CN115338849B - Teaching pendant transmission system, teaching pendant transmission method and transmission device - Google Patents
Teaching pendant transmission system, teaching pendant transmission method and transmission device Download PDFInfo
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- CN115338849B CN115338849B CN202210995898.5A CN202210995898A CN115338849B CN 115338849 B CN115338849 B CN 115338849B CN 202210995898 A CN202210995898 A CN 202210995898A CN 115338849 B CN115338849 B CN 115338849B
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 142
- 238000000034 method Methods 0.000 title claims abstract description 35
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- 230000002159 abnormal effect Effects 0.000 claims abstract description 24
- 238000012545 processing Methods 0.000 claims description 4
- 230000003068 static effect Effects 0.000 description 9
- 230000008859 change Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
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- 238000004590 computer program Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with leader teach-in means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1643—Programme controls characterised by the control loop redundant control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- Fuzzy Systems (AREA)
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Abstract
本申请提供了一种示教器传输系统、示教器传输系统的传输方法和传输装置，该示教器传输系统包括：示教器；冗余环路，至少包括第一交换机和第二交换机，第一交换机与示教器通信连接，第一交换机和第二交换机之间存在至少两个连接线路；机器人，与第二交换机通信连接。该示教器传输系统通过冗余环路实现示教器与机器人之间通信，由于冗余环路的两个交换机之间存在至少两个连接线路，一条线路异常还可以选择其他的线路通信，大大提高了传输的容错率，从而解决了现有技术中示教器与机器人之间的传输的容错率低的问题。
The present application provides a teaching pendant transmission system, a transmission method and a transmission device for the teaching pendant transmission system. The teaching pendant transmission system includes: a teaching pendant; a redundant loop, at least including a first switch and a second switch, the first switch is connected to the teaching pendant for communication, and there are at least two connection lines between the first switch and the second switch; a robot is connected to the second switch for communication. The teaching pendant transmission system realizes communication between the teaching pendant and the robot through a redundant loop. Since there are at least two connection lines between the two switches of the redundant loop, if one line is abnormal, other lines can be selected for communication, which greatly improves the fault tolerance of transmission, thereby solving the problem of low fault tolerance of transmission between the teaching pendant and the robot in the prior art.
Description
Technical Field
The present application relates to the field of data transmission technology, and in particular, to a demonstrator transmission system, a transmission method of the demonstrator transmission system, a transmission device, a computer-readable storage medium, and a processor.
Background
With the continuous development of industrial technology, more and more factories begin to choose robots to replace manpower to work, and the number of robots in the workshops is gradually increased. At present, a manufacturer controls the robot through a cable or a wireless module. When the robot number is relatively small, the direct connection of the cable is truly a common means for the fastest and the most stable speed, but when the robot number is relatively large, the distance between the demonstrator and the robot is relatively far, the wireless control is more convenient and intelligent than the cable control, but the wireless module sends data through broadcasting, the confidentiality of data transmission is poor, the wireless module is easy to crack, the occupied network bandwidth is long, and the transmission efficiency is low. Meanwhile, when the two types of robots are in a huge number, management staff is difficult to manage and maintain the transmission system.
The above information disclosed in the background section is only for enhancement of understanding of the background art from the technology described herein and, therefore, may contain some information that does not form the prior art that is already known in the country to a person of ordinary skill in the art.
Disclosure of Invention
The application mainly aims to provide a demonstrator transmission system, a transmission method of the demonstrator transmission system, a transmission device, a computer readable storage medium and a processor, so as to solve the problem of low fault tolerance rate of transmission between a demonstrator and a robot in the prior art.
According to one aspect of the embodiment of the invention, a demonstrator transmission system is provided, which comprises a demonstrator, a redundancy loop, a robot and a first switch and a second switch, wherein the redundancy loop at least comprises the first switch and the second switch, the first switch is in communication connection with the demonstrator, at least two connecting lines exist between the first switch and the second switch, and the robot is in communication connection with the second switch.
