Common controller for controlling multi-model robots, and robot control method and robot control system using common controller

Abstract

Embodiments relate to a common controller for controlling multi-model robots, and a robot control method and a robot control system using the common controller. The common controller for controlling multi-model robots, according to one aspect, may comprise: a common control module that selects, in accordance with a work instruction input from a user, one scenario among a plurality of pre-stored automatic work scenarios, and obtains robot motion data written in a common language on the basis of the selected scenario; and a robot interlocking module that converts, in accordance with a language system of a first model robot to be controlled, the robot motion data written in the common language, and transmits the converted robot motion data to the first model robot, in accordance with a communication method of the first model robot.

Description

Common controller for controlling multi-type robots, robot control method using the same, and robot control system

[0001] The following embodiments relate to a common controller for controlling a multi-type robot, a robot control method using the same, and a robot control system.

[0002] Recently, as the demand for automation has rapidly increased in manufacturing sites, particularly in the sector of manufacturing large structures such as the shipbuilding industry, the adoption of collaborative robots in welding operations is becoming widespread. Shipyards, in particular, frequently require welding operations involving various curved shapes and irregular components, making robot-based welding automation systems capable of performing high-difficulty tasks repetitively and precisely essential.

[0003] However, since industrial robots adopt unique control methods, communication protocols, and language syntax depending on the manufacturer, even for the same welding process, if the manufacturer or model of the robot changes, it becomes difficult to integrate with the existing system, and a problem arises where separate dedicated control software must be newly developed. This causes various problems such as increased development costs, reduced work efficiency, and complexity of maintenance.

[0004] Previously, individual work scenarios had to be developed based on dedicated controllers provided by each robot manufacturer, and there was the inconvenience of having to redesign and reimplement the entire existing system when introducing a new robot. In addition, separate integration tasks had to be repeatedly performed for each robot controller to link with higher-level CAD-based automatic design systems, vision recognition systems, and production performance collection systems.

[0005] Particularly in large-scale industrial sites such as shipyards, robots of various brands are used in combination even within the same facility, and it is common for robot brands to differ from site to site due to varying corporate groups or partner companies. Consequently, whenever a robot model is changed, existing control logic, scenarios, communication methods, and function libraries must be completely revised or redeveloped.

[0006] Furthermore, even if higher-level systems for collecting production data, monitoring equipment, and assigning / instructing tasks linked to robots are already configured, the integration work must be re-performed to match the introduction of a new robot.

[0007] Based on this technological background, there is a demand for technology that can control various types of robots on a single common platform, enhance the reusability of work scenarios, and unify integration with higher-level systems.

[0008] The aforementioned background technology is technical information that the inventor possessed for the derivation of the present invention or acquired during the process of deriving the present invention, and it cannot be considered as prior art disclosed to the general public prior to the filing of the present invention.

[0009] The invention provides a common controller for controlling multiple types of robots, a robot control method using the same, and a robot control system. Additionally, the invention provides a computer-readable recording medium storing a program for executing the above method on a computer. The technical problems to be solved are not limited to those described above, and other technical problems may exist.

[0010] A common controller for controlling a multi-type robot according to one aspect may include: a common control module that selects one of a plurality of pre-stored automatic work scenarios according to a work instruction input by a user and acquires robot operation data written in a common language based on the selected scenario; and a robot linkage module that converts the robot operation data written in the common language according to the language system of a first-type robot to be controlled and transmits the converted robot operation data to the first-type robot according to the communication method of the first-type robot.

[0011] According to one embodiment, the common control module includes at least one memory for storing the plurality of automatic work scenarios, and the plurality of automatic work scenarios are arranged in sequence of a plurality of unit operations, and the plurality of unit operations may include at least one of work start, work information input, work position teaching, teaching point search, welding execution, and termination processing.

[0012] According to one embodiment, the common control module can sequentially call unit function programs that perform the plurality of unit operations based on the selected scenario.

[0013] According to one embodiment, the unit function program may include a program that performs at least one of a teaching point search function, a welding execution function, a work position movement function, and a preparation posture function.

