Method and device for virtually debugging simulation robot controller

Abstract

The invention discloses a method and device for virtually debugging a simulation robot controller, and relates to the technical field of virtual debugging, and the method comprises the steps: generating a simulation control program based on an automatic production line design scheme; extracting signal information according to the simulation control program, building an electrical behavior model according to the signal information, and matching and connecting electrical signals to generate a robot program; and importing the robot program into the target simulation software so as to verify the robot program in the preset virtual environment, and after the verification is passed, establishing connection between the robot controller and the virtual scene so as to simulate a real motion state and generate an optimal flow process. Therefore, according to the method, the robot program is debugged and verified in the virtual environment to generate the optimal flow process, and the technical effects of reducing the debugging cost, improving the debugging efficiency and shortening the debugging period can be achieved.

Description

Technical Field

[0001] This application relates to the field of virtual debugging technology, and in particular to a method for virtual debugging a simulated robot controller, an apparatus for virtual debugging a simulated robot controller, an electronic device, a non-volatile computer-readable storage medium, and a computer program product. Background Technology

[0002] In the manufacturing model of automotive automated production lines, commissioning personnel need to plan ahead and work together with various departments to develop the best process flow. Equipment installation and commissioning require a lot of time and effort to repeatedly verify and debug the production line.

[0003] However, virtual debugging through hardware-based virtual debugging platforms results in high equipment investment, long hardware setup and deployment time, and problems such as high cost, low efficiency, and long debugging cycles. Summary of the Invention

[0004] This application aims to at least partially address one of the technical problems in related technologies. To this end, the first objective of this application is to propose a method for virtual debugging of a simulated robot controller. This method generates a simulation control program based on an automated production line design scheme, extracts signal information from the program, builds an electrical behavior model based on the signal information, and matches and connects electrical signals to generate a robot program. The robot program is then imported into target simulation software, verified in a preset virtual environment, and, upon successful verification, establishes a connection between the robot controller and the virtual scene to simulate real motion states and generate the optimal process flow. Therefore, this method, by debugging and verifying the robot program in a virtual environment to generate the optimal process flow, eliminates the need for repeated manual debugging by personnel in a physical environment, thus achieving the technical effects of reducing debugging costs, improving debugging efficiency, and shortening the debugging cycle.

[0005] The second objective of this application is to provide a device for virtual debugging and simulating a robot controller.

[0006] The third objective of this application is to propose an electronic device.

[0007] The fourth objective of this application is to provide a non-volatile computer-readable storage medium.

[0008] The fifth objective of this application is to provide a computer program product.

[0009] To achieve the above objectives, the first aspect of this application proposes a method for virtual debugging of a simulated robot controller. The method includes: generating a simulation control program based on an automated production line design scheme; extracting signal information from the simulation control program to build an electrical behavior model based on the signal information, and matching and connecting electrical signals to generate a robot program; importing the robot program into a target simulation software to verify the robot program in a preset virtual environment, and after successful verification, establishing a connection between the robot controller and the virtual scene to simulate the real motion state and generate the optimal process technology.

[0010] The virtual debugging simulation robot controller method according to embodiments of this application generates a simulation control program based on an automated production line design scheme, extracts signal information from the program, builds an electrical behavior model based on the signal information, and matches and connects electrical signals to generate a robot program. The robot program is then imported into target simulation software, verified in a virtual environment, and, upon successful verification, establishes a connection between the robot controller and the virtual scene to simulate real motion states and generate the optimal process flow. Therefore, this method, by debugging and verifying the robot program in a virtual environment to generate the optimal process flow, achieves the technical effects of reducing debugging costs, improving debugging efficiency, and shortening the debugging cycle.

[0011] In addition, the virtual debugging simulation robot controller method according to the above embodiments of this application may also have the following additional technical features: According to one embodiment of this application, generating a simulation control program includes: generating electrical drawings based on an automated production line design scheme; and generating a simulation control program based on the I / O signal table and corresponding process timing of the electrical drawings.

[0012] Through the above-mentioned technical means, the embodiments of this application can verify the matching between electrical design and process timing in advance through simulation control programs, reduce rework caused by design conflicts in the later stage, accelerate the progress of automated production lines from plan to implementation to shorten the development cycle, and discover IO signal logic errors and process timing connection problems in the virtual simulation stage, avoid hardware damage or safety risks caused by program problems during physical equipment debugging, and reduce material, time and labor cost losses.

