CN107770181A - A kind of exchange method of robot system, interaction process apparatus and system - Google Patents
A kind of exchange method of robot system, interaction process apparatus and system Download PDFInfo
- Publication number
- CN107770181A CN107770181A CN201711020699.8A CN201711020699A CN107770181A CN 107770181 A CN107770181 A CN 107770181A CN 201711020699 A CN201711020699 A CN 201711020699A CN 107770181 A CN107770181 A CN 107770181A
- Authority
- CN
- China
- Prior art keywords
- message
- data
- robot
- target robot
- host computer
- 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.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/08—Protocols for interworking; Protocol conversion
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/18—Multiprotocol handlers, e.g. single devices capable of handling multiple protocols
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/22—Parsing or analysis of headers
Landscapes
- Engineering & Computer Science (AREA)
- Computer Security & Cryptography (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Computer And Data Communications (AREA)
- Communication Control (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of exchange method of robot system, interaction process apparatus and system, including：Step S100 receives the first data message that host computer is sent；Step S200 parses first data message, obtains the command information that target robot mark, the communication protocol type that the target robot is followed, the host computer issue the target robot；The communication protocol type that step S300 is followed according to the target robot, the command information is converted into corresponding first communication protocol message；Step S400 is by the first communication protocol message by supporting the communication interface of the communication protocol type is sent to the target robot to identify corresponding target robot.The agreement difference of present invention shielding bottom multirobot, unified communication interface is provided for upper layer application.
Description
Technical field
The present invention relates to robot field, espespecially a kind of exchange method of robot system, interaction process apparatus and system.
Background technology
The manufacturing industry 2025 proposed from the industry 4.0 of Germany to China is planned, and one is to need intelligence raw the characteristics of very big
Production completes complex task, it is necessary to multi-robot Cooperation with coordinating.
But in multirobot environment, each industrialized robot each follows proprietary protocol.With robot species
More and more, the task of robot becomes increasingly complex, and the communication environment of robot system is also more and more changeable, changeable in function
Under robot and the communication environment of complexity, control terminal is needed with being interacted using the robot of different agreement, so as to add
The difficulty and complexity of control terminal.
The content of the invention
It is an object of the invention to provide a kind of exchange method of robot system, interaction process apparatus and system, Ke Yiping
The agreement difference of bottom multirobot is covered, unified communication interface is provided for upper layer application.
Technical scheme provided by the invention is as follows：
A kind of exchange method of robot system, interaction process apparatus and system, including：Step S100 receives host computer hair
The first data message sent；Step S200 parses first data message, obtains target robot mark, the target machine
Communication protocol type that people is followed, the host computer issue the command information of the target robot；Step S300 is according to institute
The communication protocol type that target robot is followed is stated, the command information is converted into corresponding first communication protocol message；
Step S400 is by the first communication protocol message by supporting the communication interface of the communication protocol type to be sent to the mesh
The corresponding target robot of scalar robot mark.
In the above-mentioned technical solutions, by parsing the first data message, target robot mark, target robot institute are obtained
The communication protocol type that follows, host computer issue the command information of target robot；Followed further according to the target robot
Communication protocol type, by the command information be converted into corresponding to the first communication protocol message；So maskable bottom is multiple
The communication protocol difference of robot, make to keep unifying with the communication interface of host computer and stably, facilitate upper layer application.
Further, first data message is IP datagram text；The step S200 includes：Step S210 judges
IP message head identifier can be found in the IP datagram text；Step S220 finds the IP in the IP datagram text and disappeared
When ceasing head identifier, parsing obtains TCP data message；Step S230 judges that can find TCP in the TCP data message disappears
Cease head identifier；When step S240 finds the TCP message head identifier in the TCP data message, parsing obtains agreement
Data cell；Step S250 parses to the data of the protocol Data Unit, obtains the target robot and identifies, be described
Communication protocol type that target robot is followed, the host computer issue the command information of target robot.
In the above-mentioned technical solutions, there is provided a kind of the first datagram with the communication interface of host computer for Ethernet interface
The analytic method of text, to obtain the command information and target machine that host computer issues target robot from IP datagram text
The communication protocol type that people is followed, this is that command information subsequently is converted into target robot the first communication protocols to understand
View message has made place mat.
Further, the step S250 includes：The protocol Data Unit is parsed, obtains data to be verified
And check bit；To the data to be verified, check bit is referred to according to the generation of default verification mode；Judge described to refer to check bit
It is whether identical with the check bit；When the reference check bit is with the check bit difference, then the IP datagram text is abandoned,
And fed back to the host computer；When the reference check bit is identical with the check bit, then to the protocol Data Unit
Data further parse, and obtain the target robot mark, communication protocol type that the target robot is followed, described
Host computer issues the command information of target robot.
In the above-mentioned technical solutions, protocol Data Unit is verified, if verification passes through, illustrated from host computer
The data for being transmitted through are reliable, and the data of protocol Data Unit further can be parsed；If verification not by, illustrate from
The data that host computer is transmitted through are insecure, it is necessary to abandon the data specifically received, and notify host computer, so as to host computer weight
Hair.
Further, in addition to：Step S500 receives the second communication protocol message that the target robot is sent；Step
The second communication protocol message is converted into corresponding second datagram by S600 according to the interface protocol with the host computer
Text；Second data message is sent to host computer by step S700.
In the above-mentioned technical solutions, there is provided up direction, i.e., the exchange method from target robot to host computer.Due to
The communication protocol type of multiple robots there may be difference, so needing the second communication protocol report for sending target robot
Text is converted into host computer the second data message to understand.