[0014] According to one embodiment, the common control module may include a welding database containing at least one control value among welding current, voltage, and speed for performing a welding operation.

[0015] According to one embodiment, the common control module performs an operation to generate control data for at least one of motion, touch sensing, and welding operations of the first type of robot based on the selected scenario and reference value, and the reference value may include at least one of robot setting information, robot state information, and a welding path according to the work shape.

[0016] According to one embodiment, the robot linkage module receives robot status information and operation execution results from the first type of robot, and converts the robot status information and operation execution results into a common language and transmits them to the common control module.

[0017] According to one embodiment, the robot linkage module may include a robot database comprising robot connection information corresponding to the language system and communication method of a plurality of individual robots, and mapping information for converting robot motion data written in a common language to match the language system of the individual robots.

[0018] According to one embodiment, the common controller further includes a user interface for receiving work instructions and information on the model of a robot to be controlled from a user; and the user interface may include a first input interface for selecting the model of the robot to be controlled; and a second input interface configured to set a common language-based work scenario regardless of the model of the robot to be controlled.

[0019] A robot control method performed by a common controller for controlling a multi-type robot according to other aspects may include: receiving a work instruction from a user; selecting one of a pre-stored automatic work scenario according to the work instruction; acquiring robot motion data written in a common language based on the selected scenario; converting the robot motion data to fit the language system of the robot to be controlled; and transmitting the converted robot motion data to the robot to be controlled according to the communication method of the robot to be controlled.

[0020] According to another aspect, the robot control method may further include the step of receiving robot state information and operation execution results from the robot to be controlled after transmitting the converted robot operation data to the robot to be controlled; and the step of converting the information received from the robot to be controlled into a common language.

[0021] According to another aspect, the step of acquiring robot motion data comprises the step of calculating control data for at least one of motion, touch sensing, and welding operation based on the selected scenario and reference value; wherein the reference value may include at least one of robot setting information, robot state information, and a welding path according to the work shape.

[0022] A multi-type robot control system according to another aspect may include: a common controller that acquires robot motion data according to a work instruction received from a user, converts the robot motion data according to the language system of an individual robot to be controlled, and transmits the converted robot motion data to the individual robot according to the communication method of the individual robot; and an individual robot controller that receives the converted robot motion data and controls the operation of the individual robot.

[0023] According to another aspect, the individual robot controller can control the motion and I / O (Input / Output) modules of the individual robot based on the converted robot motion data received from the common controller.

[0024] According to another aspect, the individual robot controller can monitor the state of the individual robot and transmit robot state information of the individual robot to the common controller.

[0025] According to the means for solving the problem of the present disclosure described above, since multi-type robots from different manufacturers can be integrally controlled through a common controller, the same work scenarios and control data can be reused regardless of the robot model. Therefore, even when introducing a new robot, existing control logic and functions can be utilized by adding information on the robot's language system and communication method to the robot linkage module without the need to redevelop the entire system. This allows for a reduction in development time and a significant reduction in costs and manpower burdens associated with system maintenance.

[0026] Automatic welding scenarios, communication protocols, and data processing methods, which previously required individual development for each robot model, can now be managed and executed collectively in a common controller, and since each individual robot controller simply receives and executes converted commands, the overall structure of the system can be simplified.

[0027] In addition, the user interface of the common controller provides functions such as work instruction input, selection of target robot models, and scenario setting and execution, enabling intuitive operation from the operator's perspective and maintaining the same UI environment even when changing robot models, thereby enhancing the convenience of training and operation.

[0028] In addition, in the case of conventional technology, robot controllers had to be individually linked with upper systems (CAD, vision-based systems, production management systems, etc.), but according to the embodiment of the present invention, all individual robot controllers can be integratedly controlled by linking only a common controller with the upper system, so the same control commands can be applied to various robot models with only a single linkage even when the upper system is expanded.

[0029] The present invention provides flexible scalability and maintainability based on a common controller in a multi-type robot environment, enhances worker convenience and system operation efficiency, and can significantly contribute to improving the level of automation in various manufacturing sites, including shipyards.

