CN116652906A - Method, demonstrator and device for controlling multiple robots - Google Patents

Abstract

The invention relates to the technical field of robots and discloses a method, a demonstrator and a device for controlling a plurality of robots. According to the method, a demonstrator is sequentially connected with an AP network of each motion controller in a STA mode, connection between the demonstrator and the motion controllers controlling the robot is established, gateway addresses of the motion controllers are sequentially acquired, a corresponding teaching page can be accessed according to the current gateway address, a visual program is operated on the teaching page, the visual program is adjusted according to motion feedback of the controlled robot, the adjusted visual program is determined to be a control program, and then the control program is uploaded to the motion controller corresponding to the gateway address, so that teaching of the robot is realized. The invention can flexibly realize the control of a plurality of robots, reduce the development cost and improve the convenience of controlling the plurality of robots by switching the AP network connected with the demonstrator.

Description

Method, demonstrator and device for controlling multiple robots

Technical Field

The present invention relates to the field of robots, and in particular, to a method, a demonstrator, and a device for controlling multiple robots.

Background

At present, most of the robots use demonstrators to develop and customize special software and hardware platforms, and different types of robots cannot be compatible, so that each type of robot needs to select a hardware module from scratch, transplant a customized software operating system and develop integrated teaching software. Thus, although the safety and reliability of the product can be strictly ensured, the research and development period and the iteration time of the product can also become long, and the hardware equipment and the software system can also need multiple iteration updating to form a final scheme.

Some manufacturers use tablet computers as robot demonstrators, and the tablet computers can be rapidly put into a product trial debugging stage by virtue of the ultra-high cost performance, but the safety of a cooperative robot in high-speed motion is difficult to ensure because the tablet computers lack safety function modules, high-transmission-rate Ethercat communication interfaces and industrial IO modules and can only control the motion of the robot body simply through wireless communication.

The development cost of the robot demonstrator is greatly increased, the safety performance is greatly ensured, and the cumbersome and diversified operation modes of the robot demonstrator bring inconvenience to the teaching of the cooperative robot.

Disclosure of Invention

The invention provides a method, a demonstrator and a device for controlling a plurality of robots, which can flexibly control the plurality of robots, reduce development cost and improve convenience and safety of controlling the robots.

In order to solve the above technical problems, the present invention provides a method for controlling a plurality of robots, including:

the AP network of each motion controller is sequentially connected in a STA mode, and gateway addresses of each motion controller are sequentially obtained;

according to the gateway address of each motion controller, the visualized program debugging is sequentially carried out on the robots controlled by each motion controller, specifically:

accessing a first teaching page according to the first gateway address acquired currently;

running a first visualization program on the first teaching page to control the first robot to move, and adjusting the first visualization program according to the motion feedback of the first robot;

determining the adjusted first visualization program as a first control program;

and uploading the first control program to a first motion controller corresponding to the first gateway address so that the first motion controller controls the first robot to teach.

The method for controlling a plurality of robots by using one demonstrator firstly connects the AP network of each motion controller in sequence in a STA way, establishes connection between the demonstrator and the motion controller for controlling the robots, sequentially acquires gateway addresses of each motion controller, can access corresponding teaching pages according to the current gateway addresses, runs a visual program on the teaching pages, adjusts the visual program according to motion feedback of the controlled robots, determines the adjusted visual program as a control program, and then uploads the control program to the motion controller corresponding to the gateway address to realize teaching of the robots. The invention can flexibly realize the control of a plurality of robots, reduce the development cost and improve the convenience of controlling the plurality of robots by switching the AP network connected with the demonstrator.

Further, the first visualization program specifically includes:

receiving information input by a user on a first teaching page, and generating a first visualization program according to the information input by the user;

wherein the information input by the user comprises: the motion trail of the first robot, the motion of the first robot and the set parameters and conditions of the first robot.

According to the invention, the robot is controlled by the demonstrator, a user can perform various operations on the teaching page, such as setting the motion track of the robot, the actions completed by the robot and the parameters and conditions of the robot, and the demonstrator receives the information input by the user, so that a corresponding visualization program can be formed, and the response efficiency of the motion controller is improved.

Further, the first motion controller controls the first robot to teach, specifically:

calculating target motion parameters of the first robot according to the first control program;

the target motion parameters are sent to a servo driver of the first robot, and the first robot is controlled to carry out teaching;

reading actual motion parameters of the first robot while controlling the first robot to teach;

carrying out safe calculation on the actual motion parameters of the first robot;

if the actual motion parameters of the first robot exceed the preset safety upper limit value, judging that the first robot is abnormal, and sending error reporting information to a first teaching page.