[0013] According to one embodiment of this application, establishing a connection between a robot controller and a virtual scene to simulate real motion states and generate optimal process technology includes: downloading the robot program to the target software and running the virtual CPU; and debugging the robot program based on the actions of the robot and equipment in the operation screen and PS animation until the virtual operation is consistent with the real operation, thereby generating optimal process technology.

[0014] Through the above-mentioned technical means, the embodiments of this application do not need to rely on real robot equipment for repeated trial and error, avoiding hardware losses such as equipment collisions and component damage caused by program vulnerabilities. At the same time, it reduces the time occupied by real equipment and reduces downtime costs during production or R&D. By running the virtual CPU and comparing the operation screen / PS animation actions, the collaborative logic between the robot and the equipment can be matched in a refined manner, ensuring that the virtual operation is consistent with the real operation. The final generated process can reduce motion redundancy, avoid collaborative errors, and improve operational stability. At the same time, the virtual environment supports rapid iterative debugging, which can accelerate the process of robot program development to implementation, and is especially suitable for process optimization in complex equipment collaborative scenarios.

[0015] According to one embodiment of this application, an electrical behavior model is built based on signal information and electrical signals are matched and connected, including: when associating signals, establishing an animation modeling interface for the simulation environment; and generating a control program based on the motion trajectory of the robot and other moving parts that is consistent with actual production.

[0016] Through the aforementioned technical means, this application embodiment ensures that the motion trajectory of the robot and other moving parts is consistent with actual production, avoiding trajectory deviation between simulation and real-world scenarios. The generated control program can directly meet actual production needs, reducing subsequent debugging and modification costs caused by trajectory mismatch, ensuring high usability upon program deployment, and improving the matching accuracy between the control program and actual production. At the same time, with the help of the animation modeling interface of the simulation environment, there is no need for repeated trial and error on real production equipment. The motion process can be quickly simulated and the control logic verified in a virtual scene, significantly reducing the time for program development and testing, and improving R&D efficiency.

[0017] To achieve the above objectives, a second aspect of this application proposes a device for virtual debugging and simulating a robot controller. The device includes: a first generation module for generating a simulation control program based on an automated production line design; a second generation module for extracting signal information from the simulation control program, building an electrical behavior model based on the signal information, and matching and connecting electrical signals to generate a robot program; and a third generation module for importing the robot program into target simulation software to verify the robot program in a preset virtual environment. After successful verification, a connection is established between the robot controller and the virtual scene to simulate real motion states and generate the optimal process flow.

[0018] In addition, the virtual debugging simulation robot controller apparatus according to the above embodiments of this application may also have the following additional technical features: According to one embodiment of this application, the first generation module is configured to generate electrical drawings based on the design scheme of the automated production line; and generate a simulation control program based on the IO signal table and corresponding process timing of the electrical drawings.

[0019] Through the above-mentioned technical means, the embodiments of this application can verify the matching between electrical design and process timing in advance through simulation control programs, reduce rework caused by design conflicts in the later stage, accelerate the progress of automated production lines from plan to implementation to shorten the development cycle, and discover IO signal logic errors and process timing connection problems in the virtual simulation stage, avoid hardware damage or safety risks caused by program problems during physical equipment debugging, and reduce material, time and labor cost losses.

[0020] According to one embodiment of this application, the third generation module is configured to download the robot program into the target software and run the virtual CPU; based on the actions of the robot and equipment in the operation screen and PS animation, debug the robot program until the virtual operation and the real operation are consistent, and generate the optimal process technology.

[0021] Through the above-mentioned technical means, the embodiments of this application do not need to rely on real robot equipment for repeated trial and error, avoiding hardware losses such as equipment collisions and component damage caused by program vulnerabilities. At the same time, it reduces the time occupied by real equipment and reduces downtime costs during production or R&D. By running the virtual CPU and comparing the operation screen / PS animation actions, the collaborative logic between the robot and the equipment can be matched in a refined manner, ensuring that the virtual operation is consistent with the real operation. The final generated process can reduce motion redundancy, avoid collaborative errors, and improve operational stability. At the same time, the virtual environment supports rapid iterative debugging, which can accelerate the process of robot program development to implementation, and is especially suitable for process optimization in complex equipment collaborative scenarios.

