CN108549296B - Automatic control method and device for industrial robot work saturation - Google Patents
Automatic control method and device for industrial robot work saturation Download PDFInfo
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- CN108549296B CN108549296B CN201810493792.9A CN201810493792A CN108549296B CN 108549296 B CN108549296 B CN 108549296B CN 201810493792 A CN201810493792 A CN 201810493792A CN 108549296 B CN108549296 B CN 108549296B
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G05B2219/00—Program-control systems
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Abstract
The utility model discloses an industrial robot work saturation automatic control method and a device thereof, which analyzes the difference of the average work duration of the industrial robot data by using a significance difference analysis method for the industrial robot data and comprehensively obtains a measurement analysis conclusion.
Description
Technical Field
The disclosure relates to the technical field of industrial robots, in particular to an automatic control method and device for industrial robot work saturation.
Background
Along with the analysis of the work saturation degree of the industrial robot by using a data mining technology, namely the analysis of the work efficiency of the industrial robot, the work saturation degree is represented by the average work duration of the industrial robot. This patent is to industrial robot saturation automatic control, comes to control operating condition's robot quantity through automatic control end promptly through judging industrial robot's saturation, and the development of this technique improves public industrial robot's work efficiency, has also improved the profit of enterprise. Most industrial robots are arranged in production workshops, the number of the industrial robots in each production workshop is more and more, the industrial robots comprise welding robots, assembly robots, direct current welding machines, vacuum robots and the like, the types are various and the centralized control is difficult, the production efficiency of the robots can be improved only by centralized and integrated control of the industrial robots, the service life of the industrial robots is prolonged, the saturation degree of the industrial robots in China at present can be analyzed only by a manual method, data can not be spoken, the data is more representative in the era of big data, the distribution of the working number of the industrial robots is regulated and controlled by the data and real-time intelligent number control is carried out, the efficiency is more representative and accurate compared with manual analysis, the manual on-off regulation is required for increasing and reducing the number of the industrial robots at present, the efficiency is extremely low, and a large number of industrial robots are kept in a running state all the time, the life-span that easy maloperation leads to a large amount of robots reduces, the energy consumption is extravagant very big, perhaps a large amount of industrial robots are closing, lead to the industrial robot production efficiency in the workshop to reduce, wait multiple problem.
Disclosure of Invention
The purpose of the disclosure is to provide an automatic control method and device for industrial robot work saturation, which are used for conveniently controlling the quantity of the operating industrial robots in a centralized manner, regulating and controlling the distribution of the work quantity of the industrial robots through saturation data and carrying out real-time intelligent quantity control.
In order to achieve the above object, the present disclosure provides an automatic control method for industrial robot work saturation, which specifically includes the following steps:
step 1, acquiring a sample sequence of industrial robot data in each production workshop;
step 2, analyzing the data correlation of the industrial robot obtained in the sample sequence by using a significance difference judgment method;
step 3, calculating the saturation of the industrial robot according to the correlation of the working data of the industrial robot;
step 4, closing the industrial robot accounting for 10% of the current industrial robot when the saturation of the industrial robot is higher than the saturation threshold;
and 5, increasing and starting the industrial robot accounting for 10% of the current industrial robot when the saturation of the industrial robot is lower than the saturation threshold.
Further, in step 1, the sample sequence contains data statistics of all industrial robots in at least one production workshop within the last 24 hours, the production workshop at least comprises 2 industrial robots, and the data statistics of the industrial robots comprise average working time, affiliated production workshops, total working time, service number and service types.
Further, in step 2, the method for analyzing the correlation of the data of the industrial robot obtained in the sample sequence by using the significance difference judgment method is to respectively judge whether the significance differences of the total working time, the production workshop and the average working time of the time dimension have significance differences by using the significance difference judgment method, wherein the significance difference judgment method is to calculate a P value in hypothesis tests of the average working time, the production workshop to which the industrial robot belongs, the total working time, the number of businesses and the business type, when the P value is less than 0.05, the significance difference exists between the compared data of the industrial robot, and when the P value is greater than or equal to 0.05, the significance difference does not exist between the compared data of the industrial robot.
Further, in step 3, finding out the industrial robot data with the P value of the significance difference smaller than 0.05 according to the significance difference of the industrial robot data, and taking the proportion of the industrial robot with the significance difference to the total number of the industrial robots as the saturation of the industrial robot, wherein the P value is the hypothesis test of the industrial robot data.