After receiving the first control program, the first motion controller can calculate the target motion parameter of the first robot according to the program, and send the target motion parameter to a servo driver of the first robot so as to control the first robot to teach; the motion controller can monitor the motion condition of the first robot while controlling the motion of the first robot, for example, calculates the actual motion parameter of the first robot, compares the actual motion parameter with a preset safety upper limit value, and if the actual motion parameter of the first robot exceeds the safety upper limit value, the error reporting information is required to be sent to a corresponding first teaching page so as to enable the demonstrator to make corresponding processing measures.

Further, after the first robot is determined to be abnormal, the error reporting information is sent to the first teaching page, specifically:

when the error reporting information is displayed on the first teaching page, the first robot is controlled to enter the emergency stop state and stop running through the emergency stop button of the first teaching page.

According to the invention, after the first teaching page receives the error reporting information, the error reporting information is displayed on the page, the motion condition of the first robot is fed back to a user in real time, the first robot is controlled to carry out scram through the scram button on the teaching page, the abnormal condition of the first robot is solved, and the safety is ensured in the process of controlling the robot.

The invention provides a method for controlling a plurality of robots, which comprises the steps of sequentially connecting a demonstrator with an AP network of each motion controller in a STA mode, establishing connection between the demonstrator and the motion controller for controlling the robots, sequentially obtaining gateway addresses of each motion controller, accessing corresponding teaching pages according to the current gateway addresses, running a visualization program on the teaching pages, adjusting the visualization program according to motion feedback of the controlled robots, determining the adjusted visualization program as a control program, and uploading the control program to the motion controller corresponding to the gateway address to realize teaching of the robots. The invention can flexibly realize the control of a plurality of robots, reduce the development cost and improve the convenience of controlling the plurality of robots by switching the AP network connected with the demonstrator.

A second embodiment of the present invention provides a teach pendant for controlling a plurality of robots, comprising: the intelligent main control main board, a power on/off button, an emergency stop switch and a display module;

the intelligent main control main board comprises a battery module, a power management module, an input/output interface module, a wireless communication module and a functional safety module;

the battery module is used for supplying power to the intelligent main control main board;

the power management module is used for coordinating the power supply condition of the intelligent main control main board; when no power is input, the battery module supplies power to the intelligent main control main board, and when the power is input, the power is used for supplying power to the battery in the battery module and the intelligent main control main board;

the input/output interface module comprises a plurality of interfaces for supporting interaction between the demonstrator and the external equipment;

the wireless communication module is used for supporting wireless communication between the demonstrator and the network communication module of the motion controller;

the functional safety module comprises a virtual emergency stop button for controlling the robot to enter an emergency stop state.

Further, the demonstrator further includes:

the mode of connecting the demonstrator with the motion controller comprises wireless connection and wired connection;

the demonstrator is in wireless connection with the network communication module of the motion controller by utilizing the wireless communication module;

the demonstrator is connected with the Ethernet port of the motion controller in a wired way by utilizing the input/output interface module.

Further, the display module specifically includes:

the display module is used for displaying a teaching page;

the teaching page is accessed through a gateway address of the motion controller;

or, accessing the teaching page by installing teaching software;

or, setting a startup binding automatic login teaching page in the demonstrator in advance, and automatically accessing the teaching page when the demonstrator is started.

The invention provides a demonstrator for controlling a plurality of robots, which realizes the control of one demonstrator on a plurality of robot bodies. The wireless communication is adopted to replace a high-cost cable; the robot motion process is detected and controlled in real time through wireless communication, and system control is programmed, so that teaching programming, data acquisition and manual/automatic control are realized. Meanwhile, the working state and working parameters of the robot can be displayed and modified in real time on the wireless demonstrator interface, and visual management and diagnosis can be performed. Flexible and convenient, and is more suitable for flexible application and rapid deployment in industrial production. And through encryption communication, the mutual interference of a plurality of sets of control systems in the same environment is prevented, the robot bodies are sequentially connected with each other in a wireless mode through different corresponding signals, meanwhile, wired connection is supported, and one-to-many simplified operation is realized. All the function buttons are fully developed to the software interface of the demonstrator, and no function keys are required to be additionally developed from the hardware level, so that the whole specification size and development cost of the demonstrator are greatly reduced.