Further, in addition to：The second communication protocol message is the target robot to first communication protocols
Discuss the response message of message, or the active reporting information of the target robot.
In the above-mentioned technical solutions, the second communication protocol message is explained further.
The present invention also provides a kind of interaction process device, including：Receiving module, for receiving the first number of host computer transmission
According to message；Parsing module, electrically connected with the receiving module, for parsing first data message, obtain target robot
Mark, the communication protocol type that is followed of the target robot, the host computer issue the instruction letter of the target robot
Breath；Modular converter, electrically connected with the parsing module, for the communication protocol type followed according to the target robot,
The command information is converted into corresponding first communication protocol message；Interface module, electrically connect, be used for the modular converter
By the first communication protocol message by supporting the communication interface of the communication protocol type to be sent to the target robot
The corresponding target robot of mark.
In the above-mentioned technical solutions, by parsing the first data message, target robot mark, target robot institute are obtained
The communication protocol type that follows, host computer issue the command information of target robot；Followed further according to the target robot
Communication protocol type, by the command information be converted into corresponding to the first communication protocol message；So maskable bottom is multiple
The communication protocol difference of robot, make the holding of the communication interface of interaction process device and host computer unified and stably, facilitate upper strata
Using.
Further, the parsing module also includes：Judging submodule, for can judge in the IP datagram text
Find IP message head identifier；And judge that TCP message head identifier can be found in the TCP data message；Parsing
Module, during for finding the IP message head identifier in the IP datagram text, obtain TCP data message；And in institute
State when the TCP message head identifier is found in TCP data message, obtain protocol Data Unit；And to the protocol data
The data of unit are parsed, obtain target robot mark, the communication protocol type that the target robot is followed,
The host computer issues the command information of target robot.
In the above-mentioned technical solutions, there is provided a kind of the first datagram with the communication interface of host computer for Ethernet interface
The analytic method of text, to obtain the command information and target machine that host computer issues target robot from IP datagram text
The communication protocol type that people is followed, this is that command information subsequently is converted into target robot the first communication protocols to understand
View message has made place mat.
Further, the analyzing sub-module, it is further used for parsing the data of the protocol Data Unit, obtains
To data and check bit to be verified；
The parsing module also includes：Submodule is verified, for the data to be verified, according to default verification mode
Generation refers to check bit；The judging submodule, be further used for judging it is described with reference to check bit whether with the check bit phase
Together；The analyzing sub-module, it is further used for when the reference check bit is with the check bit difference, then abandoning the IP numbers
According to message；The interface module, it is further used for when the reference check bit is with the check bit difference, to the host computer
Feedback；The analyzing sub-module, it is further used for when the reference check bit is identical with the check bit, then to the agreement
The data of data cell further parse, and obtain the target robot mark, the communication protocols that the target robot is followed
View type, the host computer issue the command information of target robot.
In the above-mentioned technical solutions, protocol Data Unit is verified, if verification passes through, illustrated from host computer
The data for being transmitted through are reliable, and the data of protocol Data Unit further can be parsed；If verification not by, illustrate from
The data that host computer is transmitted through are insecure, it is necessary to abandon the data specifically received, and notify host computer, so as to host computer weight
Hair.
Further, the receiving module, it is further used for receiving the second communication protocol that the target robot is sent
Message；The modular converter, it is further used for according to the interface protocol with the host computer, by the second communication protocol message
Second data message corresponding to being converted into；The interface module, it is further used for second data message being sent to upper
Machine.
In the above-mentioned technical solutions, there is provided up direction, i.e., the exchange method from target robot to host computer.Due to
The communication protocol type of multiple robots there may be difference, so needing the second communication protocol report for sending target robot
Text is converted into host computer the second data message to understand.
The present invention also provides a kind of robot system, it is characterised in that including：Foregoing interaction process device；Also include
Host computer, robot：The host computer, communicated to connect with the interaction process device, for sending the to interaction process device
One data message, and receive the second data message from interaction process device；The robot, filled with the interaction process
Communication connection is put, for receiving the first communication protocol message from interaction process device and performing, and is filled to interaction process
Put and send the second communication protocol message.
In the above-mentioned technical solutions, there is provided a kind of robot system, in addition to foregoing interaction process device, also supplemented with upper
Position machine and robot.
By a kind of exchange method of robot system provided by the invention, interaction process apparatus and system, can bring
Following at least one beneficial effect：The present invention can shield the agreement difference of bottom multirobot, be provided for upper layer application unified
Communication interface.
Brief description of the drawings
Below by a manner of clearly understandable, preferred embodiment is described with reference to the drawings, to a kind of friendship of robot system
Mutual method, above-mentioned characteristic, technical characteristic, advantage and its implementation of interaction process apparatus and system are further described.
Fig. 1 is a kind of flow chart of one embodiment of the exchange method of robot system of the present invention；
Fig. 2, Fig. 3 are a kind of flow charts of another embodiment of the exchange method of robot system of the present invention；
Fig. 4 is a kind of flow chart of another embodiment of the exchange method of robot system of the present invention；
Fig. 5 is a kind of structural representation of one embodiment of interaction process device of the present invention；
Fig. 6 is a kind of structural representation of another embodiment of interaction process device of the present invention；
Fig. 7 is a kind of structural representation of robot system of the present invention；
Fig. 8 is a kind of structure of first data message of one embodiment of the exchange method of robot system of the present invention
Schematic diagram；
Fig. 9 is a kind of knot of the first data message of another embodiment of the exchange method of robot system of the present invention
Structure schematic diagram.