Optionally, the robot includes a first robot and a second robot, the first robot is connected with the second switch through a cable, the second robot is connected with the second switch wirelessly, a distance between the first robot and the second switch is smaller than or equal to a predetermined distance, and a distance between the second robot and the second switch is larger than the predetermined distance.
Optionally, the redundant loops are in one-to-one correspondence with the local area networks, the demonstrator in the target local area network sends data to the robot in the target local area network through the redundant loops corresponding to the target local area network, and the target local area network is any local area network.
Optionally, the demonstrator transmission system further comprises a management terminal which is respectively in communication connection with the redundant loops of the local area networks, wherein the management terminal is used for monitoring whether the demonstrator and the robot normally operate and modifying the local area networks to which the demonstrator and the robot belong.
Optionally, the management terminal is connected with one of the first switches through static routing, the first switches of any two local area networks are in communication connection, and the second switches of any two local area networks are in communication connection.
According to another aspect of the embodiment of the invention, a transmission system of the demonstrator is further provided, which comprises a plurality of demonstrators, a plurality of robots and at least two local area networks, wherein the local area networks are in one-to-one correspondence with equipment groups, the equipment groups comprise at least one demonstrator and at least one robot, and the demonstrators in the equipment groups and the robots are communicated through the corresponding local area networks.
According to another aspect of the embodiment of the invention, a transmission method applied to the transmission system of the demonstrator is further provided, and the transmission method comprises the steps of controlling a first switch to receive data sent by the demonstrator, controlling the first switch to send the data to a second switch through other connecting lines under the condition that the connecting lines configured by the demonstrator are abnormal, and controlling the second switch to send the data to a robot matched with the demonstrator.
Optionally, the demonstrator transmission system further comprises a management terminal, wherein the management terminal is respectively in communication connection with the redundant loop, and the transmission method further comprises the step that the management terminal controls the robot to act under the condition that the robot is monitored to have an abnormal condition.
Optionally, the transmission method further comprises grouping according to task types of the robots to obtain a plurality of equipment groups, wherein the equipment groups comprise at least one demonstrator and at least one robot, local area networks are built for the equipment groups in a one-to-one correspondence mode, and the demonstrators in the equipment groups and the robots communicate through the corresponding local area networks.
Optionally, the demonstrator transmission system further comprises a management terminal, wherein the management terminal is respectively in communication connection with the redundant loops, the redundant loops are in one-to-one correspondence with the local area networks, and the management terminal modifies the local area networks to which the robot and the demonstrator matched with the robot belong under the condition that the task type of the robot changes.
According to still another aspect of the embodiment of the present invention, there is provided a transmission device applied to the transmission system of a demonstrator, where the transmission device includes a first control unit configured to control a first switch to receive data sent by the demonstrator, a second control unit configured to control the first switch to send the data to the second switch through other connection lines when the connection lines configured by the demonstrator are abnormal, and a third control unit configured to control the second switch to send the data to a robot matched with the demonstrator.
According to still another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program performs any one of the methods.
According to still another aspect of the embodiment of the present invention, there is further provided a processor, where the processor is configured to execute a program, where the program executes any one of the methods.
In the embodiment of the invention, in the demonstrator transmission system, the communication between the demonstrator and the robot is realized through the redundant loop, and as at least two connecting lines exist between two switches of the redundant loop, one line is abnormal, other line communication can be selected, so that the transmission fault tolerance is greatly improved, and the problem of low transmission fault tolerance between the demonstrator and the robot in the prior art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 shows a schematic diagram of a teach pendant transport system in accordance with an embodiment of the present application;
FIG. 2 shows a flow chart of a transmission method of a teach pendant transmission system in accordance with an embodiment of the present application;
fig. 3 shows a schematic diagram of a transmission device of a teach pendant transmission system according to an embodiment of the application.
Detailed Description
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Furthermore, in the description and in the claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As described in the background art, in order to solve the above-mentioned problems, in an exemplary embodiment of the present application, there is provided a transmission system for a demonstrator, a transmission method for a transmission system for a demonstrator, a transmission device, a computer-readable storage medium, and a processor.