A third embodiment of the present invention provides an apparatus for controlling a plurality of robots, including: an acquisition module and a debugging module;

the acquisition module is used for sequentially connecting the AP networks of the motion controllers in a STA mode and sequentially acquiring gateway addresses of the motion controllers;

the debugging module is used for sequentially debugging visual programs of robots controlled by the motion controllers according to gateway addresses of the motion controllers;

the debugging module comprises an access unit, an operation unit, a determination unit and a control unit;

the access unit is used for accessing a first teaching page according to the first gateway address acquired currently;

the operation unit is used for operating a first visualization program on the first teaching page so as to control the first robot to move, and adjusting the first visualization program according to the motion feedback of the first robot;

the determining unit is used for determining the adjusted first visualization program as a first control program;

the control unit is used for uploading the first control program to a first motion controller corresponding to the first gateway address so that the first motion controller controls the first robot to teach.

Further, the control unit includes: the system comprises a calculation subunit, a teaching subunit, a reading subunit, a safety calculation subunit and a judging abnormality subunit;

the calculating subunit is used for calculating the target motion parameters of the first robot according to the first control program;

the teaching subunit is used for sending the target motion parameters to a servo driver of the first robot and controlling the first robot to teach;

the reading subunit is used for controlling the first robot to teach and simultaneously reading the actual motion parameters of the first robot;

the safety calculation subunit is used for carrying out safety calculation on the actual motion parameters of the first robot;

and the abnormality judging subunit is used for judging that the first robot is abnormal if the actual motion parameter of the first robot exceeds a preset safety upper limit value, and sending error reporting information to a first teaching page.

Further, the control unit further includes: an emergency stop subunit;

and the scram subunit is used for controlling the first robot to enter the scram state and stop running through the scram button of the first teaching page when the error reporting information is displayed on the first teaching page.

The invention provides a device for controlling a plurality of robots, which is based on the organic combination of modules, flexibly controls the plurality of robots, reduces development cost and improves the convenience and safety of controlling the robots.

Drawings

FIG. 1 is a schematic flow chart of an embodiment of a method for controlling multiple robots according to the present invention;

FIG. 2 is a schematic flow chart of another embodiment of a method for controlling multiple robots according to the present invention;

FIG. 3 is a schematic diagram of one embodiment of a teach pendant for controlling multiple robots in accordance with the present invention;

FIG. 4 is a schematic diagram of another embodiment of a teach pendant for controlling multiple robots according to the present invention;

fig. 5 is a schematic structural diagram of an embodiment of an apparatus for controlling multiple robots according to the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1, a flow chart of an embodiment of a method for controlling multiple robots according to the present invention includes steps 101 to 102, where the steps are specifically as follows:

step 101: and sequentially connecting the AP networks of the motion controllers in a STA mode, and sequentially acquiring gateway addresses of the motion controllers.

As an example of the first embodiment of the present invention, the motion controller serves as an AP station, and the demonstrator is connected to the AP network in the form of a client, i.e., in the form of an STA, which corresponds to communication between the master station and the slave station. The wireless communication module is arranged in the motion controller, and is required to load related drivers and create hot spot information files under the kernel version operated under the LINUX system, wherein the files contain hot spot information such as network interface names, wifi names, passwords, channels, service set identifiers and the like, all the files are placed under a specified folder directory, and the AP hot spot can be created by giving the startup self-starting authority to the files. The gateway IP address can be set, a relevant network interface is inquired through a command ifconfig under the LINUX system, for example, the wireless network interface is ap0, the gateway IP address can be set to 192.168.2.1 through a command sudo ifconfig ap 0.168.2.1, the IP address under the gateway can be automatically allocated after the demonstrator is connected into wifi of the motion controller, the gateway IP address can be directly modified through the network configuration of the demonstrator after modification, and the gateway IP address can be synchronously updated into the motion controller.

In the first embodiment of the present invention, when the wireless function fails or the wireless function is subjectively not used, a network cable may be used to access the network ports at both ends of the motion controller and the demonstrator for wired communication, and at this time, the gateway address of the controller may be accessed through a browser or a demonstrator to perform a demonstrator operation on the robot.

Step 102: and according to the gateway address of each motion controller, sequentially debugging the visual program of the robot controlled by each motion controller.

Step 102 includes steps 201 to 204, which are specifically as follows:

step 201: and accessing a first teaching page according to the first gateway address which is currently acquired.

