement of the operation and maintenance personnel in real time; the coordinate system of the base of the operating hand can be fixed on the reference plane of the remote control console. The first conversion relationship is a homogeneous transformation matrix calculated in real time, which completely describes the multi-degree-of-freedom pose of the coordinate system of the operating hand end relative to the coordinate system of the base of the operating hand. Similarly, the coordinate system of the end of the field robot is located at the center point of its end effector (such as a gripper), and the coordinate system of the base of the robot is fixed on the base of the robot body. The preset mapping rule defines the spatial correspondence between the coordinate system of the base of the operating hand and the coordinate system of the base of the robot, usually including a scaling factor and an attitude rotation adaptation matrix, to compensate for the installation direction difference between the two devices.

[0054] In this embodiment, when the operating hand is triggered to move, the motion parameters of the operating hand during movement can be obtained through a high-precision encoder, i.e., the moving direction and moving position of the end of the operating hand relative to the base of the operating hand during movement of the operating hand. For example, when the operating hand is operated by the operation and maintenance personnel to perform horizontal forward and backward movement, the orientation and displacement of the forward and backward movement of the operating hand can be obtained. When the motion parameters of the operating hand and the conversion relationship between the coordinate system of the end of the robot and the coordinate system of the base of the robot are obtained, since the coordinate system of the base of the robot is a known coordinate system, the obtained motion parameters can be substituted into the coordinate system of the end of the robot based on the conversion relationship between the coordinate system of the end of the robot and the coordinate system of the base of the robot to obtain the end pose of the robot, i.e., the end pose reached by controlling the robot. Then, the joint angles for controlling the movement of the robot are calculated according to the end pose of the robot through the inverse kinematics of the robot, and then the movement of the robot can be controlled according to the joint angles, so that the robot can perform the same movement as the operating hand.

[0055] In this example, by the above-mentioned manner, the robot and the operating hand do not need to be matched, and the operating hand and the robot can be matched arbitrarily, solving the inconvenience problem that the operation and maintenance personnel need to find the operating hand corresponding to the robot arm in the field to control the corresponding robot arm, making the operation and maintenance work more flexible and convenient. After matching, the conversion relationship between the coordinate systems is constructed to realize real-time control of the robot. At the same time, the preset mapping rule makes the operating hand and the robot have a heterogeneous relationship at the physical level, and only by adjusting the preset mapping rule, the operating hand can be adapted to different robots and the end of the robot can be replaced with a component.

[0056] In one example of the embodiment, the method is applied to the first operation and maintenance end and the second operation and maintenance end. Before the on-site robot is controlled to go to the abnormal position of the abnormal equipment according to the abnormal work order information, the method further includes: determining the first processing authority corresponding to the abnormal work order information; in the case that the first operation and maintenance end does not have the first processing authority, sending the abnormal work order information to the second operation and maintenance end, so that the second operation and maintenance end eliminates the abnormal condition of the production line, wherein the second operation and maintenance end is an operation and maintenance end having the first processing authority; after the on-site robot is controlled to process according to the on-site situation information to eliminate the abnormal condition of the production line, the method further includes: generating a processing flow record of the abnormal work order information, and feeding back to the creator of the abnormal work order information and the first operation and maintenance end.

[0057] In this example, the method can be applied to different operation and maintenance ends, which can correspond to different operation and maintenance processing platforms respectively. For example, the first operation and maintenance end is an automatic on-site robot control platform loaded with various abnormal solution methods, which can automatically control the on-site robot with relatively simple or fixed flow, corresponding to a relatively low processing authority. The second operation and maintenance end is a manual processing platform that can remotely control the on-site robot, which can control the on-site robot with relatively complex or non-fixed flow, corresponding to a higher processing authority.

[0058] In another example, different operation and maintenance ends can also correspond to different operation and maintenance personnel respectively, for example, processing personnel corresponding to some different field abnormalities, for example, operation and maintenance personnel A has processing authority in the field of A equipment, and operation and maintenance personnel B has processing authority in the field of B equipment.

[0059] In this embodiment, when the first operation and maintenance end obtains the abnormal work order information, if it is determined according to the work order that the abnormal type is a type without processing authority or processing capacity of the current operation and maintenance end, at this time, the abnormal work order information can be transferred to the second operation and maintenance end with corresponding processing authority or processing capacity for processing. The second operation and maintenance end can process based on steps S11-S13 in the foregoing embodiment after receiving the abnormal work order information. In this way, the problem of non-standard work order filling leading to incorrect work order allocation is solved, and the abnormal processing efficiency is enhanced.

[0060] In this embodiment, after the second operation and maintenance end eliminates the abnormal condition, the overall flow record of the abnormal processing flow can be generated and sent to the generator of the work order, to feed back to the generator that the abnormality has been eliminated, so as to restore production. At the same time, the flow record can also be sent to the first operation and maintenance end synchronously, so that the first operation and maintenance end can supervise and avoid the situation of forgetting to process the work order.