According to an embodiment of the present application, there is provided a teach pendant transfer system, as shown in fig. 1, including:
A demonstrator;
a redundancy loop including at least a first switch and a second switch, wherein the first switch is in communication connection with the teach pendant, and at least two connection lines exist between the first switch and the second switch;
The annular redundancy is formed by a plurality of switches, and has the main effects of automatically judging and reconstructing the network when one line in the annular redundancy has a problem, guaranteeing uninterrupted communication, improving fault tolerance in the data transmission process and guaranteeing real-time data transmission.
When the number of robots is large, the switch of one redundant loop is difficult to load, in an alternative embodiment, the redundant loops are multiple, the redundant loops are in one-to-one correspondence with local area networks, the demonstrator in a target local area network sends data to the robots in the target local area network through the redundant loops corresponding to the target local area network, and the target local area network is any local area network.
In the above embodiment, the teaching device and the robot are virtually grouped by the VLAN lan, and the teaching device and the robot cannot access between different VLAN lans, for example, as shown in fig. 1, the teaching device 2, the robot 1, the robot 2, the robot 5, and the robot 6 all belong to the VLAN1 virtual group, and the teaching device 3, the teaching device 4, the robot 3, the robot 4, the robot 7, and the robot 8 all belong to the VLAN2 virtual group.
Meanwhile, the virtual packets of other VLAN local area networks can not receive any data of the VLAN local area networks, so that the information of the VLAN local area networks can not be intercepted by other VLAN local area networks, and the confidentiality of data transmission is improved.
And the robot is in communication connection with the second switch.
It should be noted that the robots are all matched to the corresponding demonstrators, so that the robots can receive the data sent by the matched demonstrators.
In order to facilitate the robot to perform tasks, in an alternative embodiment, the robot includes a first robot and a second robot, the first robot is connected to the second switch through a cable, the second robot is wirelessly connected to the second switch, a distance between the first robot and the second switch is less than or equal to a predetermined distance, and a distance between the second robot and the second switch is greater than the predetermined distance.
In the above embodiment, the connection mode is determined according to the fact that the distance between the robot and the demonstrator is far and recently, the robot is connected by a cable when the distance between the robot and the demonstrator is near, and the robot is connected by a wireless when the distance between the robot and the demonstrator is far, so that the robot is flexible to select and convenient to execute tasks.
In order to facilitate unified management of robots of each local area network, in an alternative embodiment, the teach pendant transmission system further includes a management terminal, the management terminal is respectively in communication connection with the redundant loops of each local area network, and the management terminal is used for monitoring whether the teach pendant and the robot operate normally, and modifying the local area networks to which the teach pendant and the robot belong.
In the above embodiment, the main function of the static route is that access can be performed between different VLAN local area networks based on the VLAN local area network, and the function is set to the PC end belonging to VLAN0, i.e. the management terminal, generally controlled by the manager, because the manager needs to monitor whether the demonstrator and the robot of other operators are operating normally in real time, the manager can also manually modify the grouping of each demonstrator and robot, thereby reducing the management cost of moving and changing the robot, and meanwhile, when an emergency occurs, the manager can control the robot, thereby reducing the occurrence of danger. Through the combination of static routing and VLAN local area network mechanism, management personnel control and maintenance of the demonstrator and the robot are facilitated.
In order to realize that the management terminal accesses between different VLAN local area networks, in an alternative embodiment, the management terminal is connected to one of the first switches through a static route, and the first switches of any two of the local area networks are in communication connection, and the second switches of any two of the local area networks are in communication connection.
In the above embodiment, the first switches of any two of the local area networks are in communication connection, the second switches of any two of the local area networks are in communication connection, the management terminal is connected with one of the first switches through a static route, and can be in communication connection with all the switches, so that access among different VLAN local area networks is realized, management, control and maintenance of the demonstrator and the robot by a manager are facilitated, and of course, the connection is not limited, and other suitable connection modes can be selected by a person skilled in the art.
