US 12,269,171 B2
Industrial internet of things systems for monitoring collaborative robots with dual identification, control methods and storage media thereof
Zehua Shao, Chengdu (CN); Yaqiang Quan, Chengdu (CN); Lei Zhang, Chengdu (CN); Yongzeng Liang, Chengdu (CN); and Xiaojun Wei, Chengdu (CN)
Assigned to CHENGDU QINCHUAN IOT TECHNOLOGY CO., LTD., Chengdu (CN)
Filed by CHENGDU QINCHUAN IOT TECHNOLOGY CO., LTD., Sichuan (CN)
Filed on May 9, 2023, as Appl. No. 18/314,463.
Claims priority of application No. 202310098240.9 (CN), filed on Feb. 7, 2023.
Prior Publication US 2023/0271325 A1, Aug. 31, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 19/02 (2006.01); G16Y 40/10 (2020.01)
CPC B25J 9/1674 (2013.01) [B25J 9/1671 (2013.01); B25J 19/023 (2013.01); G16Y 40/10 (2020.01)] 7 Claims
OG exemplary drawing
 
1. An Industrial Internet of Things system for monitoring a collaborative robot with dual identification, comprising: a service platform, a management platform, a sensing network platform connected in turn, wherein the management platform comprises:
a selection module configured to select at least one key moment from a processing cycle of a target collaborative robot; the processing cycle being a processing process of the target collaborative robot for a workpiece; the key moment being a moment in the processing cycle when the target collaborative robot is stationary;
a space module configured to establish a collaborative robot space and to establish a key point of a collaborative robot in the collaborative robot space; the key point including a point of a joint of the collaborative robot;
a benchmark module configured to take coordinates of a key point of the target collaborative robot in the collaborative robot space at the key moment in a standard processing situation as benchmark coordinates;
an acquisition module configured to obtain first coordinates and second coordinates via the sensing network platform; the first coordinates being coordinates of the key point of the target collaborative robot in the collaborative robot space at the key moment in a production processing situation and being obtained from image information; the second coordinates being coordinates of the key point of the target collaborative robot in the collaborative robot space at the key moment in the production processing situation and being obtained from displacement sensor data; and
a calculation module configured to monitor a work situation of the target collaborative robot based on a difference between the first coordinates, the second coordinates and the benchmark coordinates of the same key point at the same key moment, and to send the work situation to a user platform to display to a user via the service platform;
the acquisition module is further configured to:
photograph the target collaborative robot by a dual camera to form 3D image information;
extract coordinates of the key point from the 3D image information at the key moment as 3D coordinates; and
map the 3D coordinates into the collaborative robot space to form the first coordinates;
obtain displacement data of the key point of the target collaborative robot at the key moment in the production processing situation by a displacement sensor, the displacement sensor being configured at a joint of the target collaborative robot corresponding to the key point;
calculate displacement sensor coordinates based on the displacement data and initial coordinates of the key point at the processing cycle; and
map the displacement sensor coordinates into the collaborative robot space to form the second coordinates; and
the calculation module is further configured to:
obtain first coordinates of all key points at the same key moment to form a first coordinate group and obtain second coordinates of all key points at the same key moment to form a second coordinate group;
calculate a coordinate value difference between the first coordinate group and the second coordinate group corresponding to each of the key points as a coordinate difference value of each of the key points; and
if the coordinate difference value is less than or equal to a first preset value, perform a first action, the first action including an action not to correct the image information and the displacement sensor; or
if the coordinate difference value is greater than the first preset value, perform a second action, the second action being an action to correct the image information and/or the displacement sensor.