[0030] The effects of the embodiments are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art from the description of the present invention.

[0031] Figure 1 is a diagram illustrating an example of a conventional multi-type robot control system.

[0032] Figure 2 is an exemplary diagram illustrating a conventional dedicated control program.

[0033] FIG. 3 is a diagram showing an example of a multi-type robot control system according to one embodiment.

[0034] FIG. 4 is an exemplary drawing for illustrating a common controller according to one embodiment.

[0035] FIG. 5 is a diagram illustrating a common controller according to another embodiment.

[0036] FIG. 6 is a diagram illustrating a robot database according to one embodiment.

[0037] FIG. 7 is an exemplary drawing for explaining a multi-type robot control system according to one embodiment.

[0038] FIG. 8 is a flowchart illustrating an example of a robot control method according to one embodiment.

[0039] A common controller for controlling a multi-type robot according to one aspect may include: a common control module that selects one of a plurality of pre-stored automatic work scenarios according to a work instruction input by a user and acquires robot operation data written in a common language based on the selected scenario; and a robot linkage module that converts the robot operation data written in the common language according to the language system of a first-type robot to be controlled and transmits the converted robot operation data to the first-type robot according to the communication method of the first-type robot.

[0040] A robot control method performed by a common controller for controlling a multi-type robot according to other aspects may include: receiving a work instruction from a user; selecting one of a pre-stored automatic work scenario according to the work instruction; acquiring robot motion data written in a common language based on the selected scenario; converting the robot motion data to fit the language system of the robot to be controlled; and transmitting the converted robot motion data to the robot to be controlled according to the communication method of the robot to be controlled.

[0041] The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments presented below, but can be implemented in various different forms and should be understood to include all modifications, equivalents, and substitutions that fall within the spirit and scope of the present invention.

[0042] The terms used in this application are used merely to describe specific embodiments and are not intended to limit the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as “comprising” or “having” are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0043] Some embodiments of the present disclosure may be represented by functional block configurations and various processing steps. Some or all of these functional blocks may be implemented by various numbers of hardware and / or software configurations that perform specific functions. For example, the functional blocks of the present disclosure may be implemented by one or more microprocessors or by circuit configurations for a specific function.

[0044] Additionally, for example, the functional blocks of the present disclosure may be implemented in various programming or scripting languages. The functional blocks may be implemented as algorithms executed on one or more processors. Furthermore, the present disclosure may employ prior art for electronic configuration, signal processing, and / or data processing, etc. Terms such as “mechanism,” “element,” “means,” and “configuration” may be used broadly and are not limited to mechanical and physical configurations.

[0045] Furthermore, the connecting lines or connecting members between the components depicted in the drawings are merely illustrative of functional connections and / or physical or circuit connections. In the actual device, connections between components may be represented by various alternative or added functional connections, physical connections, or circuit connections.

[0046] The present disclosure will be described in detail below with reference to the attached drawings. However, embodiments may be implemented in various different forms and are not limited to the examples described herein.

[0047] Figure 1 is a diagram illustrating an example of a conventional multi-type robot control system.

[0048] Referring to FIG. 1, a conventional multi-type robot control system (100) may include a plurality of higher-level systems, a plurality of dedicated control programs (A, B, ZZ, etc.), and a plurality of robot devices (Robot A, Robot B, Robot ZZ, etc.).

[0049] Robots A, B, and ZZ are robotic arms designed to perform the same automatic welding task, but they may be heterogeneous robots provided by different manufacturers or brands. Since robots from different manufacturers have different programming syntax, communication methods, and control structures, dedicated control programs (A, B, and ZZ) corresponding to each robot are required separately.

[0050] In conventional systems, since each robot unit operates based on a proprietary controller and control program, there is a limitation in that a new control program must be developed separately from scratch whenever a new robot is introduced, even if it performs the same work process.

[0051] Here, the upper system (upper system 1 to upper system 00) refers to an external system that performs production performance collection, equipment monitoring, work instructions, and assignments. In a conventional multi-type robot control system (100), since these upper systems must be linked separately with each robot's dedicated control program, individual linkage work between the upper system and all dedicated control programs is repeatedly required, and there is a problem with a heavy burden of development and maintenance.