In the demonstrator transmission system, the demonstrator and the robot are communicated through the redundant loop, and as at least two connecting lines exist between the two switches of the redundant loop, one line is abnormal, other lines can be selected for communication, the transmission fault tolerance is greatly improved, and therefore the problem that the transmission fault tolerance between the demonstrator and the robot in the prior art is low is solved.
There is also provided, in accordance with an embodiment of the present application, another teach pendant transfer system including:
a plurality of demonstrators;
A plurality of robots;
At least two local area networks, which are in one-to-one correspondence with the equipment groups, wherein the equipment groups comprise at least one demonstrator and at least one robot, and the demonstrator and the robot in the equipment groups communicate through the corresponding local area networks.
When the number of robots is large, the switch of one redundant loop is difficult to load, in an alternative embodiment, the redundant loops are multiple, the redundant loops are in one-to-one correspondence with local area networks, the demonstrator in a target local area network sends data to the robots in the target local area network through the redundant loops corresponding to the target local area network, and the target local area network is any local area network.
In the above embodiment, the teaching device and the robot are virtually grouped by the VLAN lan, and the teaching device and the robot cannot access between different VLAN lans, for example, as shown in fig. 1, the teaching device 2, the robot 1, the robot 2, the robot 5, and the robot 6 all belong to the VLAN1 virtual group, and the teaching device 3, the teaching device 4, the robot 3, the robot 4, the robot 7, and the robot 8 all belong to the VLAN2 virtual group.
The annular redundancy is formed by a plurality of switches, and has the main effects of automatically judging and reconstructing the network when one line in the annular redundancy has a problem, guaranteeing uninterrupted communication, improving fault tolerance in the data transmission process and guaranteeing real-time data transmission.
It should be noted that the robots are all matched to the corresponding demonstrators, so that the robots can receive the data sent by the matched demonstrators.
In order to facilitate the robot to perform tasks, in an alternative embodiment, the robot includes a first robot and a second robot, the first robot is connected to the second switch through a cable, the second robot is wirelessly connected to the second switch, a distance between the first robot and the second switch is less than or equal to a predetermined distance, and a distance between the second robot and the second switch is greater than the predetermined distance.
In the above embodiment, the connection mode is determined according to the distance between the robot and the demonstrator, the robot is connected by a cable when the distance between the robot and the demonstrator is short, the robot is connected by a wireless when the distance between the robot and the demonstrator is long, the robot is flexibly selected, the task is conveniently executed, further, as shown in fig. 1, the robot can be divided according to the task, the division of executing the short-range task is the first robot, a wired connection is made, e.g. robots 1, 2, 3 and 4, a division of performing remote tasks into second robots, a wireless connection is made, e.g. robots 5, 6, 7 and 8, and the next short-range tasks are also distributed to the first robots, the remote tasks are also distributed to the second robots, without additional effort being required to change the connection.
In order to facilitate unified management of robots of each local area network, in an alternative embodiment, as shown in fig. 1, the teach pendant transmission system further includes a management terminal, where the management terminal is respectively in communication connection with the redundant loops of each local area network, and the management terminal is configured to monitor whether the teach pendant and the robot operate normally, and modify the local area networks to which the teach pendant and the robot belong.
In the above embodiment, the main function of the static route is that access can be performed between different VLAN local area networks based on the VLAN local area network, and the function is set to the PC end belonging to VLAN0, i.e. the management terminal, generally controlled by the manager, because the manager needs to monitor whether the demonstrator and the robot of other operators are operating normally in real time, the manager can also manually modify the grouping of each demonstrator and robot, thereby reducing the management cost of moving and changing the robot, and meanwhile, when an emergency occurs, the manager can control the robot, thereby reducing the occurrence of danger. Through the combination of static routing and VLAN local area network mechanism, management personnel control and maintenance of the demonstrator and the robot are facilitated.
In order to realize that the management terminal accesses between different VLAN local area networks, in an alternative embodiment, as shown in fig. 1, the management terminal is connected to one of the first switches through a static route, and the first switches of any two of the local area networks are in communication connection, and the second switches of any two of the local area networks are in communication connection.