Drawing reference numeral explanation：
100. interaction process device, 110. receiving modules, 120. parsing modules, 130. modular converters, 140. interface modules,
121. judging submodule, 122. analyzing sub-modules, 123. verification submodules, 200. host computers, 300. robots.
Embodiment
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, control is illustrated below
The embodiment of the present invention.It should be evident that drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically show in each figure, they are not represented
Its practical structures as product.In addition, so that simplified form readily appreciates, there is identical structure or function in some figures
Part, one of those is only symbolically depicted, or only marked one of those.Herein, "one" is not only represented
" only this ", the situation of " more than one " can also be represented.
In one embodiment of the invention, as shown in figure 1, a kind of exchange method of robot system, including：
Step S100 receives the first data message that host computer is sent；
Step S200 parses first data message, obtains target robot mark, the target robot is followed
Communication protocol type, the host computer issue the command information of the target robot；
The communication protocol type that step S300 is followed according to the target robot, the command information is converted into pair
The the first communication protocol message answered；
Step S400 is by the first communication protocol message by supporting the communication interface of the communication protocol type to send
The target robot corresponding to target robot mark.
Specifically, the first data message is to issue interaction process device by host computer, it then follows host computer-interaction process device
The interface protocol of interface.Host computer can be combined into an entity device with interaction process device, when interaction process device is it
In a module when, then be internal interface between the two；Host computer and interaction process device can also be two and independent set
Standby, when being two independent equipment, interface between the two can use wireline interface, such as using Ethernet interface；
Wave point, such as Wifi etc. can be used.
Interaction process device and target robot are two independent equipment, and interface between the two can use wired connect
Mouthful, such as using RS485 interfaces, RS232 interface, Ethernet interface；Wave point, such as Zigbee, Wifi can also be used
Deng.Because target robot may be multiple, may be provided by different manufacturers, it is possible that following different communication protocol types.Than
Such as, some robots use RS485 agreements, and some uses Ethernet protocol, and some uses Zigbee protocol.
First communication protocol message is to issue target robot by interaction process device, it then follows the communication of target robot
Agreement.
In order to shield the communication protocol difference of bottom multirobot, a unified communication interface is provided to upper layer application,
So need the first data message from host computer being converted into each target robot the first communication protocol to understand
Message.
When receiving the first data message that host computer is sent, it can be parsed immediately, then by the first data message
Target robot the first communication protocol message to understand is converted into, then the first communication protocol message is issued into target machine
People, next the first data message then being received again, being reprocessed, whole process can be performed serially；This requires to receive the first number
Match according to the frequency of message with handling the frequency of the first data message.When two frequency mismatch, it can will receive and locate
Two processes of reason are independent, perform parallel, set up an order caching, for example using modes such as message queue or mailboxes, will receive
To the first data message be sequentially put into caching；Processing procedure, it is that untreated first number is taken out from order caching
According to message, the processing then parsed, change, sent, after having handled, then one first is sequentially removed from order caching
Data message；Receive process can perform parallel with processing procedure.
Processing procedure once illustrated below, it is assumed that host computer and interaction process device are combined into an entity device, and two
Internal interface is used between person；Host computer and two robot communications, use RS232 between robot A and interaction process device
Interface, Zigbee interfaces are used between robot B and interaction process device；Host computer has sent out a message 1 to robot A, after
Again a message 2 has been sent out to robot B.
Interaction process device first handles message 1, according to the interface protocol of host computer-interaction process device interface, parsing report
Text 1, obtain robot A mark, the communication protocol type that robot A is followed is RS232 serial port protocols, host computer issues machine
Device people A command information；The RS232 serial port protocols followed according to robot A, the instruction that host computer is issued to robot A are believed
Breath is changed, and the communication protocol message obtained after conversion is issued into robot A by RS232 interface.Treat that message 1 has been handled
Finish, interaction process device reprocessing message 2, according to the interface protocol of host computer-interaction process device interface, analytic message 2, obtain
The communication protocol type that mark, robot B to robot B are followed is the finger that Zigbee protocol, host computer issue robot B
Make information；The Zigbee protocol followed according to robot B, the command information that host computer is issued to robot B are changed, will
The communication protocol message obtained after conversion issues robot B by Zigbee interfaces.
In another embodiment of the present invention, as shown in Figure 2 and Figure 3, a kind of exchange method of robot system, including：
Step S010 monitors network；
Step S011 determines whether that first data message is sent；If so, perform step S012；If it is not, perform
Step S010；
Step S012 receives the first data message, is cached in message queue, and the message bar number in message queue is added
1；Perform step S011；
Step S013 judges whether the message bar number in message queue is 0；If so, perform step S013；If it is not, perform step
Rapid S014；
Step S014 reads a first pending data message from message queue, and by the message in message queue
Bar number subtracts 1；
First data message is IP datagram text；
Can step S210 judge find IP message head identifier in the IP datagram text；
When step S220 finds the IP message head identifier in the IP datagram text, parsing obtains TCP data report
Text；
When step S221 does not find the IP message head identifier in the IP datagram text, step S254 is jumped to；
Can step S230 judge find TCP message head identifier in the TCP data message；
When step S240 finds the TCP message head identifier in the TCP data message, parsing obtains protocol data
Unit；
When step S241 does not find the TCP message head identifier in the TCP data message, step is jumped to
S254；
Step S251 parses to the protocol Data Unit, obtains data and check bit to be verified；
Step S252 refers to check bit to the data to be verified according to the generation of default verification mode；
Whether step S253 judges described identical with the check bit with reference to check bit；
Step S254 when it is described with reference to check bit and the check bit difference when, then abandon the IP datagram text, and to
The host computer feedback, jumps to step S013；
Step S255 is when the reference check bit is identical with the check bit, then to the data of the protocol Data Unit
Further parsing, obtain the target robot mark, communication protocol type that the target robot is followed, described upper
Machine issues the command information of target robot；
The communication protocol type that step S300 is followed according to the target robot, the command information is converted into pair
The the first communication protocol message answered；
Step S400 is by the first communication protocol message by supporting the communication interface of the communication protocol type to send
The target robot corresponding to target robot mark；
Jump to step S013.