[0052]

[0053] Figure 2 is an exemplary diagram illustrating a conventional dedicated control program.

[0054] Referring to FIG. 2, each robot-specific dedicated control program may include an automatic welding scenario (210), a welding database (220), a welding function program (230), a robot communication protocol (240), and an external communication protocol (250).

[0055] The automatic welding scenario (210) is information that sequentially stores a predefined work procedure or process flow to perform a specific welding operation, and may include the robot's operation sequence, welding start conditions, and welding end conditions.

[0056] The welding database (220) is a database that stores control parameters according to welding conditions, and may include information such as welding current, voltage, and speed.

[0057] The welding function program (230) is a control program written according to the language grammar of a specific robot model, and can transmit work commands to the robot based on the command structure provided by the robot and control the robot to perform welding operations accordingly.

[0058] The robot communication protocol (240) defines the method and rules for communicating with a robot controller of a specific robot model, and specifies communication conditions such as data format, transmission period, and communication port, which may vary depending on the robot manufacturer.

[0059] The external communication protocol (250) is a communication protocol defined for interoperability with a higher system, and defines an interface format and a data exchange method to enable the higher system to collect status information of the robot or transmit work commands.

[0060] As mentioned above, the dedicated control program of Fig. 2 is specialized for a specific type of robot, so when introducing a new robot, most of the existing components must be rewritten, and an interface with the higher-level system must also be built individually.

[0061]

[0062] FIG. 3 is a diagram showing an example of a multi-type robot control system according to one embodiment.

[0063] Referring to FIG. 3, in one embodiment, a multi-type robot control system (300) may include a plurality of upper systems (upper system 1, upper system 2, upper system 00), a common controller (310), and a plurality of robots (robot A, robot B, robot ZZ).

[0064] The upper system is an external system that performs production performance collection, equipment monitoring, work assignment and instructions, etc., and can provide work instructions or control commands by being linked with a common controller (310).

[0065] In one embodiment, the common controller (310) selects an automatic work scenario according to work instructions input from a higher system, generates robot motion data written in a common language based on the selected scenario, converts the robot motion data to suit the language system of each robot, and transmits the converted robot motion data to each robot device.

[0066] In one embodiment, work instructions may be obtained from an external UI device connected to a common controller (310). In this case, the common controller (310) may include a general-purpose communication module that supports data transmission and reception with said UI device. In another embodiment, work instructions may be directly input through a user interface built into the common controller (310).

[0067] Here, robot motion data may be a set of control commands that describe the actions the robot must perform according to an automated work scenario in a common language format.

[0068] The common controller (310) can be linked with robots of various manufacturers and models, and can perform control on heterogeneous robots such as robot A to robot ZZ based on the same scenario and control data. Accordingly, without the need to individually develop a dedicated control program for each robot, collective control is possible through the common controller, and the same control structure can be maintained even when new robots are introduced.

[0069] Unlike the conventional system shown in FIG. 1, the robot control system (300) according to FIG. 3 has the advantage of enabling integrated control regardless of the robot model, and is easy to expand and maintain.

[0070]

[0071] FIG. 4 is an exemplary drawing for illustrating a common controller according to one embodiment.

[0072] Referring to FIG. 4, the common controller (400) may include a common control module (410) and a robot linkage module (420).

[0073] The common control module (410) can select one of a plurality of pre-stored automatic work scenarios according to a work instruction input by a user, and acquire robot motion data written in a common language based on the selected scenario. To this end, the common control module (410) may include a memory that stores a plurality of automatic work scenarios.

[0074] The automatic operation scenario may include a sequence of unit operations configured sequentially, such as starting the operation, inputting operation information, teaching the operation position, searching for the teaching point, performing welding, and processing the termination. The common control module (410) can execute the entire scenario by sequentially calling unit function programs corresponding to each unit operation.

[0075] The unit function program may include individual control programs such as a teaching point search function, a welding execution function, a work position movement function, and a ready position function.