Further, in step 4 and step 5, the saturation threshold is an artificial preset value capable of being modified, the modified value range is a percentage greater than 0%, and the default value is 80%.
Further, in step 4 and step 5, the working states of the industrial robots comprise closing and starting, the working states are controlled through an automatic control end, and the automatic control end is used for controlling the closing and starting of each industrial robot so as to control the number of the industrial robots working in the current production workshop and maintain the production efficiency of the industrial robots working in the workshop.
The invention also provides an industrial robot work saturation automatic control device, which comprises:
the system comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring a sample sequence of industrial robot data in each production workshop;
the correlation analysis unit is used for analyzing the data correlation of the industrial robot obtained in the sample sequence by using a significance difference judgment method;
the saturation calculation unit is used for calculating the saturation of the industrial robot according to the correlation of the work data of the industrial robot;
the reduction control unit is used for closing the industrial robot accounting for 10% of the current industrial robot when the saturation of the industrial robot is higher than a saturation threshold value;
and a control unit is added for increasing the starting of the industrial robot accounting for 10% of the current industrial robot when the saturation of the industrial robot is lower than the saturation threshold.
The beneficial effect of this disclosure does: the invention discloses an automatic control method and device for industrial robot work saturation, which aims to solve the problem that a company automatically controls the work saturation of industrial robots, is convenient for centralized and integrated control of the quantity of operating industrial robots, and improves the production efficiency of the industrial robots, so that the closing and starting of each industrial robot are controlled to control the quantity of the industrial robots working in a current production workshop, the production efficiency of the industrial robots working in the workshop is improved, the energy consumption is reduced, the service life of the robots is prolonged, and the profits of enterprises are improved.
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The foregoing and other features of the present disclosure will become more apparent from the detailed description of the embodiments shown in conjunction with the drawings in which like reference characters designate the same or similar elements throughout the several views, and it is apparent that the drawings in the following description are merely some examples of the present disclosure and that other drawings may be derived therefrom by those skilled in the art without the benefit of any inventive faculty, and in which:
fig. 1 is a flow chart illustrating an automatic control method for work saturation of an industrial robot according to the present disclosure;
fig. 2 is a diagram of an industrial robot work saturation automatic control device according to the present disclosure.
Detailed Description
The conception, specific structure and technical effects of the present disclosure will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, aspects and effects of the present disclosure. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Fig. 1 is a flow chart of an industrial robot work saturation automatic control method according to the present disclosure, and the industrial robot work saturation automatic control method according to the embodiment of the present disclosure is explained below with reference to fig. 1.
The present disclosure provides an industrial robot work saturation automatic control method, which specifically includes the following steps:
step 1, acquiring a sample sequence of industrial robot data in each production workshop;
step 2, analyzing the data correlation of the industrial robot obtained in the sample sequence by using a significance difference judgment method;
step 3, calculating the saturation of the industrial robot according to the correlation of the working data of the industrial robot;
step 4, closing the industrial robot accounting for 10% of the current industrial robot when the saturation of the industrial robot is higher than the saturation threshold;
and 5, increasing and starting the industrial robot accounting for 10% of the current industrial robot when the saturation of the industrial robot is lower than the saturation threshold.
Further, in step 1, the sample sequence contains data statistics of all industrial robots in at least one production workshop within the last 24 hours, the production workshop at least comprises 2 industrial robots, and the data statistics of the industrial robots comprise average working time, affiliated production workshops, total working time, service number and service types.
Further, in step 2, the method for analyzing the correlation of the data of the industrial robot obtained in the sample sequence by using the significance difference judgment method is to respectively judge whether the significance differences of the total working time, the production workshop and the average working time of the time dimension have significance differences by using the significance difference judgment method, wherein the significance difference judgment method is to calculate a P value in hypothesis tests of the average working time, the production workshop to which the industrial robot belongs, the total working time, the number of businesses and the business type, when the P value is less than 0.05, the significance difference exists between the compared data of the industrial robot, and when the P value is greater than or equal to 0.05, the significance difference does not exist between the compared data of the industrial robot.
Further, in step 3, finding out the industrial robot data with the P value of the significance difference smaller than 0.05 according to the significance difference of the industrial robot data, and taking the proportion of the industrial robot with the significance difference to the total number of the industrial robots as the saturation of the industrial robot, wherein the P value is the hypothesis test of the industrial robot data.