In the above embodiment, the first switches of any two of the local area networks are in communication connection, the second switches of any two of the local area networks are in communication connection, the management terminal is connected with one of the first switches through a static route, and can be in communication connection with all the switches, so that access among different VLAN local area networks is realized, management, control and maintenance of the demonstrator and the robot by a manager are facilitated, and of course, the connection is not limited, and other suitable connection modes can be selected by a person skilled in the art.
In the demonstrator transmission system, the demonstrator and the robot are virtually grouped by the VLAN local area network, so that cable transmission and wireless broadcasting are only carried out in the VLAN local area network, and the wireless broadcasting is only carried out on the VLAN local area network, thereby greatly reducing the occupation of bandwidth by broadcasting and improving the data transmission efficiency.
The embodiment of the application also provides a transmission method of the demonstrator transmission system, and fig. 2 is a flow chart of the transmission method of the demonstrator transmission system according to the embodiment of the application. As shown in fig. 2, the above transmission method includes the steps of:
Step S101, a first switch is controlled to receive data sent by a demonstrator;
the first switch and the demonstrator are arranged together, and the first switch and the demonstrator are connected through a wire, so that the transmission speed and the reliability are high.
Step S102, when the connection line configured by the demonstrator is abnormal, controlling the first switch to send the data to the second switch through other connection lines;
When one circuit in the annular redundancy is in a problem, the network reconstruction can be automatically judged and carried out, the uninterrupted communication is ensured, the fault tolerance in the data transmission process is improved, and the real-time transmission of the data is ensured.
And step S103, controlling the second switch to send the data to the robot matched with the demonstrator.
In order to further ensure the safety of the device, in an optional embodiment, the transmission system of the demonstrator further includes a management terminal, where the management terminal is respectively connected with the redundant loops in a communication manner, and the transmission method further includes:
In step S201, when it is detected that the robot is in an abnormal state, the management terminal controls the robot to operate.
In the above embodiment, the management terminal monitors the operation state of the robots, and when any one of the robots is in an emergency, the management personnel can control the robot through the management terminal, so that the risk is reduced.
In order to achieve reasonable grouping, in an alternative embodiment, the above transmission method further includes:
Step S301, grouping according to the task type of the robot to obtain a plurality of equipment groups, wherein the equipment groups comprise at least one demonstrator and at least one robot;
Step S302, local area networks are built in a one-to-one correspondence with the equipment groups, and the demonstrator and the robot in the equipment groups communicate through the corresponding local area networks.
In the above embodiment, the robots are grouped according to the task types of the robots, and the robots of the same task type establish a local area network, and the robots cannot receive data of other task types, so that data leakage is further imitated.
In order to adapt to the change of the demand, the transmission system of the demonstrator further comprises a management terminal, wherein the management terminal is respectively in communication connection with the redundant loops, the redundant loops are in one-to-one correspondence with the local area network, and the transmission method further comprises the following steps:
in step S401, when the task type of the robot is changed, the management terminal modifies the local area network to which the robot and the teach pendant to which the robot is matched belong.
In the above embodiment, the task amounts of different task types may change, and when the task amount of a certain task type increases sharply, robots of other task types may be called to change the task types, and the management terminal may modify the local area network to which the robot and the demonstrator matched with the robot belong, so as to ensure flexible grouping and improve task completion efficiency.
In the transmission method of the teaching device transmission system, a first switch is controlled to receive data transmitted by a teaching device, then, when a connection line configured by the teaching device is abnormal, the first switch is controlled to transmit the data to a second switch through other connection lines, and finally, the second switch is controlled to transmit the data to a robot matched with the teaching device. In the demonstrator transmission system, at least two connecting lines exist between the two switches of the redundant loop, and other line communication can be selected due to the abnormal line configuration of the demonstrator, so that the transmission fault tolerance is greatly improved, and the problem of low transmission fault tolerance between the demonstrator and the robot in the prior art is solved.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
The embodiment of the application also provides a transmission device of the demonstrator transmission system, and the transmission device of the demonstrator transmission system can be used for executing the transmission method for the demonstrator transmission system. The following describes a transmission device of a transmission system for a demonstrator provided by an embodiment of the present application.