[0076] In one embodiment, the automatic operation scenario may be a collection of scenarios in which information regarding the order of welding and parameter adjustments is defined differently for each scenario.

[0077] For example, in the case of a scenario for welding the left vertical corner of a steel plate, the scenario may include a series of procedures such as (1) receiving work information and an approximate work location from the user, (2) executing a unit function program to search for an accurate location for welding, (3) executing a unit function program to perform welding at the search result location with a predefined direction, strength, and speed, and (4) returning the welding torch to its original position after the work is completed and transmitting the work result data to the control panel.

[0078] In one embodiment, the common control module (410) can select an appropriate scenario among a plurality of automatic operation scenarios by considering the type of robot to be controlled. For example, the configuration or execution method of the selected scenario may vary depending on whether the robot to be controlled is a crane-type robot, a rail-type robot, or a manual (manual) robot.

[0079] Crane-type or rail-type robots can automatically move between multiple work positions and perform tasks continuously; therefore, a scenario involving multiple work points can be selected, and steps to move the robot to the next work position between tasks may be included. On the other hand, since manual robots perform tasks at a fixed position, a scenario based on a single work position can be selected.

[0080] Here, the model type of the controlled robot may be entered by the user through the user interface of the common controller. Alternatively, the model type of the controlled robot may be automatically recognized and determined when the robot is connected to the common controller.

[0081] In one embodiment, robot motion data is a set of robot control commands generated based on a common language, and may include information such as control parameters, motion type, position coordinates, movement path, and process conditions (welding current, voltage, torch interval, etc.) for executing each unit operation of an automatic work scenario. That is, robot motion data may include a sequence of commands to be executed in chronological order.

[0082] Robot motion data may be the result of computational processing in a common control module based on a selected scenario and reference values ​​(e.g., robot configuration information, status information, work geometry, etc.).

[0083] For example, even if the same welding scenario is selected, the current magnitude, welding speed, welding strength, etc., may need to be changed depending on the gap and thickness of the steel plates to be welded, and control parameters reflecting these variable elements can be included in the robot motion data.

[0084] The robot linkage module (420) performs the function of converting common language-based robot motion data to match the language system and communication method of the robot to be controlled, and then transmitting it to the robot. For example, if the robot to be controlled is a first-type robot, the robot linkage module (420) can convert the data to match the command syntax and communication protocol of the first-type robot and transmit it.

[0085]

[0086] FIG. 5 is a diagram illustrating a common controller according to another embodiment.

[0087] Referring to FIG. 5, the common controller (500) may include a common control module (510) and a robot linkage module (520).

[0088] The common control module (510) may include a plurality of automatic operation scenarios (511) and a welding database (512).

[0089] The automatic operation scenario (511) may include a sequence consisting of multiple unit operations configured according to a specific operation procedure. The welding database (512) may be a data set containing control parameters such as welding current, voltage, and speed.

[0090] The common control module (510) can perform operations to generate control data for at least one of motion, touch sensing, and welding operations of the first type of robot based on a selected scenario and a reference value. The reference value may include at least one of robot setting information, robot status information, and a welding path according to the work shape. For example, the reference value may be data entered by a user when setting up the process or acquired from a sensor.

[0091] Robot motion data generated as a result of the operation may be a sequence of common language-based commands executed according to the order of unit movements. The robot motion data may include the speed, path, and process conditions (e.g., welding current, voltage, travel distance) required for each movement. Additionally, the robot motion data may include control commands related to robot movement control, touch sensing, welding execution, and input / output control. These control commands may be generated in correspondence with the unit functions of an automated work scenario.

[0092] Robot motion data is data generated through computational processing based on selected scenarios and reference values, and may be control commands that reflect the work environment, robot settings, and the current state of the robot. In other words, a work scenario defines a "work flow," and robot motion data may be specific motion data required to implement that defined flow.

[0093] For example, even if the same "grid welding scenario" is selected, commands can be generated and delivered to each robot in which the movement speed or welding conditions are dynamically adjusted according to changes in the curvature or gap of the work position.