Step 202: and running a first visualization program on the first teaching page to control the first robot to move, and adjusting the first visualization program according to the motion feedback of the first robot.

In the first embodiment of the invention, the teaching page can be accessed by inputting the gateway IP address of the motion controller into the demonstrator, the demonstrator can provide debugging and testing functions, a visual program is run on the teaching page, the motion track of the robot is gradually executed, the motion of the corresponding robot can be observed, and necessary adjustment is carried out according to the motion feedback of the robot. The validated and adjusted visualization program may be determined as a program that is subsequently uploaded to the motion controller.

In the first embodiment of the present invention, further, the first visualization program specifically includes:

receiving information input by a user on a first teaching page, and generating a first visualization program according to the information input by the user;

wherein the information input by the user comprises: the motion trail of the first robot, the motion of the first robot and the set parameters and conditions of the first robot.

As an example of the first embodiment of the present invention, a teach pendant typically uses visual programming to generate a visual program to control a robot to thereby enable automated operation of the robot. As an example, the following is a simple flow of how one possible teach pendant can control a robot in conjunction with visual programming:

(1) Designing a motion trail of the robot: through the graphical interface of the demonstrator, the user can design the motion trail of the robot in the three-dimensional space. Such as drawing paths, setting path points, setting speeds and accelerations in a graphical interface.

(2) Drag-and-drop and connection control assembly: the teach pendant typically provides graphical control components, such as movements, rotations, grabbers, etc., that a user can define the actions and behaviors of the robot by dragging and dropping the components and connecting them. These control components may represent the movement of joints or actuators of the robot, such as joint angles of a robotic arm, positions of end effectors, etc.

(3) Setting parameters and conditions: the user can set parameters and conditions of robot control, such as speed, acceleration, execution time, circulation conditions, etc. of the robot through the visual programming interface of the demonstrator, thereby better controlling the behavior of the robot.

Step 203: and determining the adjusted first visualization program as a first control program.

Step 204: and uploading the first control program to a first motion controller corresponding to the first gateway address so that the first motion controller controls the first robot to teach.

In the first embodiment of the present invention, further, the first motion controller controls the first robot to teach, specifically:

calculating target motion parameters of the first robot according to the first control program;

the target motion parameters are sent to a servo driver of the first robot, and the first robot is controlled to carry out teaching;

reading actual motion parameters of the first robot while controlling the first robot to teach;

carrying out safe calculation on the actual motion parameters of the first robot;

if the actual motion parameters of the first robot exceed the preset safety upper limit value, judging that the first robot is abnormal, and sending error reporting information to a first teaching page.

In the first embodiment of the invention, when a user designs the motion trail of the robot and sets control parameters and conditions, a visual program is generated, and after the visual program is debugged and tested to confirm that there is no error, the program can be uploaded to a robot control system, and the robot is started to execute corresponding actions.

As an example of the first embodiment of the present invention, referring to fig. 2, the motion controller has related functional safety modules, such as hardware watchdog, short-circuit protection, overvoltage and overcurrent protection, hardware circuits for monitoring the power levels of the robot driver, software watchdog, and related software program monitoring conforming to ISO13849 certification. The functional safety module in the motion controller has a system safety calculation function, and can calculate command information, error information and safety overrun information for controlling the motion of the robot. When the demonstrator uploads the first control program to the first motion controller, namely command information for controlling the first robot is sent, the first motion controller calculates and verifies the target motion parameters of the first robot according to the first control program, and after verification is successful, the target motion parameters are sent to a servo driver of the first robot to control the first robot to teach. In the teaching process of the first robot, the first motion controller monitors the first robot, such as reading the position, speed, current and acceleration of the motion of the robot, monitors whether the value fed back by the servo driver of the first robot exceeds the safety upper limit, sends the read data to the system safety calculation module for calculation, and performs state control on the servo driver in a RS232 communication mode, and if the first robot is abnormal, sends error reporting information to the first teaching page, so that the control of the robot is realized.

In the first embodiment of the present invention, further, after the determining that the first robot is abnormal, sending error reporting information to a first teaching page specifically includes:

when the error reporting information is displayed on the first teaching page, the first robot is controlled to enter the emergency stop state and stop running through the emergency stop button of the first teaching page.