Specifically, relatively previous embodiment, the present embodiment is ether according to the interface of interaction process device and host computer
Network interface, the parsing to the first data message have been described in detail.The receive process (as shown in Figure 2) of first data message, with
The processing procedure (as shown in Figure 3) of one data message performs parallel.
Step S010-S012, network is monitored, if the first data message sends over, then receives, is cached in message team
In row, and the message bar number in message queue is added 1.
Step S013-S014, the message bar number checked in message queue, if message bar number is not 0, from message queue
One the first pending data message of middle taking-up, and the message bar number in message queue is subtracted 1.
Assuming that the structure of the first data message is as shown in figure 8, first data message only carries a protocol data list
Member, a protocol Data Unit include the data of a target robot.Protocol Data Unit includes：Start bit, for identifying
The beginning of protocol Data Unit；Data length, the actually active length for marking command data；Robot numbers, for marking
Know different robots；Protocol type, for proprietary protocol used in identified machine people；Command type, it is upper for identifying
Machine issues the order of each robot；Data type, for identifying the data type transmitted by corresponding command type, such as, if
Command type is robot movement, then data type includes displacement, moving direction, translational speed etc.；Data, for representing
The data of transmission required for the command type；Check bit, it is to terminating from start bit to order data according to default verification mode
Between the check bit that is generated of data；Stop bits, the end for identity protocol data cell.
Step S210- step S241, the first data message of taking-up is parsed according to ethernet frame agreement, assisted
Discuss data cell；If IP message head identifier is not found, or TCP message head identifier, then this message is abandoned, jumps to step
S013, if there is message pending in message queue, a message is taken out from message queue again.Step S251- is walked
Rapid S255, to data to be verified in protocol Data Unit, check bit is referred to according to the generation of default verification mode；Default verification side
Formula has a variety of, such as CRC-16；If different from the check bit carried in protocol Data Unit with reference to check bit, illustrate that data pass
It is defeated unreliable, this message is abandoned, and fed back to host computer, jump to step S013；If with reference to check bit and protocol data list
The check bit carried in member is identical, illustrate data transfer be it is reliable, can further parsing protocol data unit, obtain target
Communication protocol type that robot identity, the target robot are followed, the host computer issue the instruction of target robot
Information.The command information that host computer issues target robot refers to the command type of order data of protocol Data Unit, data
Type and data.
Assuming that the structure of the first data message is as shown in figure 9, first data message can carry multiple protocol datas
Unit, each protocol Data Unit include the data of target robot, so can be with by first data message
Simultaneously command information is sent to multiple target robots.Most of processing procedure is similar to above, and difference is, to TCP data
When message is parsed, multiple protocol Data Units can be obtained, the parsing to each protocol Data Unit is similar to above.
The same embodiments of step S300- steps S400；After first data message is completely disposed, then redirect
To S013, check in message queue whether also have message.
In another embodiment of the present invention, as shown in figure 4, a kind of exchange method of robot system, including：
Step S100 receives the first data message that host computer is sent；
First data message is IP datagram text；
Can step S210 judge find IP message head identifier in the IP datagram text；
When step S220 finds the IP message head identifier in the IP datagram text, parsing obtains TCP data report
Text；
When step S222 does not find the IP message head identifier in the IP datagram text, step S256 is jumped to；
Can step S230 judge find TCP message head identifier in the TCP data message；
When step S240 finds the TCP message head identifier in the TCP data message, parsing obtains protocol data
Unit；
When step S242 does not find the TCP message head identifier in the TCP data message, step is jumped to
S256；
Step S251 parses to the protocol Data Unit, obtains data and check bit to be verified；
Step S252 refers to check bit to the data to be verified according to the generation of default verification mode；
Whether step S253 judges described identical with the check bit with reference to check bit；
Step S256 when it is described with reference to check bit and the check bit difference when, then abandon the IP datagram text, and to
The host computer feedback, jumps to step S100；
Step S257 is when the reference check bit is identical with the check bit, then to the data of the protocol Data Unit
Further parsing, obtain the target robot mark, communication protocol type that the target robot is followed, described upper
Machine issues the command information of target robot；
The communication protocol type that step S300 is followed according to the target robot, the command information is converted into pair
The the first communication protocol message answered；
Step S400 is by the first communication protocol message by supporting the communication interface of the communication protocol type to send
The target robot corresponding to target robot mark；
Step S500 receives the second communication protocol message that the target robot is sent；
The second communication protocol message is response message of the target robot to the first communication protocol message,
Or the active reporting information of the target robot；
The active reporting information of the target robot includes the capability reporting information of the target robot；
The communication protocol that the capability reporting information includes target robot mark, the target robot is followed
The instruction that type, the target robot can perform；
The second communication protocol message is converted into corresponding by step S600 according to the interface protocol with the host computer
Second data message；
Second data message is sent to host computer by step S700.
Specifically, comparing preceding embodiment, step S500- step S700 are mainly added, add the processing of up direction,
The method of host computer is sent information to from target robot.Because the communication protocol type of multiple robots there may be difference
It is different, so needing the second communication protocol message that target robot is sent being converted into host computer the second datagram to understand
Text.