[0094] The robot linkage module (520) may include a robot database (521) and a communication module (522).

[0095] The robot database (521) may include a language system (grammar system) corresponding to multiple robot models and a communication protocol corresponding to multiple robot models. In addition, it may include mapping information for converting common language-based robot motion data into commands for a specific robot model.

[0096] The robot linkage module (520) can convert robot motion data written in a common language into commands suitable for the language system and communication method of the robot model to be controlled by referring to the robot database (521).

[0097] The communication module (522) can transmit converted robot motion data according to the communication method of the robot, and convert status information and motion execution results received from the robot into a common language and transmit them to the common control module (510).

[0098] For example, a robot linkage module (520) that performs linkage with robot A, robot B, and robot C may each include a robot A linkage module, a robot B linkage module, and a robot C linkage module. Additionally, each robot linkage module may include a robot database and a communication module corresponding to the respective model.

[0099] For example, if the currently controlled robot is set to a C robot, the C robot linkage module may be activated. In order to convert and transmit robot motion data composed of a common language to match the command system and communication method of the C robot, a C robot database storing a syntax system and communication protocol specialized for the C robot and a C robot dedicated communication module that supports the communication protocol of the C robot may be used.

[0100] This configuration enables stable integrated control through integration modules for each robot, even in heterogeneous robot environments where different language structures and communication methods exist depending on the robot model. Furthermore, even if the robot model changes, expansion and maintenance are easily possible by simply adding or configuring the robot integration module corresponding to the model, without the need to modify the structure of the common controller.

[0101]

[0102] FIG. 6 is a diagram illustrating a robot database according to one embodiment.

[0103] Referring to FIG. 6, the robot database (600) may include a grammar system (610) specific to the robot model and a communication protocol (620) specific to the robot model.

[0104] The grammar system (610) for each robot model may include definitions of command structures and syntax rules for robot control languages ​​that differ according to multiple manufacturers or models. Since the control commands of each model have different grammar structures, the grammar system may be referenced to accurately convert robot motion data written in a common language to the grammar of the corresponding robot model.

[0105] The communication protocol (620) for each robot model may include information regarding the communication method, protocol, and data format used by each robot model, and may serve as a standard for converting and processing the control command to match the communication specifications of the robot when transmitting the control command from a common controller or robot linkage module.

[0106]

[0107] FIG. 7 is an exemplary drawing for explaining a multi-type robot control system according to one embodiment.

[0108] Referring to FIG. 7, the multi-type robot control system may include a common controller (710), individual robot controllers (720), a robot (730), a welder (740), and peripheral devices (750).

[0109] In one embodiment, the common controller (710) can perform functions such as selecting a work scenario for a multi-type robot, generating control data, and storing welding data. The common controller (710) may include a user interface (711), a common control module (712), and a robot linkage module (713).

[0110] The user interface (711) may include a first input interface for selecting a control target model and a second input interface for setting and executing a common language-based work scenario regardless of the control target model.

[0111] In another embodiment, the common controller (710) may perform a communication function (UI linkage function) that receives user input or outputs system status by linking with an external user interface device.

[0112] The common control module (712) can store welding data, motion data, setting values, etc. Additionally, the common control module (712) can process control data including work paths, speeds, welding conditions, etc. based on automatic work scenarios and reference data, and generate robot motion data in a common language format.

[0113] The robot linkage module (713) can convert the generated robot motion data according to the language system and communication protocol of the robot to be controlled, and transmit the converted data to the individual robot controller (720). In addition, it can convert status information and motion results received from the robot into a common language and transmit them to the common control module (712).

[0114] The individual robot controller (720) receives converted robot motion data transmitted from the common controller and executes it to control the physical motion of the robot (730). Therefore, the individual robot controller (720) may not need to store automatic work scenarios or welding databases separately.

[0115] The individual robot controller (720) can drive the robot (730) based on commands transmitted from the common controller and control it in real-time in conjunction with the welder (740) and peripheral device (750).

[0116] The individual robot controller (720) can control the physical operation (motion) of the robot by executing received control commands. It can also control the welding machine (740) and peripheral devices (750). The individual robot controller (720) may include a dedicated communication module (721), a motion control module (722), and an I / O module (723).