[0022] The virtual debugging simulation robot controller apparatus according to an embodiment of this application comprises a first generation module that generates a simulation control program based on an automated production line design scheme; a second generation module that extracts signal information from the simulation control program to build an electrical behavior model and matches and connects electrical signals to generate a robot program; and a third generation module that imports the robot program into target simulation software to verify the robot program in a preset virtual environment. After successful verification, a connection is established between the robot controller and the virtual scene to simulate real motion states and generate the optimal process flow. Therefore, this apparatus, by debugging and verifying the robot program in a virtual environment to generate the optimal process flow, can achieve the technical effects of reducing debugging costs, improving debugging efficiency, and shortening the debugging cycle.

[0023] To achieve the above objectives, a third aspect of this application provides an electronic device, comprising: a memory for storing a computer program; and a processor for executing the computer program to implement the steps of any of the above-described methods for virtual debugging and simulating a robot controller.

[0024] The electronic device according to the embodiments of this application implements the steps of any of the above-described methods for virtual debugging of a simulated robot controller when the processor executes a computer program. Based on the above-described method for virtual debugging of a simulated robot controller, debugging costs are reduced, debugging efficiency is improved, and the debugging cycle is shortened.

[0025] To achieve the above objectives, a fourth aspect of this application provides a non-volatile computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of any of the above-described methods for virtual debugging simulation robot controllers.

[0026] According to the embodiments of this application, a non-volatile computer-readable storage medium storing a computer program thereon implements the steps of any of the above-described methods for virtual debugging of a simulated robot controller when executed by a processor. Based on the above-described method for virtual debugging of a simulated robot controller, debugging costs are reduced, debugging efficiency is improved, and the debugging cycle is shortened.

[0027] To achieve the above objectives, a fifth aspect of this application provides a computer program product, including a computer program that, when executed, implements the steps of any of the above-described methods for virtual debugging simulation robot controllers.

[0028] The computer program product according to the embodiments of this application implements the steps of any of the above-described methods for virtual debugging of a simulated robot controller when the computer program is executed. Based on the above-described method for virtual debugging of a simulated robot controller, debugging costs are reduced, debugging efficiency is improved, and the debugging cycle is shortened. Attached Figure Description

[0029] Figure 1 A flowchart of a method for virtual debugging and simulating a robot controller according to some embodiments of this application; Figure 2 This is a flowchart of a method for virtual debugging and simulating a robot controller according to a specific embodiment of this application; Figure 3 This is a block diagram of an apparatus for a virtual debugging simulation robot controller according to some embodiments of this application; Figure 4 This is a block diagram of an electronic device according to some embodiments of this application. Detailed Implementation

[0030] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0031] The following describes in detail, with reference to the accompanying drawings, a method for virtual debugging simulation robot controller, an electronic device, a non-volatile computer-readable storage medium, and a computer program product according to embodiments of this application.

[0032] Reference Figure 1 The method for virtual debugging and simulating a robot controller according to embodiments of this application includes the following steps: S1 generates a simulation control program based on the automated production line design scheme.

[0033] Specifically, the design scheme of an automated production line refers to a complete technical solution formulated based on specific production needs, guiding subsequent hardware selection, software programming, and virtual debugging. Taking automated production line manufacturing of automobiles as an example, specific needs may include automobile models, production capacity, and processes. The design scheme of an automated production line includes production goals and technical parameters, process flow design, equipment layout and selection planning, signal interaction and communication planning, etc. Production goals and technical parameters are top-level requirements, which can clarify the core indicators of the production line, such as the production capacity requirement of 30 car bodies per hour. Process flow design is the core content, which describes in detail the specific steps and logic of production, such as breaking down the complete production process into individual executable processes, clarifying the sequence of each process and the timing logic of the connection conditions. Equipment layout and selection planning determines the physical structure of the production line and the list of core hardware, such as layout drawings, using CAD (Computer-Aided Design) and other software to draw the planar / three-dimensional layout of the production line, and marking the position and dimensions of equipment, conveyors, and operating tables. Signal interaction and communication planning involves clarifying the data transmission methods between devices, determining the input and output types, addresses, and functional descriptions of each device, selecting communication protocols, and defining the data interaction logic.

[0034] Based on the production goals, technological processes, equipment logic, and signal interactions defined in the automated production line design, a control program is generated that can run in a virtual environment to simulate the control logic and operation of the real production line. Essentially, it transforms the physical processes and logical rules in the design into digital program code, enabling equipment in the virtual environment (such as virtual robots, virtual sensors, and virtual actuators) to operate according to rules consistent with the real production line, thereby achieving virtual debugging, verification, and optimization.