In the first embodiment of the invention, the first teaching page is displayed on the page after receiving the error reporting information, the motion condition of the first robot is fed back to the user in real time, the first robot is controlled to carry out scram through the scram button of the demonstrator, the abnormal condition of the first robot is solved, and the safety is ensured in the process of controlling the robot. The emergency stop button not only comprises a hardware button on the demonstrator, but also comprises a virtual button for software emergency stop on a teaching page.

As an example of the first embodiment of the present invention, the demonstrator may be connected to AP sites established by different robot motion controllers through a WIFI connection mode, so that the one demonstrator may switch between one or more controllers through wireless communication, thereby implementing the teaching of multiple robot bodies by one demonstrator. The motion controllers and the robots are one-to-one, and five robots are provided with the number of 0001-0005, so that the five motion controllers are one-to-one matched with the robots, the demonstrator is a network connected with the five motion controllers, the demonstrator and the motion controllers communicate and interact information in a TCP/IP mode, and the motion controllers interact information with the robots through Ethercat. The teaching software can carry out visual programming on the movement of the robot, the robot is controlled to run a certain track, the movement track can always circulate, and when the movement mode of the robot controlled by the demonstrator meets the current requirement, the teaching can be carried out on the next robot, so that a plurality of robots can be taught simultaneously by one demonstrator. Indirectly realizes that one demonstrator can control a plurality of robots simultaneously. Each motion controller is provided with a wireless communication module, a wireless local area network can be built, the wireless local area network is equivalent to a self-carrying routing device, hot spot information can be built, a wireless demonstrator can be directly connected into the motion controller through wifi, the wireless demonstrator and the motion controller are located in the same network section, the motion controller is a service end device, the wireless demonstrator is a client device, and one or more controllers can be switched through wireless communication in a network switching mode.

In summary, the first embodiment of the present invention provides a method for controlling multiple robots, in which a demonstrator is sequentially connected to an AP network of each motion controller in a STA manner, a connection between the demonstrator and the motion controller controlling the robot is established, a gateway address of each motion controller is sequentially acquired, a corresponding teaching page can be accessed according to the current gateway address, a visualization program is run on the teaching page, the visualization program is adjusted according to motion feedback of the controlled robot, the adjusted visualization program is determined as a control program, and then the control program is uploaded to the motion controller corresponding to the gateway address, so as to implement teaching on the robot. The invention can flexibly realize the control of a plurality of robots, reduce the development cost and improve the convenience of controlling the plurality of robots by switching the AP network connected with the demonstrator.

Example 2

Referring to fig. 3, a schematic structural diagram of an embodiment of a demonstrator for controlling multiple robots according to the present invention includes an intelligent main control board, a power on/off button, an emergency stop switch and a display module;

the intelligent main control main board comprises a battery module, a power management module, an input/output interface module, a wireless communication module and a functional safety module;

the battery module is used for supplying power to the intelligent main control main board;

the power management module is used for coordinating the power supply condition of the intelligent main control main board; when no power is input, the battery module supplies power to the intelligent main control main board, and when the power is input, the power is used for supplying power to the battery in the battery module and the intelligent main control main board;

the input/output interface module comprises a plurality of interfaces for supporting interaction between the demonstrator and the external equipment;

the wireless communication module is used for supporting wireless communication between the demonstrator and the network communication module of the motion controller;

the functional safety module comprises a virtual emergency stop button for controlling the robot to enter an emergency stop state.

In the second embodiment of the invention, the demonstrator controls the operation robot through wireless communication, does not need to use a cable, is driven by a built-in battery, can realize that one wireless demonstrator is switched and connected with a plurality of robot controllers to operate, has the appearance size consistent with that of a tablet personal computer with high size on the market, and is provided with a projected capacitive touch screen, a power on/off button and an external emergency stop button which support multi-point touch control, and the related operation mode is similar to that of the tablet personal computer, so that the operation is smooth, and the system is simple to upgrade. The intelligent main control mainboard is reformed by utilizing an industrial control mainboard and a development board with higher cost performance in the market, a battery driving unit, a power management module and a functional safety module are integrated in the intelligent main control mainboard, a high-speed network communication interface, an industrial interconnection interface, a video output interface and a wireless communication module are supported simultaneously, all elements are integrated in an integrated demonstrator model, and a wireless demonstrator which is safe and reliable and can provide complete demonstration functions is formed.