[0117] In one embodiment, the dedicated communication module (721) can perform transmission and reception with the common controller according to the robot's own communication protocol.

[0118] In one embodiment, the motion control module (722) can control the movement of the robot (730) by controlling each joint of the robot arm. The robot arm is a mechanism that performs actual welding or handling operations, and its structure and driving method may vary depending on the manufacturer and model.

[0119] Additionally, the motion control module (722) can control the position of the robot (730). For example, the robot (730) may be a crane-type robot or a rail-type robot. In the case of a crane-type robot, the motion control module (722) can control vertical / horizontal movement, and in the case of a rail-type robot, it can further control linear movement.

[0120] In one embodiment, the I / O module (723) manages input / output signals for the welder (740) and peripheral device (750) and can perform command control and status reception.

[0121] The welding machine (740) is a device that performs a welding process by controlling welding current, voltage, speed, etc. Peripheral devices (750) may include auxiliary devices that can be connected according to process conditions, such as touch sensors, position sensors, clamps, alignment devices, etc.

[0122] According to an embodiment of the present invention, most computations, data processing, user interaction, and control command generation are performed in a common controller (710), and individual robot controllers (720) focus on physical control of the robot and control of peripheral devices, thereby improving the maintainability and scalability of the entire control system.

[0123]

[0124] FIG. 8 is a flowchart illustrating an example of a robot control method according to one embodiment.

[0125] Referring to FIG. 8, in step 10, a common controller for controlling multi-type robots can receive work instructions from a user.

[0126] For example, a user may instruct the execution of a specific welding process (e.g., corner joint welding), and such instruction can be entered through the user interface of a common controller or an external UI device. In this case, the user interface or external UI device may be a common UI that is not dependent on a specific robot and is compatible with various models.

[0127] In step 20, the common controller can select one of the pre-saved automatic operation scenarios according to the operation instructions.

[0128] For example, you can select a scenario number corresponding to a specific process condition (e.g., Scenario #28) and retrieve multiple unit operation sequences defined in that scenario.

[0129] In step 30, the common controller can acquire robot motion data written in a common language based on the selected scenario.

[0130] For example, common language-based control data including control parameters such as work position, welding path, speed, and current value can be generated.

[0131] In step 40, the common controller can convert the robot motion data to match the language system of the robot to be controlled.

[0132] For example, a task to convert the data to conform to the command syntax and data format of a model A robot can be performed.

[0133] In step 50, the common controller can transmit the converted robot motion data according to the communication method of the robot.

[0134] For example, data is transmitted according to the dedicated communication protocol and transmission cycle of the robot controller, and the robot receives the command and executes the task. After the task is performed, the result of the task or whether there is an error can be transmitted to a common controller.

[0135] If the robot is a crane type, it moves in the vertical and horizontal directions along the crane structure, and when changing work positions, it can move to the next point by moving vertically up or down and then horizontally. If the robot is a rail type, work is performed by moving sequentially between multiple work points along a fixed linear rail.

[0136] In other words, if the robot is a crane-type or rail-type robot, the movement itself is automated, allowing transfer to the next work point to proceed automatically without separate operation. In contrast, manual robots are positioned at a fixed location and must be moved manually by a person to change work positions.

[0137] An embodiment according to the present invention may be implemented in the form of a computer program that can be executed through various components on a computer, and such a computer program may be recorded on a computer-readable medium. In this case, the medium may include a magnetic medium such as a hard disk, a floppy disk, and a magnetic tape, an optical recording medium such as a CD-ROM and a DVD, a magneto-optical medium such as a floptical disk, and a hardware device specifically configured to store and execute program instructions, such as a ROM, RAM, or flash memory.

[0138] Meanwhile, the above-mentioned computer program may be one specifically designed and configured for the present invention, or one known and available to those skilled in the art of computer software. Examples of computer programs may include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc.

