CN105922257A - Robot teaching system based on mobile electronic equipment - Google Patents
Robot teaching system based on mobile electronic equipment Download PDFInfo
- Publication number
- CN105922257A CN105922257A CN201610271781.7A CN201610271781A CN105922257A CN 105922257 A CN105922257 A CN 105922257A CN 201610271781 A CN201610271781 A CN 201610271781A CN 105922257 A CN105922257 A CN 105922257A
- Authority
- CN
- China
- Prior art keywords
- robot
- teaching
- mobile electronic
- electronic device
- application program
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
Disclosed is a robot teaching system based on mobile electronic equipment. The system comprises the mobile electronic equipment, a wireless router and a robot controller; the mobile electronic equipment is wirelessly connected to the wireless router, and the robot controller is connected to the wireless router; according to a working method of the system, when a robot teaching program is started, whether the mobile electronic equipment is authorized equipment or not is determined; if it is determined that the mobile electronic equipment is the authorized equipment, a teaching application program has access to a dedicated server program in the robot controller to obtain robot relevant information; and if the robot relevant information is obtained, robot basic information is displayed, a login interface is displayed, and a user can perform robot teaching after logging in through relevant account information. According to the system, the mobile electronic equipment is applied to complete teaching work of a robot, and compared with a conventional teaching box, the production cost is greatly reduced, a certain safety distance can be kept between the system and the robot, and personal safety of an operator is ensured.
Description
Technical field
The invention provides a kind of robot teaching system based on mobile electronic device, relate to robot field, particularly relate to robot control field.
Background technology
Teaching box is the important component part of robot control system.Operator carries out manual teaching control robot by teaching box and reaches different positions and pose and record each pose point coordinates.Utilize robot language to carry out online programming and realize the orbiting motion that program playback allows robot execution program require.Therefore, in the application process of industrial robot, teaching box has become an indispensable part for robot, and quality and the user-interface design reasonability of its performance will be directly connected to industrial robot using effect.Robot teaching box as man machine interface also experienced by constantly improvement, developed into by single order input, message code show tools integrate programming, test, safeguard, the autonomous system of the function such as system is arranged, robot system plays very important effect.For such a system, it is proposed that require as follows:
(1) reliable friendly man-machine interface is provided；
(2) complete the communication task with main frame and show the operation indicating of information and necessity；
(3) application program teaching, editor；
(4) perform program test, monitoring programme reproduces；
(5) can implementation tool parameter, main frame, external equipment, robot outside axle parameter setting；
(6) robot duty, system mode and error message show.
Existing robot teaching system is typically all a special hardware unit, has the input-output equipment such as display screen, touch screen, is connected with robot control cabinet by cable, it is achieved teaching, the control to robot.This special device need to individually be developed and produce, relatively costly.Mode additionally by cable is connected with switch board, has also fettered moving freely of operator.If cable is shorter, close to robot, the most certain danger.
Present some electronic equipments such as smart mobile phone, panel computer etc. all has the hardware platform of powerful, work if able to utilize the hardware platform of these equipment to complete the teaching to robot by software programming, to not only be greatly reduced the production cost of teaching box, by the way of wireless connections, robot can also be carried out teaching, certain safe distance can be kept, it is ensured that the personal safety of robot manipulation personnel with robot.
Summary of the invention
The invention provides a kind of robot teaching system based on mobile electronic device, this system application mobile electronic device completes the teaching work of robot, compared with conventional teaching box, not only greatly reduce production cost, certain safe distance can also be kept, it is ensured that the personal safety of operator with robot.
The technical scheme that the present invention provides is as follows: a kind of robot teaching system based on mobile electronic device, described robot teaching system includes mobile electronic device, wireless router and robot controller, described mobile electronic device is provided with robot teaching program and is wirelessly connected to wireless router, described robot controller is connected to wireless router, and the method for work of described robot teaching system is as follows:
Step one, described robot teaching program determines whether described mobile electronic device is can be to the authorisation device of robot teaching on startup；
Step 2, if determining that in step one described mobile electronic device is authorisation device, then teaching application program is by accessing the special server program in robot controller to obtain robot relevant information, if getting robot relevant information, then show robot essential information and show login interface；If not obtaining robot relevant information, then prompting connects without robot and exits；
Step 3, if after step 2 showing, login interface and user use associated account information Successful login, teaching application program starts heartbeat detection process automatically, check that the connection between teaching application program and robot is the most normal, then stop all actions of robot to guarantee safety if be detected that connect to disconnect.
Further, in step, determine whether described mobile electronic device is can be to the method for the authorisation device of robot teaching: teaching application program reads IMEI and the mac address information of electronic equipment automatically, then inquire about whether this IMEI and MAC Address exist in the secure validation database being pre-stored within teaching application program, if it is present mobile electronic device is can be to the authorisation device of robot teaching；Described mobile electronic device is otherwise pointed out to be illegality equipment and exit teaching application program.