[0035] S2 extracts signal information from the simulation control program, builds an electrical behavior model based on the signal information, and matches and connects electrical signals to generate a robot program.

[0036] Specifically, the analog control program contains a large number of signal logics used to control the actions of the equipment. These signals are the language of interaction between the devices. The signal information extracted from the analog control program includes signal type, such as input signals, output signals, signal definition, address, status, and signal relationships.

[0037] In a virtual environment, an electrical behavior model needs to be built for virtual devices, which simulates the rules by which real devices respond to signals. This model is built based on signal information; for example, behavioral logic is set for virtual sensors, and rotation logic for virtual conveyors. Matching and connecting electrical signals involves binding the extracted signal information to the virtual device, associating the virtual device's behavior with the signal state. For example, binding a workpiece arrival signal to a sensor. The core of a robot program is determining which action to perform under what signal triggers it. Signal information is precisely the triggering condition and action basis for the robot program. Based on the extracted signal information, the interaction rules between the robot and other devices are defined. The robot program is written according to these rules, and the signals in the program are associated with the signals in the previously built electrical behavior model to ensure that the robot can respond to signals in the virtual environment and trigger subsequent actions.

[0038] S3. Import the robot program into the target simulation software to verify the robot program in a preset virtual environment. After the verification is successful, establish a connection between the robot controller and the virtual scene to simulate the real motion state and generate the optimal process technology.

[0039] Specifically, target simulation software is a tool specifically designed for offline robot programming and simulation. This software can build a virtual environment consistent with a real production line. After importing the written robot program (including motion trajectories, action logic, signal interactions, and other instructions) into the simulation software, the program's basic correctness is verified through virtual operation. For example, whether the robot's motion trajectory collides with the virtual tooling / workpiece, whether the motion path conforms to the design scheme, and whether the action timing is reasonable. This allows for the early detection of fundamental errors in the program, avoiding equipment damage or inefficiency that could occur when debugging directly on a real robot.

[0040] After successful verification, a connection between the robot controller and the virtual scene is established through a dedicated interface or software, enabling real-time data interaction between the robot controller and the virtual scene. The motion commands output by the controller can drive the robot model in the virtual scene to move, and the signals from sensors and tooling in the virtual scene can also be fed back to the controller in real time, simulating the closed-loop interaction between the controller, robot, environment, and controller in real production. This achieves dynamic simulation driven by the controller, making the virtual operating state infinitely close to reality.

[0041] After the robot controller is connected to the virtual scene, the virtual production line runs according to the real production logic by running PLC (Programmable Logic Controller) programs and operating HMI (Human-Machine Interface). For example, the PLC sends a start signal, the robot executes the program to grasp, weld, and place the object, and the PLC switches to the next process after the sensors report the completion status. At this time, it is possible to observe whether the robot's actual movement speed and acceleration are consistent with the real equipment, whether the coordination between the robot and surrounding equipment is smooth, and whether the cycle time of the entire production process meets the standard. Based on the above simulation results, the robot program, PLC timing, and signal interaction logic are optimized to ultimately form an optimal process with the shortest time, highest efficiency, and no conflicts, providing direct basis for the debugging and operation of the real production line.

[0042] This embodiment generates a simulation control program through an automated production line design scheme, extracts signal information from it, builds an electrical behavior model based on the signal information, and matches and connects electrical signals to generate a robot program. The robot program is then imported into the target simulation software and verified in a preset virtual environment. After successful verification, a connection is established between the robot controller and the virtual scene to simulate real motion states and generate the optimal process flow. Therefore, this method, by debugging and verifying the robot program in a virtual environment to generate the optimal process flow, can achieve the technical effects of reducing debugging costs, improving debugging efficiency, and shortening the debugging cycle.

[0043] In some embodiments of this application, generating a simulation control program includes: generating electrical drawings based on an automated production line design scheme; and generating a simulation control program based on the I / O signal table and corresponding process timing of the electrical drawings.

[0044] Specifically, generating electrical drawings based on the automated production line design is a prerequisite for generating simulation control programs; it transforms the production line design ideas into concrete electrical technical documents. First, the goals of the automated production line are determined, such as the assembly process of automotive parts or the robot's operating range. Based on the design, the necessary electrical hardware is selected, such as robots, sensors, and switches. Professional software is used to draw the electrical drawings, such as EPLAN (a professional design and management software). The electrical drawings clearly define the wiring connections and signal paths between hardware components, and also compile an I / O (input / output) signal table. The I / O signal table serves as a bridge between the program and the hardware, recording the corresponding numbers for each hardware input / output signal.

