State machine control method and device, robot control system

A control method and technology of a control device, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as error-prone

Active Publication Date: 2020-07-10
ZHUHAI GREE INTELLIGENT EQUIP CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Embodiments of the present invention provide a state machine control method and device, and a robot control system, so as to at least solve the technical problem that is prone to errors during the execution of the control program of the robot controller in the related art

Method used

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  • State machine control method and device, robot control system
  • State machine control method and device, robot control system
  • State machine control method and device, robot control system

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Embodiment 1

[0024] According to an embodiment of the present invention, an embodiment of a state machine control method is provided. It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and, although A logical order is shown in the flowcharts, but in some cases the steps shown or described may be performed in an order different from that shown or described herein.

[0025] figure 1 is a flow chart of an optional state machine control method according to an embodiment of the present invention, such as figure 1 As shown, a state machine control method is provided for controlling a robot. It is characterized in that the state machine includes a plurality of program states, each program state corresponds to a group of program statements, and the program statement groups of different program states have different states Marker, wherein, the state machine control method com...

Embodiment 2

[0037] According to another aspect of the embodiments of the present invention, there is also provided a state machine control device for controlling a robot. The state machine includes a plurality of program states, each program state corresponds to a group of program statements, and the program statement groups of different program states have different status flags, where, image 3 is a schematic diagram of an optional state machine control device according to an embodiment of the present invention, such as image 3 As shown, the state machine control device includes: an acquisition module 20, which is used to acquire the status marker of the program statement that the robot controller is currently running and the status marker of the program statement that will be run at the next moment; a comparison module 40, used for Compare whether the status marker of the program statement to be run at the next moment is identical with the status marker of the program statement being ...

Embodiment 3

[0045] According to another aspect of the embodiments of the present invention, there is also provided a robot control system, including: a robot; and a state machine control device, configured to control the robot. It should be noted that the state machine control device in Embodiment 3 may be the state machine control device described in any implementation manner in Embodiment 2, which will not be repeated here.

[0046] The serial numbers of the above embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.

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Abstract

The invention discloses a state machine control method and device and a robot control system. The method is used for controlling a robot. A state machine includes a plurality of program states, and each program state corresponds to one set of program statements. The program statement sets in different program states are provided with different state identifiers. The state machine control method includes the steps that the state identifier of the program statement which is running at present moment of a robot controller and the state identifier of the program statement which is to run at the next moment are acquired; whether the state identifier of the program statement which is to run at the next moment is the same as the state identifier of the program statement which is running at present moment or not is compared; and if yes, the state machine of the robot controller still operates in the program state corresponding to the program statement which is running at present moment at thenext moment. By means of the state machine control method and device and the robot control system, the technical problem of being prone to errors in the executing process of the control programs of the robot controller in the related technologies is solved.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a state machine control method and device, and a robot control system. Background technique [0002] The operating mechanism of a certain robot controller is periodic execution. When the execution time of the functional user program is greater than the cycle time set inside the controller, an error will occur in the program execution. [0003] For the above problems, no effective solution has been proposed yet. Contents of the invention [0004] Embodiments of the present invention provide a state machine control method and device, and a robot control system, so as to at least solve the technical problem in the related art that the control program of the robot controller is prone to errors during execution. [0005] According to an aspect of an embodiment of the present invention, a state machine control method is provided for controlling a robot. The above state machine includes ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1658
Inventor 晏晚君曾奇王林冰马威朱茂娟李健斌韩冰段尧王鑫杨裕才古鹏
Owner ZHUHAI GREE INTELLIGENT EQUIP CO LTD
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