As an example of the second embodiment of the present invention, the intelligent main control motherboard of the demonstrator includes a system-on-chip, a quad-core 64-bit processor, an integrated GPU graphics processor, an NPU embedded neural network processor, a VPU video processing unit, a memory 4GB LPDDR4, a memory 16GB and support TF card expansion, and the like. The hardware of the intelligent main control main board supports gigabit Ethernet, the wireless network supports dual-frequency 2.4G/5.8GWiFi, bluetooth supports BT4.2 and above, the audio interface is Speaker left and right dual-channel loudspeaker output and earphone microphone output interfaces, the display interface is a dual LVDS interface supporting 1920 x 1080@60fps output, an MIPI-CSI camera interface, a USB2.0 interface, a USB3.0 interface, an R485 interface and the like.

The intelligent main control main board of the demonstrator comprises a battery module, a power management module, an input/output interface module, a wireless communication module and a functional safety module, and is specifically as follows:

the battery module is a lithium ion battery, and adopts a mode of connecting 1-4 batteries in series for supplying power to the main board of the demonstrator.

The power management module supports 3.5V-24V wide voltage input, is provided with a step-up and step-down circuit, supports 1-4 battery charging, and when no voltage is input, the battery module supplies power to the main board, and when a power supply is input, the battery can be charged on the one hand, and on the other hand, the main board can be supplied with power, so that the problem that the demonstrator cannot work when being charged is effectively solved.

The input/output interface module comprises various interfaces for realizing interaction between the demonstrator and other devices. When the demonstrator is connected to the motion controller in a wired mode, the charging interface can charge the demonstrator through the quick charging module, and wired network communication can be realized through a wired cable. The support user is connected with the demonstrator device through a USB interface or keyboard, mouse and display.

The wireless communication module can realize wireless communication with the network communication module of the motion controller, the network communication module in the motion controller establishes an AP site, and the wireless demonstrator accesses the AP site in the STA mode through the wireless module, so that the robot body is controlled.

The functional safety module comprises a scram button, the demonstrator comprises the functional safety module, scram operation can be carried out by pressing the button through the functional safety module in the motion controller, and the robot body is ensured to need scram in the operation process.

In a second embodiment of the present invention, further, the teach pendant further includes:

the mode of connecting the demonstrator with the motion controller comprises wireless connection and wired connection;

the demonstrator is in wireless connection with the network communication module of the motion controller by utilizing the wireless communication module;

the demonstrator is connected with the Ethernet port of the motion controller in a wired way by utilizing the input/output interface module.

As an example of the second embodiment of the present invention, the demonstrator may be connected to the master computer of the motion controller through wireless communication, or may be connected to an ethernet port of the master computer through a wired manner. In both connection modes, the demonstrator is only one display operation unit, and the demonstrator does not need to perform CPU operation processing. When the demonstrator is connected to the local area network AP hotspot established by the main control computer, the robot demonstration page with the gateway address can be accessed to carry out demonstration operation.

In a second embodiment of the present invention, further, the display module specifically includes:

the display module is used for displaying a teaching page;

the teaching page is accessed through a gateway address of the motion controller;

or, accessing the teaching page by installing teaching software;

or, setting a startup binding automatic login teaching page in the demonstrator in advance, and automatically accessing the teaching page when the demonstrator is started.

As an example of the second embodiment of the present invention, the teaching software of the demonstrator is a configurable web page, the demonstrator can access the software interface through a specific IP address, can install corresponding APP software to open the teaching software, and can also set the wireless demonstrator to start-up binding to automatically log in a designated website to open the teaching software.

As an example of the second embodiment of the present invention, referring to fig. 4, the intelligent master control motherboard of the demonstrator of the present invention includes a battery module, a power management module, an input/output interface module, a wireless communication module and a functional safety module; the motion controller comprises a functional safety module, a system control module, a power supply module and a network communication module. The demonstrator and the motion controller can realize wireless communication, and can also realize wired connection through the quick-charging module. The motion controller and the robot are in information interaction through Ethercat, and can be connected through a power supply line.

In summary, the second embodiment of the present invention provides a demonstrator for controlling a plurality of robots, which realizes that one demonstrator controls a plurality of robot bodies. The wireless communication is adopted to replace a high-cost cable; the robot motion process is detected and controlled in real time through wireless communication, and system control is programmed, so that teaching programming, data acquisition and manual/automatic control are realized. Meanwhile, the working state and working parameters of the robot can be displayed and modified in real time on the wireless demonstrator interface, and visual management and diagnosis can be performed. Flexible and convenient, and is more suitable for flexible application and rapid deployment in industrial production. And through encryption communication, the mutual interference of a plurality of sets of control systems in the same environment is prevented, the robot bodies are sequentially connected with each other in a wireless mode through different corresponding signals, meanwhile, wired connection is supported, and one-to-many simplified operation is realized. All the function buttons are fully developed to the software interface of the demonstrator, and no function keys are required to be additionally developed from the hardware level, so that the whole specification size and development cost of the demonstrator are greatly reduced.