[0045] Generating a simulation control program based on the I / O signal table and corresponding process sequence from electrical drawings involves writing instructions to simulate real control logic, directly producing a control program that runs in a virtual environment. The I / O signal table provides the language foundation; the program uses the signal numbers in the table to identify the hardware status (e.g., whether a sensor has detected a part) and control hardware actions (e.g., starting a robot). The process sequence provides the operational logic; for example, first, the conveyor belt starts feeding material, then the sensor detects the material, and finally the robot moves to pick it up—this is the necessary sequence of steps on the production line. Based on these two criteria, engineers write the simulation control program in software, which can use TIA (Siemens TIA Portal, Totally Integrated Automation Portal). The program can be an offline PLC program. The simulation control program can simulate the instructions of a real controller in a virtual environment for debugging robots and equipment.

[0046] This embodiment generates electrical drawings based on the automated production line design scheme. Based on the I / O signal table and corresponding process timing of the electrical drawings, a simulation control program is generated. This eliminates the need to wait for the physical equipment to be fully built. The simulation control program allows for early verification of the compatibility between the electrical design and the process timing, reducing rework caused by design conflicts later on. This accelerates the progress of the automated production line from design to implementation, shortening the development cycle. Furthermore, I / O signal logic errors and process timing issues can be identified during the virtual simulation stage, preventing hardware damage or safety risks caused by program problems during physical equipment debugging, and reducing material, time, and labor costs. The simulation environment allows for repeated testing of the control logic under different operating conditions, optimizing program stability and ensuring that the control program accurately matches process requirements during subsequent physical production line operation, reducing the probability of production failures. After verifying the core control logic through the simulation program in advance, subsequent physical equipment debugging can focus on calibrating the deviation between the simulation and reality, rather than starting from scratch to find program vulnerabilities, thus improving debugging efficiency.

[0047] In some embodiments of this application, establishing a connection between the robot controller and the virtual scene to simulate real motion states and generate optimal process technology includes: downloading the robot program to the target software and running the virtual CPU; and debugging the robot program based on the actions of the robot and equipment in the operation screen and PS animation until the virtual operation and real operation are consistent, thereby generating optimal process technology.

[0048] Specifically, downloading the robot program to the target software and running the virtual CPU is the foundation for establishing a virtual connection, providing the technical preparation for virtual-real mapping. The robot program is a set of instructions that controls the robot's motion trajectory and action logic (such as the robot's movement path and the timing of grasping / placing actions). The target software refers to professional tools used for virtual debugging, such as PLCSIM Advanced and Robotstudio, which can simulate the operating environment of a real robot controller and PLC. Running the virtual CPU replaces the real physical controller with a virtual CPU (such as the virtual processor in PLCSIM Advanced), allowing the downloaded robot program and PLC program to be executed in the virtual environment. This is equivalent to giving the virtual system a brain, enabling it to have computational and control capabilities. By establishing a connection channel between the robot program, the virtual controller, and the virtual scene through software tools, the virtual system can understand and execute control instructions.

[0049] Based on the robot and equipment movements observed in the user interface and Photoshop animations, the robot program is debugged until virtual operation matches real operation, generating the optimal process flow. This optimization through debugging outputs the best solution. Through observation and adjustment, the virtual simulation is aligned with the real production effect, ultimately yielding the optimal process. The user interface, or HMI (Human-Machine Interface), is used for manual operation and monitoring of the virtual system. Photoshop animations (generated by Process Simulation software) are a visual representation of the robot and equipment movements in the virtual scene, such as whether the robot moves along the expected path and whether the equipment coordinates in sequence. By observing whether the robot and equipment movements in the virtual animation meet the process requirements (e.g., whether there are collisions, redundant movements, or timing issues), the robot or PLC program is modified in reverse, such as adjusting the motion trajectory and optimizing the movement sequence. Through repeated debugging, deviations between the virtual and real environments are eliminated; for example, the robot's movement speed and equipment response time in the virtual environment are consistent with the real physical equipment, ensuring that the virtual scene accurately reproduces the real production state. Once the virtual debugging achieves consistency with reality, the robot's movement logic and equipment coordination timing are the optimized optimal solution, which can be directly used to guide the deployment of the real production line, achieving efficient and low-consumption production.