[0061] The embodiment of the present application provides an abnormal processing device 100 of a production line, as shown in Figure 2As shown, the device comprises: a receiving module 101, receiving abnormal work order information of the production line, the abnormal work order information at least comprising information of an abnormal device of the production line; a control module 102, configured to control a field robot to go to an abnormal position of the abnormal device according to the abnormal work order information; an acquisition module 103, configured to acquire field situation information of the abnormal position by the field robot; and a processing module 104, configured to control the field robot to perform processing according to the field situation information, so as to eliminate the abnormal situation of the production line.

[0062] Optionally, the control module is specifically configured to: determine an abnormal type of the abnormal device based on the abnormal work order information; and control the field robot to go to the abnormal position of the abnormal device in a case where the abnormal type is a first type and a second type, wherein the first type represents that the abnormal reason of the abnormal device cannot be determined, and the second type represents that a processing mode corresponding to the abnormal reason needs to be processed in the field.

[0063] Optionally, the field robot comprises a driving module, a sensing module and an operating module, wherein the field robot moves based on the driving module, the sensing module at least comprises at least one of an image sensor, an audio sensor, a temperature sensor, a pressure sensor and a data interface unit, and the operating module is configured to perform a processing operation to eliminate the abnormal situation of the production line.

[0064] Optionally, the processing module is specifically configured to: in a case where the abnormal type is the first type, upload the field situation information to an operation and maintenance platform, so that an operation and maintenance personnel re-determines the abnormal type of the abnormal device; and in a case where the abnormal type is the second type, acquire a control signal of the operating module, and control the operating module based on the control signal to eliminate the abnormal situation of the production line.

[0065] Optionally, the operating module comprises a mechanical arm, the mechanical arm is controlled by a remote control system, and the remote control system comprises an operating hand, the operating hand generates a control signal when an operation of the operating hand is triggered by an operation and maintenance personnel.

[0066] Optionally, the acquiring of the control signal of the operating module comprises: acquiring a first conversion relationship between an operating hand end coordinate system and an operating hand base coordinate system when the operation of the operating hand is triggered; determining a second conversion relationship between a mechanical arm end coordinate system and a mechanical arm base coordinate system according to the first conversion relationship and a preset mapping rule; and acquiring the control signal based on the second conversion relationship.

[0067] Optionally, the acquiring of the control signal based on the second conversion relationship comprises: acquiring a motion parameter of the operation of the operating hand; and solving a target angle of each joint of the mechanical arm by bringing the motion parameter into the second conversion relationship through inverse kinematics.

[0068] Optionally, the device is applied to the first operation and maintenance end and the second operation and maintenance end, and before the on-site robot is controlled to go to the abnormal position of the abnormal equipment according to the abnormal work order information, the device further comprises: a permission determination module configured to determine a first processing permission corresponding to the abnormal work order information; in a case where the first operation and maintenance end does not have the first processing permission, the abnormal work order information is sent to the second operation and maintenance end, so that the second operation and maintenance end eliminates the abnormal condition of the production line, wherein the second operation and maintenance end is an operation and maintenance end having the first processing permission; after the on-site robot is controlled to process according to the on-site situation information to eliminate the abnormal condition of the production line: a record generation module configured to generate a processing flow record of the abnormal work order information, and feed back to the creator of the abnormal work order information and the first operation and maintenance end.

[0069] The embodiment of the present application further provides an electronic device 200, as shown in the figure, comprising a processor 201 and a memory 202, the memory 202 stores computer instructions, the computer instructions are executed by the processor 201 to realize any one of the embodiments of the abnormal processing method of the production line described above, and the same technical effect can be achieved, in order to avoid repetition, here is no longer repeated. Figure 3

[0070] The embodiment of the present application further provides a storage medium, which stores computer instructions, the computer instructions are executed by the processor to realize any one of the embodiments of the abnormal processing method of the production line described above, and the same technical effect can be achieved, in order to avoid repetition, here is no longer repeated.

[0071] Each of the embodiments in the present disclosure is described in a progressive manner, and the same or similar parts of each embodiment can be referred to each other, and each embodiment mainly describes the difference from other embodiments. Especially, for the device and equipment embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the related parts can be referred to the part of the method embodiment.

[0072] The above describes specific embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than the order in which they are recited and still achieve desirable results. In addition, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In some implementations, multitasking and parallel processing can be advantageous.

[0073] Embodiments of the present disclosure can be systems, methods, and / or computer program products. The computer program product can include a computer readable storage medium having computer readable program instructions embodied therewith, wherein the computer readable program instructions are used to cause a processor to implement various aspects of embodiments of the present disclosure.

[0074] ​Computer readable storage media can be tangible storage media which can retain and store instructions for use by an instruction execution device. Computer readable storage media can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer readable storage media include the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0075] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0076] Computer readable program instructions for carrying out operations of embodiments of the present disclosure can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or source or object code, in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on a user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of embodiments of the present disclosure.