Example 3

Referring to fig. 5, a schematic structural diagram of an embodiment of an apparatus for controlling multiple robots according to the present invention includes an obtaining module 301 and a debugging module 302;

the acquisition module 301 is configured to sequentially connect the AP networks of the motion controllers in a STA manner, and sequentially acquire gateway addresses of the motion controllers;

the debugging module 302 is used for sequentially debugging the visual program of the robots controlled by the motion controllers according to the gateway address of the motion controllers;

wherein the debug module 302 comprises an access unit 401, a run unit 402, a determination unit 403 and a control unit 404;

the access unit 401 is configured to access a first teaching page according to a first gateway address that is currently acquired;

the operation unit 402 is configured to operate a first visualization program on the first teaching page, so as to control the first robot to move, and adjust the first visualization program according to the motion feedback of the first robot;

the determining unit 403 is configured to determine the adjusted first visualization program as a first control program;

the control unit 404 is configured to upload the first control program to a first motion controller corresponding to the first gateway address, so that the first motion controller controls the first robot to teach.

In the third embodiment of the present invention, further, the control unit 404 includes: the system comprises a calculation subunit, a teaching subunit, a reading subunit, a safety calculation subunit and a judging abnormality subunit;

the calculating subunit is used for calculating the target motion parameters of the first robot according to the first control program;

the teaching subunit is used for sending the target motion parameters to a servo driver of the first robot and controlling the first robot to teach;

the reading subunit is used for controlling the first robot to teach and simultaneously reading the actual motion parameters of the first robot;

the safety calculation subunit is used for carrying out safety calculation on the actual motion parameters of the first robot;

and the abnormality judging subunit is used for judging that the first robot is abnormal if the actual motion parameter of the first robot exceeds a preset safety upper limit value, and sending error reporting information to a first teaching page.

In the third embodiment of the present invention, further, the control unit 404 further includes: an emergency stop subunit;

and the emergency stop subunit is used for controlling the first robot to enter an emergency stop state and stop running through an emergency stop button of the first teaching page when the first teaching page displays the error reporting information.

The invention provides a device for controlling a plurality of robots, which is characterized in that a demonstrator is sequentially connected with an AP network of each motion controller in a STA way, the connection between the demonstrator and the motion controller for controlling the robots is established, gateway addresses of the motion controllers are sequentially acquired, corresponding teaching pages can be accessed according to the current gateway addresses, a visual program is operated on the teaching pages, the visual program is adjusted according to motion feedback of the controlled robots, the adjusted visual program is determined as a control program, and then the control program is uploaded to the motion controllers corresponding to the gateway addresses, so that the teaching of the robots is realized. The invention can flexibly realize the control of a plurality of robots, reduce the development cost and improve the convenience of controlling the plurality of robots by switching the AP network connected with the demonstrator.

The foregoing embodiments have been provided for the purpose of illustrating the general principles of the present invention, and are not to be construed as limiting the scope of the invention. It should be noted that any modifications, equivalent substitutions, improvements, etc. made by those skilled in the art without departing from the spirit and principles of the present invention are intended to be included in the scope of the present invention.

Claims (10)

1. A method of controlling a plurality of robots, comprising:

the AP network of each motion controller is sequentially connected in a STA mode, and gateway addresses of each motion controller are sequentially obtained;

according to the gateway address of each motion controller, the visualized program debugging is sequentially carried out on the robots controlled by each motion controller, specifically:

accessing a first teaching page according to the first gateway address acquired currently;

running a first visualization program on the first teaching page to control the first robot to move, and adjusting the first visualization program according to the motion feedback of the first robot;

determining the adjusted first visualization program as a first control program;

and uploading the first control program to a first motion controller corresponding to the first gateway address so that the first motion controller controls the first robot to teach.

2. The method of controlling a plurality of robots according to claim 1, wherein the first visualization program is specifically:

receiving information input by a user on a first teaching page, and generating a first visualization program according to the information input by the user;

wherein the information input by the user comprises: the motion trail of the first robot, the motion of the first robot and the set parameters and conditions of the first robot.