The information that target robot is sent to host computer has, to the response message of the first communication protocol message, or target machine
The active reporting information of device people.Such as the capability reporting information of target robot, by the capability reporting information, host computer can
To understand the ability of target robot, and corresponding command information is issued according to the ability of target robot.
In another embodiment of the present invention, as shown in figure 5, a kind of interaction process device 100, including：
Receiving module 110, for receiving the first data message of the transmission of host computer 200；
Parsing module 120, electrically connected with the receiving module 110, for parsing first data message, obtain target
Robot 300 is identified, the target robot 300 is followed communication protocol type, the host computer 200 issue the target
The command information of robot 300；
Modular converter 130, electrically connected with the parsing module 120, for what is followed according to the target robot 300
Communication protocol type, the command information is converted into corresponding first communication protocol message；
Interface module 140, electrically connected with the modular converter 130, for the first communication protocol message to be passed through into branch
The communication interface for holding the communication protocol type is sent to the target robot 300 and identifies corresponding target robot 300.
The interface module includes 485 interfaces, RS232 interface, Zigbee interfaces, Wifi interfaces, Ethernet interface.
Specifically, the first data message is to issue interaction process device 100 by host computer 200, it then follows at host computer-interaction
Manage the interface protocol of device interface.Host computer 200 can be combined into an entity device with interaction process device 100, at interaction
Then it is internal interface between the two when reason device 100 is one of module；Host computer 200 and interaction process device 100
Can also be two independent equipment, when being two independent equipment, interface between the two can use wireline interface, than
Such as use Ethernet interface；Wave point, such as Wifi etc. can also be used.
Interaction process device 100 and target robot 300 are two independent equipment, and interface between the two can use
Wireline interface, such as using RS485 interfaces, RS232 interface, Ethernet interface；Wave point can also be used, such as
Zigbee, Wifi etc..Because target robot may be multiple, may be provided by different manufacturers, it is possible that following different communication
Protocol type.For example some robots 300 use RS485 agreements, some uses Ethernet protocol, and some is assisted using Zigbee
View.
First communication protocol message is to issue target robot 300 by interaction process device 100, it then follows target machine
The communication protocol of 300 people.
In order to shield the communication protocol difference of bottom multirobot 300, provide a unified communication to upper layer application and connect
Mouthful, so needing the first data message from host computer 200 being converted into each target robot 300 to understand first
Communication protocol message.
When receiving the first data message that host computer 200 is sent, it can be parsed immediately, then by the first datagram
Text is converted into the first communication protocol message to understand of target robot 300, then the first communication protocol message is issued into target
Robot 300, next the first data message then being received again, being reprocessed, whole process can be performed serially；This requires to receive
The frequency of first data message matches with handling the frequency of the first data message.When two frequency mismatch, will can connect
Receive and performed independently, parallel with two processes of processing, set up an order caching, such as using the side such as message queue or mailbox
Formula, the first data message received is sequentially put into caching；Processing procedure, it is that taking-up one is untreated from order caching
First data message, the processing then parsed, change, sent, after having handled, then one is sequentially removed from order caching
The data message of bar first；Receive process can perform parallel with processing procedure.
Processing procedure once illustrated below, it is assumed that host computer 200 is combined into an entity with interaction process device 100 and set
It is standby, between the two using internal interface；Host computer 200 communicates with Liang Ge robots 300, robot A and interaction process device 100
Between use RS232 interface, Zigbee interfaces are used between robot B and interaction process device 100；Host computer 200 gives machine
People A has sent out a message 1, rear to have sent out a message 2 to robot B again.
Interaction process device 100 first handles message 1, according to the interface protocol of host computer-interaction process device interface, parsing
Message 1, obtain robot A mark, the communication protocol type that robot A is followed is RS232 serial port protocols, host computer 200
Issue robot A command information；The RS232 serial port protocols followed according to robot A, host computer is issued robot A's
Command information is changed, and the communication protocol message obtained after conversion is issued into robot A by RS232 interface.Treat at message 1
Reason finishes, and interaction process device 100 reprocesses message 2, according to the interface protocol of host computer-interaction process device interface, parsing
Message 2, obtain robot B mark, the communication protocol type that robot B is followed is Zigbee protocol, host computer 200 is issued
Robot B command information；The Zigbee protocol followed according to robot B, host computer 200 is issued to robot B instruction
Information is changed, and the communication protocol message obtained after conversion is issued into robot B by Zigbee interfaces.