Further, in step 4 and step 5, the saturation threshold is an artificial preset value capable of being modified, the modified numerical range is a percentage greater than 0%, the default value is 80%, the value is obtained through past experience, and the actual test effect is optimal.
Further, in step 4 and step 5, the working states of the industrial robots comprise closing and starting, the working states are controlled through an automatic control end, and the automatic control end is used for controlling the closing and starting of each industrial robot so as to control the number of the industrial robots working in the current production workshop and maintain the production efficiency of the industrial robots working in the workshop.
And 5, increasing and starting the industrial robot accounting for 10% of the current industrial robot when the saturation of the industrial robot is lower than the saturation threshold.
Further, in step 4 and step 5, when the number of the current industrial robots is less than 10, controlling the number of the industrial robots to be the actual number; controlling the number of the industrial robots to take an integral part when 10% of the current robots are not integers, for example, when the saturation of 38 industrial robots is higher than a saturation threshold, closing the industrial robots accounting for 10% of the current industrial robots, and closing 3 industrial robots; when the saturation of 54 industrial robots is lower than the saturation threshold, starting of the industrial robots accounting for 10% of the current industrial robots is increased, and then 5 standby industrial robots are started.
Method for analyzing industrial robot data using significant differences, such as: analyzing the type of the average working time of the industrial robots, wherein the average working time of a few industrial robots is higher; the median of the average working time lengths of different types of industrial robots is different; and calculating that the P value is 0.02 which is less than the P value 0.05 generally set by statistics, which indicates that the industrial robots with different models have significant differences.
The P value calculation method comprises the following steps:
generally, the statistical quantity of the test is represented by X, and when H0 is true, the value C of the statistical quantity can be calculated from the sample data, and the P value can be obtained from the concrete distribution of the test statistical quantity X. Specifically, the method comprises the following steps:
the P value of the left test is the probability that the test statistic X is less than the sample statistic C, i.e.: p ═ P { X };
the P value for the right test is the probability that the test statistic X is greater than the sample statistic C: p ═ P { X > C };
the P value of the two-sided test is 2 times the probability that the test statistic X falls within the tail region where the sample statistic C is the endpoint: p ═ 2P { X > C } (when C is at the right end of the profile) or P ═ 2P { X left end of the profile). If X follows normal distribution and t distribution, the distribution curve is symmetric about the vertical axis, so the value of P can be expressed as P { | X | > C }.
And (4) calculating a conclusion:
after the P value is calculated, the test can be concluded by comparing the given significance level α with the P value:
if α > P value, the original hypothesis is rejected at a significance level α (α is typically 0.05).
If α ≦ P value, the original assumption is accepted at the significance level α.
Wherein, industrial robot saturation is used for carrying out analysis and numerical control (start/close) to industrial robot work saturation, and industrial robot work saturation is high if industrial robot saturation is greater than 80%, and industrial robot work saturation is low if be less than 80%.
Further, the industrial robot data is analyzed separately from the average working time length using significant difference analysis based on the sample sequence, wherein the resulting relation is a key conclusion in deciding whether to influence or not.
The present invention also provides an industrial robot work saturation automatic control device, as shown in fig. 2, the device comprising:
the system comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring a sample sequence of industrial robot data in each production workshop;
the correlation analysis unit is used for analyzing the data correlation of the industrial robot obtained in the sample sequence by using a significance difference judgment method;
the saturation calculation unit is used for calculating the saturation of the industrial robot according to the correlation of the work data of the industrial robot;
the reduction control unit is used for closing the industrial robot accounting for 10% of the current industrial robot when the saturation of the industrial robot is higher than a saturation threshold value;
and a control unit is added for increasing the starting of the industrial robot accounting for 10% of the current industrial robot when the saturation of the industrial robot is lower than the saturation threshold.
Particularly, the automatic control device for the industrial robot work saturation can analyze the work saturation degree of the industrial robots of enterprises and find out corresponding influence factors, so that the turning-off and the turning-on of each industrial robot are controlled to control the number of the industrial robots working in the current production workshop, the production efficiency of the industrial robots working in the workshop is improved, the energy consumption is reduced, the service life of the robots is prolonged, and the profits of the enterprises are improved.