Further, in step one, over-network registration mode is used to determine whether described mobile electronic device is can be to the authorisation device of robot teaching.
Robot teaching system based on mobile electronic device proposed by the invention has a following outstanding advantages:
The system of the present invention can carry out teaching to robot in the way of utilizing existing electronic equipment such as smart mobile phone, panel computer by wireless connections.By installing corresponding teaching application program in the electronic device, wirelessly the robot being connected to same wireless router can be carried out teaching by mobile electronic device.Utilize mobile electronic device that robot wirelessly carries out teaching and will not only greatly reduce the production cost of teaching box, certain safe distance can be kept with robot, it is ensured that the personal safety of robot manipulation personnel.
Accompanying drawing explanation
Fig. 1 is the composition schematic diagram of the robot teaching system of the present invention；
Fig. 2 is the workflow diagram of the robot teaching system of the present invention.
Detailed description of the invention
With specific embodiment, the present invention is described in further detail below in conjunction with the accompanying drawings: the present embodiment is implemented under premised on technical solution of the present invention, gives embodiment and operating process, but protection scope of the present invention is not limited to following enforcement.
Fig. 1 is the composition schematic diagram of the robot teaching system of the present invention.
Fig. 2 is the workflow diagram of the robot teaching system of the present invention.Now provide a specific embodiment this workflow is described in detail.In this embodiment, mobile electronic device is mobile phone.The first step, is connected to wireless router by mobile phone by WIFI, and by netting twine, robot controller is connected to wireless router；.Second step, starts the robot teaching application program being arranged on mobile phone；3rd step, teaching application program is on startup, automatically IMEI and the MAC Address of mobile phone are read, the IMEI wherein read is 358239051767418, MAC Address is bf:f5:ac:f9:c7:50, and whether IMEI and MAC Address that teaching application program data search in secure validation database is read exist.This secure validation database is write in advance by teaching application developer and binds together with teaching application program, can install this secure validation database when cellphone subscriber installs teaching application program on mobile phone simultaneously.If teaching application program finds read IMEI number and MAC Address in this secure validation database, then illustrate that this mobile phone is through the electronic equipment authorized, robot can be carried out teaching, otherwise illustrate that this mobile phone is illegal.The data form stored in secure validation database is as shown in the table:
| Id | IMEI | MAC | RobotSN |
| 1 | 358239051767418 | bf:f5:ac:f9:c7:50 | NRC-BS01-ET-A6S-A20150718001 |
From this table, IMEI 358239051767418 and MAC bf:f5:ac:f9:c7:50 exists in this secure validation database, and the most described mobile phone is can be to the authorisation device of robot teaching；4th step, teaching application program is by accessing the special server program in robot controller to obtain robot relevant information.In this embodiment, teaching application program and robot controller software use typical C/S architecture mode.Robot controller is server end, runs special server, and teaching application program is client-side program, and communication therebetween uses Windows Sockets interface to realize.By sockets interface, teaching application program obtains the numbered NRC-BS01-ET-A6S-A20150718001 of robot product being connected to wireless router；5th step, gets robot product number information and shows have robot to be connected on the wireless router that mobile phone is connected, then teaching application program display login interface；6th step, user uses associated account information to log in teaching application program, then robot can be carried out teaching.Operation and interface to robot teaching are referred to conventional teaching box.At user's Successful login teaching application program and during robot is carried out teaching, teaching application program can run heartbeat detection process on backstage.Heartbeat detection is equivalent to a software watchdog.After logging in system by user, software automatically turns on a thread, sets up socket with controller end and is connected, and (such as 10s) sends out a little packet (such as " hi ") mutually at regular intervals.If client can not receive this packet, then it is assumed that connecting and lose, user operation is in unsafe condition, then prompting user connects loss and exits.Same controller end can not receive this packet, is also considered as connecting and loses, and user operation is in unsafe condition, stops robot motion immediately, to guarantee safety.
In the above-described embodiments, mobile electronic device is smart mobile phone, and similarly the mobile electronic device such as panel computer, ipad is also feasible.Robot controller can be connected to wireless router by the way of network, it is also possible to is wirelessly connected to wireless router.
Use the system of the present invention, in a limited scope, robot can be carried out teaching, such as in the family that wireless router is covered or office space, so can control robot more easily, appropriately distance can be kept the most again, it is ensured that the personal safety of operator with robot.Compare special teaching box simultaneously, utilize existing mobile electronic device can be greatly reduced the production cost of teaching box to carry out teaching work, increase economic efficiency.