[0077] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0078] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other data storage device. When the computer readable program instructions are loaded into the computer and other programmable data processing apparatus, a series of operational steps are implemented that provide processes such that the instructions which execute on the computer or other programmable data processing apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0079] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0080] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0081] Embodiments of the present disclosure have been described above, and the description is intended to be illustrative, and not restrictive, of the disclosed embodiments. Many modifications and variations of the described embodiments are possible, and all such modifications and variations are intended to be within the scope of the described embodiments. The description used herein is intended to best explain the principles of the various embodiments, the practical application, and the best mode of the present disclosure, and to enable others skilled in the art to understand the disclosure, such that they can diverge from the present disclosure and apply the various embodiments set forth herein in appropriate circumstances. The terminology used herein is intended to describe particular embodiments and is not intended to limit the scope of the various embodiments.

Claims

1. A method for handling abnormalities in a production line, characterized in that: The method comprises: receiving abnormal work order information of the production line, wherein the abnormal work order information at least includes information of abnormal equipment of the production line; According to the abnormal work order information, control the on-site robot to go to the abnormal location of the abnormal equipment; Acquiring on-site situation information of the abnormal location by the on-site robot; The on-site robot is controlled to perform processing according to the on-site situation information to eliminate abnormal conditions of the production line.

2. The method according to claim 1, characterized in that The controlling the on-site robot to go to the abnormal location of the abnormal equipment according to the abnormal work order information includes: Based on the abnormal work order information, determine the abnormal type of the abnormal device; When the abnormality type is the first type and the second type, the on-site robot is controlled to go to the abnormal position of the abnormal equipment, wherein the first type indicates that the abnormal cause of the abnormal equipment cannot be determined, and the second type indicates that the processing method corresponding to the abnormal cause needs to be processed on-site.

3. The method according to claim 2, characterized in that The on-site robot includes: a driving module, a perception module and an operation module, wherein the on-site robot moves based on the driving module, the perception module includes at least one of an image sensor, an audio sensor, a temperature sensor, a pressure sensor and a data interface unit, and the operation module is used to perform processing operations to eliminate abnormal conditions on the production line.

4. The method according to claim 3, characterized in that The controlling the on-site robot to perform processing according to the on-site situation information includes: In the case where the abnormality type is the first type, uploading the on-site situation information to the operation and maintenance platform so that the operation and maintenance personnel can re-determine the abnormality type of the abnormal device; In a case where the abnormality type is the second type, a control signal of the operation module is acquired, and the operation module is controlled based on the control signal to eliminate the abnormal condition of the production line.

5. The method according to claim 4, characterized in that The operation module includes a robotic arm, which is controlled by a remote control system. The remote control system includes an operator. When the operator is triggered to move by an operation and maintenance personnel, the control signal is generated. The step of obtaining the control signal of the operation module includes: When the manipulator is triggered to move, a first conversion relationship is obtained, where the first conversion relationship is a conversion relationship between a manipulator end coordinate system and a manipulator base coordinate system; Determine a second conversion relationship based on the first conversion relationship and a preset mapping rule, where the second conversion relationship is a conversion relationship between the robot arm end coordinate system and the robot arm base coordinate system; Based on the second conversion relationship, a control signal of the operating module is acquired.

6. The method according to claim 5, characterized in that The acquiring the control signal based on the second conversion relationship includes: Acquiring motion parameters of the manipulator during movement; By using inverse kinematics solution, the motion parameters are brought into the second transformation relationship to obtain the target angles of the joints of the robotic arm.

7. The method according to claim 1, characterized in that Applied to the first operation and maintenance end and the second operation and maintenance end, before controlling the on-site robot to move to the abnormal location of the abnormal equipment according to the abnormal work order information, the method further includes: Determine a first processing authority corresponding to the abnormal work order information; If the first operation and maintenance terminal does not have the first processing authority, sending the abnormal work order information to a second operation and maintenance terminal, so that the second operation and maintenance terminal eliminates the abnormal condition of the production line, wherein the second operation and maintenance terminal is an operation and maintenance terminal with the first processing authority; After controlling the on-site robot to perform processing according to the on-site situation information to eliminate the abnormal condition of the production line, the method further includes: Generate a processing flow record of the abnormal work order information and provide feedback to the creator of the abnormal work order information and the first operation and maintenance end.

8. A production line abnormality handling device, characterized in that: The device comprises: A receiving module receives abnormal work order information of the production line, wherein the abnormal work order information at least includes information of abnormal equipment of the production line; A control module, configured to control the on-site robot to go to the abnormal position of the abnormal equipment according to the abnormal work order information; an acquisition module, configured to acquire on-site situation information of the abnormal location through the on-site robot; A processing module is used to control the on-site robot to perform processing according to the on-site situation information to eliminate abnormal conditions of the production line.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer instructions, and when the computer instructions are executed by the processor, the method according to any one of claims 1 to 7 is implemented.

10. A storage medium, characterized in that: Computer instructions are stored thereon, and when the computer instructions are executed by a processor, the steps of the method described in any one of claims 1 to 7 are implemented.

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