In another embodiment of the present invention, as shown in fig. 6, a kind of interaction process device 100, including：
Receiving module 110, for receiving the first data message of the transmission of host computer 200；
Parsing module 120, electrically connected with the receiving module 110, for parsing first data message, obtain target
Robot 300 is identified, the target robot 300 is followed communication protocol type, the host computer 200 issue the target
The command information of robot 300；
Modular converter 130, electrically connected with the parsing module 120, for what is followed according to the target robot 300
Communication protocol type, the command information is converted into corresponding first communication protocol message；
Interface module 140, electrically connected with the modular converter 130, for the first communication protocol message to be passed through into branch
The communication interface for holding the communication protocol type is sent to the target robot 300 and identifies corresponding target robot 300；
Judging submodule 121, for judging that IP message head identifier can be found in the IP datagram text；And
Judge that TCP message head identifier can be found in the TCP data message；
Analyzing sub-module 122, during for finding the IP message head identifier in the IP datagram text, obtain TCP
Data message；And when in the IP datagram text not finding the IP message head identifier, abandon the IP datagram
Text；And when in the TCP data message finding the TCP message head identifier, obtain protocol Data Unit；And
When not finding the TCP message head identifier in the TCP data message, the IP datagram text is abandoned；And to the association
The data of view data cell are parsed, and obtain that the target robot 300 is identified, the target robot 300 is followed
Communication protocol type, the host computer 200 issue the command information of target robot 300；
The analyzing sub-module 122, it is further used for parsing the data of the protocol Data Unit, obtains treating school
The data and check bit tested；
The parsing module 120 also includes：
Submodule 123 is verified, for the data to be verified, check bit to be referred to according to the generation of default verification mode；
The judging submodule 121, it is further used for judging whether the reference check bit is identical with the check bit；
The analyzing sub-module 122, it is further used for when the reference check bit is with the check bit difference, then abandoning
The IP datagram text；
The interface module 140, it is further used for when the reference check bit is with the check bit difference, on described
Position machine 200 feeds back；
The analyzing sub-module 122, it is further used for when the reference check bit is identical with the check bit, then to institute
The data for stating protocol Data Unit further parse, obtain the target robot 300 identify, the institute of the target robot 300
The communication protocol type that follows, the host computer 200 issue the command information of target robot 300；
The receiving module 110, it is further used for receiving the second communication protocol report that the target robot 300 is sent
Text；
The modular converter 130, it is further used for, according to the interface protocol with the host computer 200, described second being led to
Letter protocol massages are converted into corresponding second data message；
The interface module 140, it is further used for second data message being sent to host computer 200.
A kind of specifically, relative previous embodiment, there is provided the first data with the interface of host computer for Ethernet interface
The analytic method of message.The first data message of taking-up is parsed according to ethernet frame agreement, obtains protocol Data Unit；
To data to be verified in protocol Data Unit, check bit is referred to according to the generation of default verification mode；Default verification mode has more
Kind, such as CRC-16；If identical with the check bit carried in the first data message with reference to check bit, illustrating that data transfer is can
Lean on, the data of protocol Data Unit can further be parsed, obtain target robot 300 identify, the target robot 300
The communication protocol type that is followed, the host computer 200 issue the command information of target robot 300.
The processing of up direction is added, i.e., from target robot 300 to the exchange method of host computer 200.Due to multiple
The communication protocol type of robot 300 there may be difference, so needing the second communication protocol for sending target robot 300
Message is converted into second data message to understand of host computer 200.
The information that target robot 300 is sent to host computer 200 has, to the response message of the first communication protocol message, or
The active reporting information of target robot 300.Such as the capability reporting information of target robot 300, believed by the capability reporting
Breath, host computer 200 will be seen that the ability of target robot 300, and issue corresponding finger according to the ability of target robot 300
Make information.
In another embodiment of the present invention, as shown in fig. 7, a kind of robot interactive system, including：
Interaction process device 100 described in above-mentioned any embodiment；Also include host computer 200, robot 300：
The host computer 200, communicated to connect with the interaction process device 100, for being sent to interaction process device 100
First data message, and receive the second data message from interaction process device 100；
The robot 300, communicated to connect with the interaction process device 100, interaction process device is come from for receiving
100 the first communication protocol message simultaneously performs, and sends the second communication protocol message to interaction process device 100.
Specifically, interaction process device 100 can use previous embodiment mode.Fig. 6 is by host computer 200 and interaction process
Device 100 is wireline interface, and robot 300 also describes with interaction process device 100 for the mode of wireline interface.Host computer
200 and interaction process device 100 can be wave point, robot 300 with can be wirelessly to connect with interaction process device 100
Mouthful, when multiple robots be present in system, robot 300 and be also likely to be wave point between interaction process device 100 with
The mixing of wireline interface.
It should be noted that above-described embodiment can independent assortment as needed.Described above is only the preferred of the present invention
Embodiment, it is noted that for those skilled in the art, do not departing from the premise of the principle of the invention
Under, some improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
- A kind of 1. exchange method of robot system, it is characterised in that including：Step S100 receives the first data message that host computer is sent；Step S200 parses first data message, obtains target robot mark, that the target robot is followed is logical Letter protocol type, the host computer issue the command information of the target robot；The communication protocol type that step S300 is followed according to the target robot, the command information is converted into corresponding First communication protocol message；Step S400 is by the first communication protocol message by supporting the communication interface of the communication protocol type to be sent to institute State the corresponding target robot of target robot mark.
- 2. the exchange method of robot system according to claim 1, it is characterised in that：First data message is IP datagram text；The step S200 includes：Can step S210 judge find IP message head identifier in the IP datagram text；When step S220 finds the IP message head identifier in the IP datagram text, parsing obtains TCP data message；Can step S230 judge find TCP message head identifier in the TCP data message；When step S240 finds the TCP message head identifier in the TCP data message, parsing obtains protocol data list Member；Step S250 parses to the data of the protocol Data Unit, obtains the target robot mark, the target Communication protocol type that robot is followed, the host computer issue the command information of target robot.
- 3. the exchange method of robot system according to claim 2, it is characterised in that the step S250 includes：The protocol Data Unit is parsed, obtains data and check bit to be verified；To the data to be verified, check bit is referred to according to the generation of default verification mode；Judge described whether identical with the check bit with reference to check bit；When the reference check bit is with the check bit difference, then the IP datagram text is abandoned, and it is anti-to the host computer Feedback；When the reference check bit is identical with the check bit, then the data of the protocol Data Unit are further parsed, Obtain the target robot mark, the communication protocol type that the target robot is followed, the host computer and issue target The command information of robot.