Claims (3)
1. a robot teaching system based on mobile electronic device, it is characterized in that: include mobile electronic device, wireless router and robot controller, described mobile electronic device is provided with robot teaching program and is wirelessly connected to wireless router, described robot controller is connected to wireless router, and the method for work of described system is as follows:
The most described robot teaching program determines whether described mobile electronic device is can be to the authorisation device of robot teaching on startup；
If determining that described mobile electronic device is authorisation device the most in step, then teaching application program is by accessing the special server program in robot controller to obtain robot relevant information, if getting robot relevant information, then show robot essential information and show login interface；If not obtaining robot relevant information, then prompting connects without robot and exits；
If after C. step B showing, login interface and user use associated account information Successful login, teaching application program starts heartbeat detection process automatically, check that the connection between teaching application program and robot is the most normal, then stop all actions of robot to guarantee safety if be detected that connect to disconnect.
Robot teaching system based on mobile electronic device the most according to claim 1, it is characterized in that: determine whether described mobile electronic device is can be to the method for the authorisation device of robot teaching: teaching application program reads IMEI and the mac address information of electronic equipment automatically, then inquire about whether this IMEI and MAC Address exist in the secure validation database being pre-stored within teaching application program, if it is present mobile electronic device is can be to the authorisation device of robot teaching；Described mobile electronic device is otherwise pointed out to be illegality equipment and exit teaching application program.
Robot teaching system based on mobile electronic device the most according to claim 1, it is characterised in that: use over-network registration mode to determine whether described mobile electronic device is can be to the authorisation device of robot teaching.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610271781.7A CN105922257A (en) | 2016-04-28 | 2016-04-28 | Robot teaching system based on mobile electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610271781.7A CN105922257A (en) | 2016-04-28 | 2016-04-28 | Robot teaching system based on mobile electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105922257A true CN105922257A (en) | 2016-09-07 |
Family
ID=56837535
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610271781.7A Pending CN105922257A (en) | 2016-04-28 | 2016-04-28 | Robot teaching system based on mobile electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105922257A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444458A (en) * | 2016-11-11 | 2017-02-22 | 华南智能机器人创新研究院 | Method and system for remotely controlling industrial robot |
| CN107053143A (en) * | 2017-05-31 | 2017-08-18 | 佛山华数机器人有限公司 | A kind of industrial robot teaching device and application method based on WEB controls |
| CN107544299A (en) * | 2017-08-07 | 2018-01-05 | 浙江工业大学 | PC ends APP systems for sixdegree-of-freedom simulation teaching control |
| CN107817769A (en) * | 2016-09-13 | 2018-03-20 | 发那科株式会社 | Possesses the robot system of the teaching operation disk to be communicated with robot control unit |
| CN109634144A (en) * | 2018-11-23 | 2019-04-16 | 珠海格力电器股份有限公司 | A kind of exchange method and device of universal teaching machine |
| CN112276943A (en) * | 2020-10-14 | 2021-01-29 | 苏州华兴源创科技股份有限公司 | Robot teaching control method, teaching control system, computer device, and medium |
| CN112659124A (en) * | 2020-12-14 | 2021-04-16 | 南昌大学 | Virtual simulation and control system based on Android system |
| CN114571443A (en) * | 2022-04-28 | 2022-06-03 | 北京深度奇点科技有限公司 | System and method for teaching robot motion through mobile terminal wireless control low code |
| CN114683277A (en) * | 2021-12-29 | 2022-07-01 | 上海智殷自动化科技有限公司 | Method for teaching robot motion through mobile terminal wireless control low code |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2689650A1 (en) * | 2012-07-27 | 2014-01-29 | Honda Research Institute Europe GmbH | Trainable autonomous lawn mower |
| CN104977874A (en) * | 2014-04-04 | 2015-10-14 | 洛克威尔自动控制技术股份有限公司 | Industrial-enabled Mobile Device |
| CN105116785A (en) * | 2015-06-26 | 2015-12-02 | 北京航空航天大学 | Multi-platform remote robot general control system |
| CN105137860A (en) * | 2015-07-31 | 2015-12-09 | 重庆世纪精信实业（集团）有限公司 | Remote monitoring and control system for industrial manipulator based on Internet |
| CN204989857U (en) * | 2015-10-14 | 2016-01-20 | 云南大学 | Remote control device based on pioneer robot |
-
2016