[0050] This embodiment downloads the robot program to the target software and runs it using a virtual CPU. Based on the robot and equipment movements in the operation screen and PS animation, the robot program is debugged until the virtual operation is consistent with the real operation, generating the optimal process flow. This eliminates the need to rely on repeated trial and error with real robot equipment, avoiding hardware losses such as equipment collisions and component damage caused by program vulnerabilities. At the same time, it reduces the time occupied by real equipment and lowers downtime costs during production or R&D. By running the virtual CPU and comparing the operation screen / PS animation movements, the collaborative logic between the robot and equipment can be finely matched to ensure that the virtual operation is consistent with the real operation. The final generated process flow can reduce motion redundancy, avoid collaborative errors, and improve operational stability. At the same time, the virtual environment supports rapid iterative debugging, which can accelerate the process of robot program development to implementation, and is especially suitable for process optimization in complex equipment collaboration scenarios.

[0051] In some embodiments of this application, an electrical behavior model is built based on signal information and electrical signals are matched and connected, including: when associating signals, establishing an animation modeling interface for the simulation environment; and generating a control program based on the motion trajectory of the robot and other moving parts that is consistent with actual production.

[0052] Specifically, when associating signals, establishing an animated modeling interface for the simulation environment is crucial for building a visualized virtual electrical interaction scenario. This step serves as the carrier for the electrical behavior model, forming the foundation for the visualized association between electrical signals and physical actions in the virtual environment. Associating signals refers to mapping input / output signals in the electrical system (such as sensor detection signals, robot start / stop signals, and equipment action feedback signals) to devices and robots in the virtual scene, clearly defining which signal controls which action and which action provides feedback to which signal. Using specialized software like ProcessSimulate, an animated modeling interface for the simulation environment is constructed. This interface not only displays 3D models of devices such as robots, conveyor belts, and fixtures, but more importantly, it transforms the logical relationships of electrical signals into visualized actions. For example, when a sensor detects a trigger signal from a component, the interface displays the sensor lighting up, and the conveyor belt begins its animated operation. This animated modeling interface makes the abstract electrical signal logic visible and dynamic, providing an intuitive interactive platform for subsequent signal matching and program debugging.

[0053] The motion trajectory generation control program, which ensures consistency between the robot and other moving parts and actual production, aligns virtual motion with real-world trajectories and generates control logic in reverse. The robot and other moving parts include all motion-related equipment components such as robot arm movements, conveyor belt transport, and fixture opening and closing. In the virtual environment, through parameter settings and path planning, the trajectories of these moving parts (e.g., the robot's path from point A to point B, the conveyor belt speed, and the fixture's range of motion) are perfectly replicated to accurately reproduce the physical motion in real production, avoiding discrepancies between virtual and real. For example, a shorter robot trajectory in the virtual environment might be unrealistic due to obstacles, making execution impossible. Based on this precise motion trajectory, the control program reverse-engineers and generates the electrical programs that control these movements, such as the triggering timing of control signals in the PLC program and path instructions in the robot program. This ensures the program can drive the virtual equipment to move along the expected trajectory, thus maintaining consistency with the control logic of real production.

[0054] This embodiment establishes an animated modeling interface within a simulation environment when associating signals. Control programs are generated based on the motion trajectories of the robot and other moving parts, ensuring consistency with actual production trajectories. By aligning the robot's and other moving parts' trajectories with actual production, deviations between simulation and real-world scenarios are avoided. The generated control programs directly meet actual production needs, reducing subsequent debugging and modification costs due to trajectory mismatches. This ensures high usability from the outset, improving the matching accuracy between the control programs and actual production. Furthermore, the animated modeling interface eliminates the need for repeated trial and error on real production equipment. Motion processes can be quickly simulated and control logic verified in a virtual environment, significantly reducing program development and testing time and improving R&D efficiency. Generating and pre-verifying control programs in a virtual environment proactively avoids issues such as robot collisions, equipment damage, and production interruptions caused by program defects, reducing waste of real production resources and avoiding potential safety hazards from on-site debugging.

[0055] As a specific embodiment of this application, such as Figure 2 As shown, the method for virtually debugging a simulated robot controller may include the following steps: S101 generates electrical drawings based on the automated production line design scheme.

[0056] S102 generates a simulation control program based on the IO signal table and corresponding process timing of the electrical drawings.

[0057] S103 extracts signal information from the analog control program.