Fig. 3 is a schematic diagram of a transmission device of a teach pendant transmission system according to an embodiment of the present application. As shown in fig. 3, the apparatus includes:
a first control unit 10, configured to control the first switch to receive data sent by the demonstrator;
the first switch and the demonstrator are arranged together, and the first switch and the demonstrator are connected through a wire, so that the transmission speed and the reliability are high.
A second control unit 20 for controlling the first switch to transmit the data to the second switch through the other connection lines when the connection lines arranged in the teach pendant are abnormal;
When one circuit in the annular redundancy is in a problem, the network reconstruction can be automatically judged and carried out, the uninterrupted communication is ensured, the fault tolerance in the data transmission process is improved, and the real-time transmission of the data is ensured.
And a third control unit 30 for controlling the second switch to send the data to the robot matched with the demonstrator.
In order to further ensure the safety of the device, in an alternative embodiment, the transmission system of the demonstrator further includes a management terminal, where the management terminal is respectively connected to the redundant loops in a communication manner, and the transmission device further includes:
and a fourth control unit for controlling the robot to operate by the management terminal when the abnormal condition of the robot is detected.
In the above embodiment, the management terminal monitors the operation state of the robots, and when any one of the robots is in an emergency, the management personnel can control the robot through the management terminal, so that the risk is reduced.
In order to achieve reasonable grouping, in an alternative embodiment, the above transmission device further includes:
The matching unit is used for grouping according to the task types of the robots to obtain a plurality of equipment groups, wherein the equipment groups comprise at least one demonstrator and at least one robot;
And the establishing unit is used for establishing local area networks corresponding to the equipment groups one by one, and the demonstrator in the equipment groups and the robot communicate through the corresponding local area networks.
In the above embodiment, the robots are grouped according to the task types of the robots, and the robots of the same task type establish a local area network, and the robots cannot receive data of other task types, so that data leakage is further imitated.
In order to adapt to the change of the demand, the transmission system of the demonstrator further comprises a management terminal, wherein the management terminal is respectively in communication connection with the redundant loops, the redundant loops are in one-to-one correspondence with the local area network, and the transmission method further comprises the following steps:
And the processing unit is used for modifying the local area network to which the robot and the demonstrator matched with the robot belong by the management terminal under the condition that the task type of the robot is changed.
In the above embodiment, the task amounts of different task types may change, and when the task amount of a certain task type increases sharply, robots of other task types may be called to change the task types, and the management terminal may modify the local area network to which the robot and the demonstrator matched with the robot belong, so as to ensure flexible grouping and improve task completion efficiency.
In the transmission device of the teaching device transmission system, a first control unit controls a first switch to receive data transmitted by a teaching device, a second control unit controls the first switch to transmit the data to the second switch through other connecting lines when the connecting lines of the teaching device are abnormal, and a third control unit controls the second switch to transmit the data to a robot matched with the teaching device. In the demonstrator transmission system, at least two connecting lines exist between the two switches of the redundant loop, and other line communication can be selected due to the abnormal line configuration of the demonstrator, so that the transmission fault tolerance is greatly improved, and the problem of low transmission fault tolerance between the demonstrator and the robot in the prior art is solved.
The transmission device of the demonstrator transmission system comprises a processor and a memory, wherein the first control unit, the second control unit, the third control unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel can be provided with one or more than one kernel, and the problem of low fault tolerance rate of transmission between the demonstrator and the robot in the prior art is solved by adjusting kernel parameters.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
An embodiment of the present invention provides a computer-readable storage medium having stored thereon a program which, when executed by a processor, implements the above-described method.
The embodiment of the invention provides a processor, which is used for running a program, wherein the method is executed when the program runs.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes at least the following steps when executing the program:
Step S101, a first switch is controlled to receive data sent by a demonstrator;
step S102, when the connection line configured by the demonstrator is abnormal, controlling the first switch to send the data to the second switch through other connection lines;
and step S103, controlling the second switch to send the data to the robot matched with the demonstrator.