- 2016-04-28 CN CN201610271781.7A patent/CN105922257A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2689650A1 (en) * | 2012-07-27 | 2014-01-29 | Honda Research Institute Europe GmbH | Trainable autonomous lawn mower |
| CN104977874A (en) * | 2014-04-04 | 2015-10-14 | 洛克威尔自动控制技术股份有限公司 | Industrial-enabled Mobile Device |
| CN105116785A (en) * | 2015-06-26 | 2015-12-02 | 北京航空航天大学 | Multi-platform remote robot general control system |
| CN105137860A (en) * | 2015-07-31 | 2015-12-09 | 重庆世纪精信实业（集团）有限公司 | Remote monitoring and control system for industrial manipulator based on Internet |
| CN204989857U (en) * | 2015-10-14 | 2016-01-20 | 云南大学 | Remote control device based on pioneer robot |
Non-Patent Citations (1)
| Title |
|---|
| 杨晶: "基于Android的机器人示教软件设计与实现", 《中国优秀硕士学位论文全文数据库》 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107817769A (en) * | 2016-09-13 | 2018-03-20 | 发那科株式会社 | Possesses the robot system of the teaching operation disk to be communicated with robot control unit |
| CN106444458A (en) * | 2016-11-11 | 2017-02-22 | 华南智能机器人创新研究院 | Method and system for remotely controlling industrial robot |
| CN106444458B (en) * | 2016-11-11 | 2019-05-03 | 华南智能机器人创新研究院 | A kind of method and system of long-range control industrial robot |
| CN107053143A (en) * | 2017-05-31 | 2017-08-18 | 佛山华数机器人有限公司 | A kind of industrial robot teaching device and application method based on WEB controls |
| CN107053143B (en) * | 2017-05-31 | 2020-09-18 | 佛山华数机器人有限公司 | Industrial robot demonstrator based on WEB control and use method |
| CN107544299A (en) * | 2017-08-07 | 2018-01-05 | 浙江工业大学 | PC ends APP systems for sixdegree-of-freedom simulation teaching control |
| CN107544299B (en) * | 2017-08-07 | 2020-10-09 | 浙江工业大学 | PC (personal computer) end APP (application) system for teaching control of six-degree-of-freedom mechanical arm |
| CN109634144A (en) * | 2018-11-23 | 2019-04-16 | 珠海格力电器股份有限公司 | A kind of exchange method and device of universal teaching machine |
| CN112276943A (en) * | 2020-10-14 | 2021-01-29 | 苏州华兴源创科技股份有限公司 | Robot teaching control method, teaching control system, computer device, and medium |
| CN112659124A (en) * | 2020-12-14 | 2021-04-16 | 南昌大学 | Virtual simulation and control system based on Android system |
| CN114683277A (en) * | 2021-12-29 | 2022-07-01 | 上海智殷自动化科技有限公司 | Method for teaching robot motion through mobile terminal wireless control low code |
| CN114571443A (en) * | 2022-04-28 | 2022-06-03 | 北京深度奇点科技有限公司 | System and method for teaching robot motion through mobile terminal wireless control low code |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105922257A (en) | Robot teaching system based on mobile electronic equipment | |
| CN105550109A (en) | Equipment debugging method and electronic equipment | |
| CN107615783A (en) | The wireless preset and configuration of the hardware element of domestic automation system | |
| DE112013003702T5 (en) | A system and method for using a personal electronic device to wirelessly connect a remote diagnostic site to a home appliance for troubleshooting purposes | |
| CN104089377B (en) | Air conditioner and its control method and device and controller | |
| DE102013219054A1 (en) | A method of connecting a home appliance to a home wireless network, computer program product, portable communication terminal, and home appliance | |
| CN105635108A (en) | Firewall with application packet classifier | |
| CN106288222B (en) | Air conditioning equipment, and air conditioning control method, device and system based on mobile equipment | |
| CN105635274A (en) | Electrical equipment remote intelligent monitoring platform and intelligent control system | |
| US20140164258A1 (en) | Mobile station apparatus and communication method thereof | |
| KR102439337B1 (en) | Multilateral participation remote collaboration system based on Augmented reality sharing and method thereof | |
| WO2016192579A1 (en) | Information processing method, cloud service platform and information processing system | |
| CN105094914A (en) | Remote online programming method, device and system | |
| US20150045916A1 (en) | Production system | |
| KR102392154B1 (en) | Relay apparatus and data communication system | |
| CN104486662A (en) | Method for remotely controlling TV and TV | |
| CN113329241A (en) | Air conditioner and method and device for multimedia playing in air conditioner | |
| KR20170109954A (en) | System and method for managing collaboration between the devices based on machine socialization using access point | |
| JP6250114B1 (en) | Extended warranty system and server device | |
| CN108491344A (en) | Robot controls management method, system, robot and computer storage media | |
| US20200044933A1 (en) | Management device and management method | |
| JP2019114897A (en) | Data refining method, data refining device and data refining program | |
| CN111882079A (en) | Debugging method, device and system | |
| KR101270317B1 (en) | Method for diagnosing/repairing electronic device and system using the same | |
| CN114726664B (en) | Binding method and binding equipment for household equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160907 |
|
| RJ01 | Rejection of invention patent application after publication |