[0058] S104, build an electrical behavior model based on signal information, specifically including establishing an animation modeling interface for the simulation environment when associated with signals, and generating a control program based on the motion trajectory of the robot and other moving parts that is consistent with actual production.

[0059] S105 matches and connects electrical signals to generate robot programs.

[0060] S106. Import the robot program into the target simulation software and verify it in a preset virtual environment.

[0061] S107. After successful verification, establish a connection between the robot controller and the virtual scene, specifically by downloading the robot program to the target software and running the virtual CPU.

[0062] S108, based on the robot and equipment movements in the operation screen and PS animation, debugs the robot program until the virtual operation is consistent with the real operation, simulates the real motion state, and generates the optimal process technology.

[0063] Therefore, the virtual debugging simulation robot controller method proposed in this embodiment addresses the needs of automated production lines by optimizing robot motion trajectories and signals in conjunction with PLC programs within a virtual environment, thereby achieving automation and optimization of the production process. Integrated machine engineering helps achieve shorter development time, lower costs, and higher quality. Virtual debugging technology allows for the direct integration of mechanical design, process simulation, and electrical debugging in a virtual environment during the early stages of on-site installation and modification. It enables true 1:1 verification of the robot program with the actual site, ensuring that the equipment is debugged before installation. These debugged programs are then downloaded to the on-site equipment, significantly reducing the debugging cycle.

[0064] In summary, the virtual debugging simulation robot controller method according to the embodiments of this application generates a simulation control program based on an automated production line design scheme, extracts signal information from the program, builds an electrical behavior model based on the signal information, and matches and connects electrical signals to generate a robot program. The robot program is then imported into the target simulation software, verified in a preset virtual environment, and, upon successful verification, establishes a connection between the robot controller and the virtual scene to simulate real motion states and generate the optimal process flow. Therefore, this method, by debugging and verifying the robot program in a virtual environment to generate the optimal process flow, achieves the technical effects of reducing debugging costs, improving debugging efficiency, and shortening the debugging cycle.

[0065] Corresponding to the above embodiments, this application also proposes a device for virtual debugging and simulating a robot controller.

[0066] Reference Figure 3The virtual debugging simulation robot controller device 200 of this application embodiment includes: a first generation module 210, a second generation module 220 and a third generation module 230.

[0067] The first generation module 210 generates a simulation control program based on the automated production line design. The second generation module 220 extracts signal information from the simulation control program, builds an electrical behavior model based on the signal information, and matches and connects electrical signals to generate a robot program. The third generation module 230 imports the robot program into the target simulation software to verify the robot program in a preset virtual environment. After successful verification, it establishes a connection between the robot controller and the virtual scene to simulate real motion states and generate the optimal process flow.

[0068] According to one embodiment of this application, the first generation module 210 is configured to generate electrical drawings based on the design scheme of the automated production line; and generate a simulation control program based on the IO signal table and corresponding process timing of the electrical drawings.

[0069] According to one embodiment of this application, the third generation module is configured to download the robot program into the target software and run the virtual CPU; based on the actions of the robot and equipment in the operation screen and PS animation, debug the robot program until the virtual operation and the real operation are consistent, and generate the optimal process technology.

[0070] According to one embodiment of this application, the second generation module 220 builds an electrical behavior model based on signal information and matches and connects electrical signals. Specifically, it is used to: establish an animation modeling interface for the simulation environment when associating signals; and generate a control program based on the motion trajectory of the robot and other moving parts that is consistent with the actual production process.

[0071] It should be noted that the above explanation of the embodiments and beneficial effects of the method for virtual debugging of a simulated robot controller also applies to the apparatus for virtual debugging of a simulated robot controller in the embodiments of this application. To avoid redundancy, it will not be elaborated in detail here.

[0072] In summary, the virtual debugging simulation robot controller apparatus according to the embodiments of this application generates a simulation control program based on an automated production line design scheme using a first generation module. A second generation module extracts signal information from the simulation control program to build an electrical behavior model and matches and connects electrical signals to generate a robot program. A third generation module imports the robot program into target simulation software to verify the robot program in a preset virtual environment. After successful verification, a connection is established between the robot controller and the virtual scene to simulate real motion states and generate the optimal process flow. Therefore, this apparatus achieves the technical effects of reducing debugging costs, improving debugging efficiency, and shortening the debugging cycle by debugging and verifying the robot program in a virtual environment to generate the optimal process flow.

[0073] Corresponding to the above embodiments, this application also proposes an electronic device.