- 4. the exchange method of robot system according to claim 1, it is characterised in that also include：Step S500 receives the second communication protocol message that the target robot is sent；The second communication protocol message is converted into corresponding second by step S600 according to the interface protocol with the host computer Data message；Second data message is sent to host computer by step S700.
- 5. the exchange method of robot system according to claim 4, it is characterised in that：Response message of the second communication protocol message for the target robot to the first communication protocol message, or institute State the active reporting information of target robot.
- A kind of 6. interaction process device, it is characterised in that including：Receiving module, for receiving the first data message of host computer transmission；Parsing module, electrically connected with the receiving module, for parsing first data message, obtain target robot mark Know, the communication protocol type that is followed of the target robot, the host computer issue the command information of the target robot；Modular converter, electrically connected with the parsing module, for the communication protocol type followed according to the target robot, The command information is converted into corresponding first communication protocol message；Interface module, electrically connected with the modular converter, for by the first communication protocol message by supporting the communication The communication interface of protocol type is sent to the corresponding target robot of the target robot mark.
- 7. interaction process device according to claim 6, it is characterised in that the parsing module also includes：Judging submodule, for judging that IP message head identifier can be found in the IP datagram text；And judge in institute Can state find TCP message head identifier in TCP data message；Analyzing sub-module, during for finding the IP message head identifier in the IP datagram text, obtain TCP data report Text；And when in the TCP data message finding the TCP message head identifier, obtain protocol Data Unit；It is and right The data of the protocol Data Unit are parsed, and obtain the target robot mark, the target robot is followed Communication protocol type, the host computer issue the command information of target robot.
- 8. interaction process device according to claim 7, it is characterised in that：The analyzing sub-module, it is further used for parsing the data of the protocol Data Unit, obtains number to be verified According to and check bit；The parsing module also includes：Submodule is verified, for the data to be verified, check bit to be referred to according to the generation of default verification mode；The judging submodule, it is further used for judging whether the reference check bit is identical with the check bit；The analyzing sub-module, it is further used for when the reference check bit is with the check bit difference, then abandoning the IP Data message；The interface module, it is further used for when the reference check bit is with the check bit difference, it is anti-to the host computer Feedback；The analyzing sub-module, it is further used for when the reference check bit is identical with the check bit, then to the agreement The data of data cell further parse, and obtain the target robot mark, the communication protocols that the target robot is followed View type, the host computer issue the command information of target robot.
- 9. interaction process device according to claim 6, it is characterised in that：The receiving module, it is further used for receiving the second communication protocol message that the target robot is sent；The modular converter, it is further used for according to the interface protocol with the host computer, by the second communication protocol message Second data message corresponding to being converted into；The interface module, it is further used for second data message being sent to host computer.
- A kind of 10. robot system, it is characterised in that including：Any described interaction process devices of claim 6-9；Also wrap Include host computer, robot：The host computer, communicated to connect with the interaction process device, for sending the first data message to interaction process device, And receive the second data message from interaction process device；The robot, communicated to connect with the interaction process device, for receiving the first communication from interaction process device Protocol massages simultaneously perform, and send the second communication protocol message to interaction process device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711020699.8A CN107770181B (en) | 2017-10-26 | 2017-10-26 | Interaction method, interaction processing device and system of robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711020699.8A CN107770181B (en) | 2017-10-26 | 2017-10-26 | Interaction method, interaction processing device and system of robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107770181A true CN107770181A (en) | 2018-03-06 |
| CN107770181B CN107770181B (en) | 2020-10-30 |
Family
ID=61270722
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711020699.8A Active CN107770181B (en) | 2017-10-26 | 2017-10-26 | Interaction method, interaction processing device and system of robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107770181B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108959159A (en) * | 2018-07-04 | 2018-12-07 | 珠海迈科智能科技股份有限公司 | A kind of exchange method of the micro projector based on Android |
| CN111131323A (en) * | 2019-12-31 | 2020-05-08 | 中国银行股份有限公司 | Message transmission method and related device |
| CN111770055A (en) * | 2020-05-29 | 2020-10-13 | 宁波三星医疗电气股份有限公司 | Multi-protocol communication frame rapid distinguishing method applied to electric energy meter |
| CN113524199A (en) * | 2021-09-07 | 2021-10-22 | 季华实验室 | Robot concurrency control method, device and system |
| CN114244915A (en) * | 2022-02-23 | 2022-03-25 | 四川鸿创电子科技有限公司 | Data transmission method and device supporting multiple protocols and storage medium |
| CN114710566A (en) * | 2022-06-06 | 2022-07-05 | 辰星（天津）自动化设备有限公司 | Communication interaction method of robot control system and robot system |