3. The method of controlling a plurality of robots according to claim 2, wherein the first motion controller controls the first robot to teach, in particular:

calculating target motion parameters of the first robot according to the first control program;

the target motion parameters are sent to a servo driver of the first robot, and the first robot is controlled to carry out teaching;

reading actual motion parameters of the first robot while controlling the first robot to teach;

carrying out safe calculation on the actual motion parameters of the first robot;

if the actual motion parameters of the first robot exceed the preset safety upper limit value, judging that the first robot is abnormal, and sending error reporting information to a first teaching page.

4. The method for controlling a plurality of robots according to claim 3, wherein after said determining that said first robot is abnormal, sending error reporting information to a first teaching page is specifically:

when the error reporting information is displayed on the first teaching page, the first robot is controlled to enter the emergency stop state and stop running through the emergency stop button of the first teaching page.

5. A teach pendant for controlling a plurality of robots, comprising: the intelligent main control main board, a power on/off button, an emergency stop switch and a display module;

the intelligent main control main board comprises a battery module, a power management module, an input/output interface module, a wireless communication module and a functional safety module;

the battery module is used for supplying power to the intelligent main control main board;

the power management module is used for coordinating the power supply condition of the intelligent main control main board; when no power is input, the battery module supplies power to the intelligent main control main board, and when the power is input, the power is used for supplying power to the battery in the battery module and the intelligent main control main board;

the input/output interface module comprises a plurality of interfaces for supporting interaction between the demonstrator and the external equipment;

the wireless communication module is used for supporting wireless communication between the demonstrator and the network communication module of the motion controller;

the functional safety module comprises a virtual emergency stop button for controlling the robot to enter an emergency stop state.

6. The teach pendant for controlling a plurality of robots of claim 5, further comprising:

the mode of connecting the demonstrator with the motion controller comprises wireless connection and wired connection;

the demonstrator is in wireless connection with the network communication module of the motion controller by utilizing the wireless communication module;

the demonstrator is connected with the Ethernet port of the motion controller in a wired way by utilizing the input/output interface module.

7. The teach pendant for controlling multiple robots of claim 5, wherein the display module is specifically:

the display module is used for displaying a teaching page;

the teaching page is accessed through a gateway address of the motion controller;

or, accessing the teaching page by installing teaching software;

or, setting a startup binding automatic login teaching page in the demonstrator in advance, and automatically accessing the teaching page when the demonstrator is started.

8. An apparatus for controlling a plurality of robots, comprising: an acquisition module and a debugging module;

the acquisition module is used for sequentially connecting the AP networks of the motion controllers in a STA mode and sequentially acquiring gateway addresses of the motion controllers;

the debugging module is used for sequentially debugging visual programs of robots controlled by the motion controllers according to gateway addresses of the motion controllers;

the debugging module comprises an access unit, an operation unit, a determination unit and a control unit;

the access unit is used for accessing a first teaching page according to the first gateway address acquired currently;

the operation unit is used for operating a first visualization program on the first teaching page so as to control the first robot to move, and adjusting the first visualization program according to the motion feedback of the first robot;

the determining unit is used for determining the adjusted first visualization program as a first control program;

the control unit is used for uploading the first control program to a first motion controller corresponding to the first gateway address so that the first motion controller controls the first robot to teach.

9. The apparatus for controlling a plurality of robots according to claim 8, wherein said control unit comprises: the system comprises a calculation subunit, a teaching subunit, a reading subunit, a safety calculation subunit and a judging abnormality subunit;

the calculating subunit is used for calculating the target motion parameters of the first robot according to the first control program;

the teaching subunit is used for sending the target motion parameters to a servo driver of the first robot and controlling the first robot to teach;

the reading subunit is used for controlling the first robot to teach and simultaneously reading the actual motion parameters of the first robot;

the safety calculation subunit is used for carrying out safety calculation on the actual motion parameters of the first robot;

and the abnormality judging subunit is used for judging that the first robot is abnormal if the actual motion parameter of the first robot exceeds a preset safety upper limit value, and sending error reporting information to a first teaching page.

10. The apparatus for controlling a plurality of robots according to claim 9, wherein said control unit further comprises: an emergency stop subunit;

and the scram subunit is used for controlling the first robot to enter the scram state and stop running through the scram button of the first teaching page when the error reporting information is displayed on the first teaching page.