[0074] Reference Figure 4 The electronic device 300 of this application embodiment includes a memory 310 and a processor 320. The memory 310 is used to store a computer program, and the processor 320 is used to implement the steps of any of the above-described virtual debugging simulation robot controller methods when executing the computer program.

[0075] The electronic device according to the embodiments of this application implements the steps of any of the above-described methods for virtual debugging of a simulated robot controller when the processor executes a computer program. Based on the above-described method for virtual debugging of a simulated robot controller, debugging costs are reduced, debugging efficiency is improved, and the debugging cycle is shortened.

[0076] Corresponding to the above embodiments, this application also proposes a non-volatile computer-readable storage medium.

[0077] The non-volatile computer-readable storage medium of this application embodiment stores a computer program thereon, which, when executed by a processor, implements the steps of any of the above-described methods for virtual debugging simulation robot controllers.

[0078] According to the embodiments of this application, a non-volatile computer-readable storage medium storing a computer program thereon implements the steps of any of the above-described methods for virtual debugging of a simulated robot controller when executed by a processor. Based on the above-described method for virtual debugging of a simulated robot controller, debugging costs are reduced, debugging efficiency is improved, and the debugging cycle is shortened.

[0079] Corresponding to the above embodiments, this application also proposes a computer program product.

[0080] The computer program product of this application includes a computer program that, when executed, implements the steps of any of the above-described methods for virtual debugging and simulating a robot controller.

[0081] The computer program product according to the embodiments of this application implements the steps of any of the above-described methods for virtual debugging of a simulated robot controller when the computer program is executed. Based on the above-described method for virtual debugging of a simulated robot controller, debugging costs are reduced, debugging efficiency is improved, and the debugging cycle is shortened.

[0082] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0083] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0084] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0085] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0086] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0087] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for virtually debugging a simulated robot controller, characterized in that, Includes the following steps: Based on the automated production line design scheme, generate a simulation control program; The simulation control program extracts signal information to build an electrical behavior model based on the signal information, and matches and connects electrical signals to generate a robot program. The robot program is imported into the target simulation software to verify the robot program in a preset virtual environment. After the verification is successful, a connection is established between the robot controller and the virtual scene to simulate the real motion state and generate the optimal process technology.

2. The method according to claim 1, characterized in that, The simulation control program includes: Electrical drawings are generated based on the automated production line design scheme; The simulation control program is generated based on the I / O signal table and corresponding process timing of the electrical drawings.

3. The method according to claim 1, characterized in that, The process of establishing a connection between the robot controller and the virtual scene to simulate real motion states and generate optimal process technology includes: The robot program is downloaded to the target software and run using a virtual CPU; Based on the robot and equipment movements shown in the operation screen and PS animation, the robot program is debugged until the virtual operation and the real operation are consistent, thus generating the optimal process technology.

4. The method according to claim 1, characterized in that, The step of building an electrical behavior model based on the signal information and matching and connecting electrical signals includes: When correlating signals, an animated modeling interface for the simulation environment is established; A control program is generated based on the motion trajectory of the robot and other moving parts, ensuring consistency with actual production.

5. A device for virtual debugging and simulating a robot controller, characterized in that, The device includes: The first generation module is used to generate simulation control programs based on the design scheme of the automated production line. The second generation module is used to extract signal information according to the simulation control program, build an electrical behavior model according to the signal information, and match and connect electrical signals to generate a robot program; The third generation module is used to import the robot program into the target simulation software to verify the robot program in a preset virtual environment. After the verification is successful, a connection is established between the robot controller and the virtual scene to simulate the real motion state and generate the optimal process technology.

6. The apparatus according to claim 5, characterized in that, The first generation module is configured as follows: Electrical drawings are generated based on the automated production line design scheme; The simulation control program is generated based on the I / O signal table and corresponding process timing of the electrical drawings.

7. The apparatus according to claim 5, characterized in that, The third generation module is configured as follows: The robot program is downloaded to the target software and run using a virtual CPU; Based on the robot and equipment movements shown in the operation screen and PS animation, the robot program is debugged until the virtual operation and the real operation are consistent, thus generating the optimal process technology.

8. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the method for virtual debugging simulation robot controller as described in any one of claims 1 to 4 when executing the computer program.

9. A non-volatile computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method for virtual debugging simulation robot controller as described in any one of claims 1 to 4.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed, it implements the steps of the method for virtual debugging simulation robot controller as described in any one of claims 1 to 4.

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