[0139] According to one embodiment, the method according to various embodiments of the present disclosure may be provided by being included in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory (CD-ROM)), or distributed online (e.g., download or upload) through an application store (e.g., Play Store™) or directly between two user devices. In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily created in a device-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

Claims

1. A common control module that, according to a work instruction entered by a user, selects one of a plurality of pre-stored automatic work scenarios and acquires robot motion data written in a common language based on the selected scenario; and A common controller for controlling multiple types of robots, comprising: a robot linkage module that converts robot motion data written in the common language according to the language system of the first type of robot to be controlled, and transmits the converted robot motion data to the first type of robot according to the communication method of the first type of robot.

2. In Paragraph 1, The above common control module is, It includes at least one memory for storing the above-mentioned plurality of automatic operation scenarios, and The above multiple automatic operation scenarios are, It is a sequence of multiple unit operations, and The above plurality of unit operations are, A common controller comprising at least one of starting a job, entering job information, teaching a job position, searching for a teaching point, performing welding, and terminating the job.

3. In Paragraph 2, The above common control module is, A common controller that sequentially calls unit function programs performing the plurality of unit operations based on the above-described selected scenario.

4. In Paragraph 3, The above unit function program is, A common controller comprising a program that performs at least one of a teaching point search function, a welding execution function, a work position movement function, and a ready position function.

5. In Paragraph 1, The above common control module is, A common controller comprising a welding database including at least one control value among welding current, voltage, and speed for performing a welding operation.

6. In Paragraph 1, The above common control module is, Based on the above-mentioned selected scenario and reference value, an operation is performed to generate control data for at least one of the motion, touch sensing, and welding operations of the first type of robot, and The above reference value is, A common controller comprising at least one of robot setting information, robot status information, and a welding path according to the work shape.

7. In Paragraph 1, The above robot linkage module is, Receive robot status information and operation execution results from the above-mentioned first type robot, and A common controller that converts the robot status information and the operation execution results into a common language and transmits them to the common control module.

8. In Paragraph 1, The above robot linkage module is, A common controller comprising: a robot database including robot connection information corresponding to the language systems and communication methods of multiple individual robots, and mapping information for converting robot motion data written in a common language to the language systems of the individual robots.

9. In Paragraph 1, The above common controller is, It further includes a user interface for receiving work instructions and control target robot model information from a user, and The above user interface is, A first input interface for selecting the model of the control target; and A common controller comprising: a second input interface configured to set a common language-based operation scenario regardless of the model of the control target.

10. A robot control method performed by a common controller for controlling multiple types of robots, wherein Step of receiving work instructions from the user; A step of selecting one of the pre-saved automatic work scenarios according to the above work instructions; A step of acquiring robot motion data written in a common language based on a selected scenario; A step of converting the robot motion data to match the language system of the controlled robot; and A robot control method comprising: a step of transmitting the converted robot motion data to the robot to be controlled according to the communication method of the robot to be controlled.

11. In Paragraph 10, The above robot control method is, After transmitting the above-mentioned converted robot motion data to the robot to be controlled, receiving robot state information and motion execution results from the robot to be controlled; and A robot control method further comprising the step of converting information received from the robot to be controlled into a common language.

12. In Paragraph 10, The step of acquiring the above robot motion data is, Based on the above-mentioned selected scenario and reference value, the method comprises the step of calculating control data for at least one of motion, touch sensing, and welding operation; The above reference value is, A robot control method comprising at least one of robot setting information, robot status information, and a welding path according to a work shape.

13. A common controller that acquires robot motion data according to a work instruction received from a user, converts the robot motion data according to the language system of an individual robot to be controlled, and transmits the converted robot motion data to the individual robot according to the communication method of the individual robot; and A multi-type robot control system comprising: an individual robot controller that receives the converted robot motion data and controls the motion of the individual robot.

14. In Paragraph 13, The above individual robot controller is, A multi-type robot control system that controls the motion and I / O (Input / Output) modules of individual robots based on the converted robot motion data received from the common controller.

15. In Paragraph 13, The above individual robot controller is, A multi-type robot control system that monitors the status of the individual robots and transmits the robot status information of the individual robots to the common controller.

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