The device herein may be a server, PC, PAD, cell phone, etc.
The application also provides a computer program product adapted to perform, when executed on a data processing device, a program initialized with at least the following method steps:
Step S101, a first switch is controlled to receive data sent by a demonstrator;
step S102, when the connection line configured by the demonstrator is abnormal, controlling the first switch to send the data to the second switch through other connection lines;
and step S103, controlling the second switch to send the data to the robot matched with the demonstrator.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units may be a logic function division, and there may be another division manner when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a computer readable storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned methods of the various embodiments of the present invention. The computer readable storage medium includes a usb disk, a Read-Only Memory (ROM), a random-access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, etc. which can store the program code.
From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:
1) In the demonstrator transmission system, the communication between the demonstrator and the robot is realized through the redundant loop, and as at least two connecting lines exist between two switches of the redundant loop, one line is abnormal, other line communication can be selected, so that the transmission fault-tolerant rate is greatly improved, and the problem of low transmission fault-tolerant rate between the demonstrator and the robot in the prior art is solved.
2) In the demonstrator transmission system, the demonstrator and the robot are virtually grouped by the VLAN local area network, so that the cable transmission and the wireless broadcasting are only carried out in the VLAN local area network, the wireless broadcasting is only carried out on the VLAN local area network, the bandwidth occupation of the broadcasting is greatly reduced, the data transmission efficiency is improved, meanwhile, the virtual grouping of other VLAN local area networks is that the data of any VLAN local area network cannot be received, the information of the VLAN local area network cannot be intercepted by other VLAN local area networks, and the confidentiality of the data transmission is improved.
3) In the transmission method of the teaching device transmission system of the present application, first, a first switch is controlled to receive data transmitted from a teaching device, then, when a connection line arranged in the teaching device is abnormal, the first switch is controlled to transmit the data to a second switch through another connection line, and finally, the second switch is controlled to transmit the data to a robot matched with the teaching device. In the demonstrator transmission system, at least two connecting lines exist between the two switches of the redundant loop, and other line communication can be selected due to the abnormal line configuration of the demonstrator, so that the transmission fault tolerance is greatly improved, and the problem of low transmission fault tolerance between the demonstrator and the robot in the prior art is solved.
4) In the transmission device of the teaching device transmission system, the first control unit controls the first switch to receive data transmitted by the teaching device, the second control unit controls the first switch to transmit the data to the second switch through other connecting lines when the connecting lines of the teaching device are abnormal, and the third control unit controls the second switch to transmit the data to the robot matched with the teaching device. In the demonstrator transmission system, at least two connecting lines exist between the two switches of the redundant loop, and other line communication can be selected due to the abnormal line configuration of the demonstrator, so that the transmission fault tolerance is greatly improved, and the problem of low transmission fault tolerance between the demonstrator and the robot in the prior art is solved.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (5)
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| CN113681556A (en) * | 2021-08-13 | 2021-11-23 | 珠海格力电器股份有限公司 | Robot teaching method, robot teaching apparatus, and computer-readable storage medium |
| CN113746731A (en) * | 2021-09-08 | 2021-12-03 | 北京国基科技股份有限公司 | Ethernet communication system, Ethernet communication redundancy method and device |
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| CN206021014U (en) * | 2016-09-21 | 2017-03-15 | 卡瓦格博（深圳）电气有限公司 | Motion control system based on industrial internet |
| CN207058554U (en) * | 2017-08-03 | 2018-03-02 | 诺伯特智能装备（山东）有限公司 | Based on the industrial robot teaching device used in ROS systems |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113681556A (en) * | 2021-08-13 | 2021-11-23 | 珠海格力电器股份有限公司 | Robot teaching method, robot teaching apparatus, and computer-readable storage medium |
| CN113746731A (en) * | 2021-09-08 | 2021-12-03 | 北京国基科技股份有限公司 | Ethernet communication system, Ethernet communication redundancy method and device |
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