The automatic control device for the work saturation of the industrial robot can operate in computing equipment such as a desktop computer, a notebook computer, a palm computer and a cloud server. The industrial robot work saturation automatic control device can be operated by devices including but not limited to a processor and a memory. It will be appreciated by a person skilled in the art that the example is merely an example of an industrial robot work saturation automatic control device and does not constitute a limitation of an industrial robot work saturation automatic control device, which may comprise more or less components than the other, or a combination of some components, or different components, for example, the industrial robot work saturation automatic control device may further comprise input and output devices, network access devices, buses, etc.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, said processor being the control centre of the operation device of the industrial robot sat automaton, with various interfaces and lines connecting the various parts of the operation device of the whole industrial robot sat automaton.
The memory can be used for storing the computer program and/or the module, and the processor realizes various functions of the industrial robot work saturation automatic control device by running or executing the computer program and/or the module stored in the memory and calling data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
While the present disclosure has been described in considerable detail and with particular reference to a few illustrative embodiments thereof, it is not intended to be limited to any such details or embodiments or any particular embodiments, but it is to be construed as effectively covering the intended scope of the disclosure by providing a broad, potential interpretation of such claims in view of the prior art with reference to the appended claims. Furthermore, the foregoing describes the disclosure in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial modifications of the disclosure, not presently foreseen, may nonetheless represent equivalent modifications thereto.
Claims (7)
1. An automatic control method for industrial robot work saturation, which is characterized by comprising the following steps:
step 1, acquiring a sample sequence of industrial robot data in each production workshop;
step 2, analyzing the data correlation of the industrial robot obtained in the sample sequence by using a significance difference judgment method;
step 3, calculating the saturation of the industrial robot according to the correlation of the working data of the industrial robot;
step 4, closing the industrial robot accounting for 10% of the current industrial robot when the saturation of the industrial robot is higher than the saturation threshold;
and 5, increasing and starting the industrial robot accounting for 10% of the current industrial robot when the saturation of the industrial robot is lower than the saturation threshold.
2. The method according to claim 1, wherein in step 1, the sample sequence comprises data statistics of all industrial robots in the last 24 hours of at least one production shop, the production shop comprises at least 2 industrial robots, and the data statistics of the industrial robots comprise average working hours, affiliated production shops, total working hours, number of businesses and business types.
3. The method of claim 1, wherein in step 2, the method for analyzing the correlation between the industrial robot data obtained in the sample sequence by using the significance difference judgment method is to respectively judge whether the significance differences of the total working time, the production workshop and the average working time of the time dimension have significance differences by using the significance difference judgment method, wherein the significance difference judgment method is to calculate the P value in the hypothesis test of the average working time, the production workshop, the total working time, the service quantity and the service type, when the P value is less than 0.05, the significance difference is found between the compared industrial robot data, and when the P value is greater than or equal to 0.05, the significance difference is not found between the compared industrial robot data.
4. An automatic control method for industrial robot work saturation according to claim 1, characterized in that in step 3, the industrial robot data with the significance difference having the P value less than 0.05 is found out according to the significance difference of the industrial robot data, and the proportion of the industrial robot with the significance difference to the total number of the industrial robots is used as the industrial robot saturation, wherein the P value is the hypothesis test of the industrial robot data.
5. An automatic control method for the work saturation of an industrial robot according to claim 1 is characterized in that in step 4 and step 5, the saturation threshold is a manually preset value that can be modified, the modified value range is a percentage greater than 0%, and the default value is 80%.
6. An automatic industrial robot work saturation control method according to claim 1, characterized in that in step 4 and step 5, the working states of the industrial robots include shut-down and start-up, and the working states are controlled by an automatic control terminal, and the automatic control terminal is used for controlling the shut-down start of each industrial robot to control the number of the industrial robots currently working in the production workshop to maintain the production efficiency of the industrial robots working in the workshop.
7. An automatic control device for industrial robot work saturation, characterized in that the device comprises:
the system comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring a sample sequence of industrial robot data in each production workshop;
the correlation analysis unit is used for analyzing the data correlation of the industrial robot obtained in the sample sequence by using a significance difference judgment method;
the saturation calculation unit is used for calculating the saturation of the industrial robot according to the correlation of the work data of the industrial robot;
the reduction control unit is used for closing the industrial robot accounting for 10% of the current industrial robot when the saturation of the industrial robot is higher than a saturation threshold value;
and a control unit is added for increasing the starting of the industrial robot accounting for 10% of the current industrial robot when the saturation of the industrial robot is lower than the saturation threshold.
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| CN113359566A (en) * | 2021-06-23 | 2021-09-07 | 武汉交通职业学院 | Automatic control method and device for industrial robot work saturation |
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