| CN115026811A (en) * | 2022-05-20 | 2022-09-09 | 北京理工大学 | Multi-robot serial port-to-WIFI communication and cooperative motion control method |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5355506A (en) * | 1991-04-29 | 1994-10-11 | The United States Of America As Represented By The Secretary Of The Army | Communication method for controlling and monitoring robotic entities |
| CN1780412A (en) * | 2004-11-26 | 2006-05-31 | 腾讯科技（深圳）有限公司 | Interactive realization for wireless telecommunication terminal and Internet message processor |
| CN1946084A (en) * | 2006-11-06 | 2007-04-11 | 吉林大学 | Radio communication device for remote control robot |
| CN201118640Y (en) * | 2007-07-20 | 2008-09-17 | 核工业理化工程研究院 | Multi-interface communication protocol converter |
| WO2013059513A1 (en) * | 2011-10-18 | 2013-04-25 | Reconrobotics, Inc. | Robot control translation and gateway system |
| CN103916413A (en) * | 2012-12-31 | 2014-07-09 | 中国移动通信集团黑龙江有限公司 | Control method and device for heterogeneous minicomputers, and cloud computing system |
| CN105072143A (en) * | 2015-07-02 | 2015-11-18 | 百度在线网络技术（北京）有限公司 | Interaction system for intelligent robot and client based on artificial intelligence |
| CN105159252A (en) * | 2015-08-18 | 2015-12-16 | 深圳市科昭科技有限公司 | Robot intelligent cloud compatible control system |
| CN106452679A (en) * | 2016-11-05 | 2017-02-22 | 杭州畅动智能科技有限公司 | Robot development system and communication method thereof |
| CN106603581A (en) * | 2017-02-22 | 2017-04-26 | 欣旺达电子股份有限公司 | A test method and device capable of supporting a plurality of communication protocols |
| CN106950861A (en) * | 2017-03-24 | 2017-07-14 | 上海木爷机器人技术有限公司 | A kind of configuration information update method and device |
| CN107124421A (en) * | 2017-05-11 | 2017-09-01 | 珠海格力电器股份有限公司 | Communication means based on multi-protocols, multi-protocol gateway equipment and can storage medium |
-
2017
- 2017-10-26 CN CN201711020699.8A patent/CN107770181B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5355506A (en) * | 1991-04-29 | 1994-10-11 | The United States Of America As Represented By The Secretary Of The Army | Communication method for controlling and monitoring robotic entities |
| CN1780412A (en) * | 2004-11-26 | 2006-05-31 | 腾讯科技（深圳）有限公司 | Interactive realization for wireless telecommunication terminal and Internet message processor |
| CN1946084A (en) * | 2006-11-06 | 2007-04-11 | 吉林大学 | Radio communication device for remote control robot |
| CN201118640Y (en) * | 2007-07-20 | 2008-09-17 | 核工业理化工程研究院 | Multi-interface communication protocol converter |
| WO2013059513A1 (en) * | 2011-10-18 | 2013-04-25 | Reconrobotics, Inc. | Robot control translation and gateway system |
| CN103916413A (en) * | 2012-12-31 | 2014-07-09 | 中国移动通信集团黑龙江有限公司 | Control method and device for heterogeneous minicomputers, and cloud computing system |
| CN105072143A (en) * | 2015-07-02 | 2015-11-18 | 百度在线网络技术（北京）有限公司 | Interaction system for intelligent robot and client based on artificial intelligence |
| CN105159252A (en) * | 2015-08-18 | 2015-12-16 | 深圳市科昭科技有限公司 | Robot intelligent cloud compatible control system |
| CN106452679A (en) * | 2016-11-05 | 2017-02-22 | 杭州畅动智能科技有限公司 | Robot development system and communication method thereof |
| CN106603581A (en) * | 2017-02-22 | 2017-04-26 | 欣旺达电子股份有限公司 | A test method and device capable of supporting a plurality of communication protocols |
| CN106950861A (en) * | 2017-03-24 | 2017-07-14 | 上海木爷机器人技术有限公司 | A kind of configuration information update method and device |
| CN107124421A (en) * | 2017-05-11 | 2017-09-01 | 珠海格力电器股份有限公司 | Communication means based on multi-protocols, multi-protocol gateway equipment and can storage medium |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108959159A (en) * | 2018-07-04 | 2018-12-07 | 珠海迈科智能科技股份有限公司 | A kind of exchange method of the micro projector based on Android |
| CN111131323A (en) * | 2019-12-31 | 2020-05-08 | 中国银行股份有限公司 | Message transmission method and related device |
| CN111770055A (en) * | 2020-05-29 | 2020-10-13 | 宁波三星医疗电气股份有限公司 | Multi-protocol communication frame rapid distinguishing method applied to electric energy meter |
| CN113524199A (en) * | 2021-09-07 | 2021-10-22 | 季华实验室 | Robot concurrency control method, device and system |
| CN114244915A (en) * | 2022-02-23 | 2022-03-25 | 四川鸿创电子科技有限公司 | Data transmission method and device supporting multiple protocols and storage medium |
| CN115026811A (en) * | 2022-05-20 | 2022-09-09 | 北京理工大学 | Multi-robot serial port-to-WIFI communication and cooperative motion control method |
| CN114710566A (en) * | 2022-06-06 | 2022-07-05 | 辰星（天津）自动化设备有限公司 | Communication interaction method of robot control system and robot system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107770181B (en) | 2020-10-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107770181A (en) | A kind of exchange method of robot system, interaction process apparatus and system | |
| CN110943991B (en) | Transformer substation inspection and production management service linkage system and method | |
| CN106936932B (en) | A method of it is wrapped by cloud service protocol access robot software | |
| JP2014164598A (en) | Management system, management server and worker terminal, and computer program for management server and worker terminal | |
| CN107948129A (en) | Internet of Things mist calculating network system and its control method based on SDN | |
| CN102202093A (en) | Method for realizing sensor adaption and system thereof | |
| CN109648569A (en) | A kind of robot interactive Synergistic method and device | |
| CN110087220A (en) | A kind of Communication of Muti-robot System and tele-control system | |
| CN110166353A (en) | LoRaWan gateway system and LoRaWan gateway | |
| CN104914257B (en) | A kind of medical examination equipment | |
| CN111787049A (en) | Internet of things equipment management method and system based on equipment object | |
| Cesen et al. | Towards low latency industrial robot control in programmable data planes | |
| CN107666483A (en) | A kind of conversion equipment for the multi-protocols for supporting multiple interfaces | |
| CN109573843A (en) | Overhead crane control method, system and device, terminal | |
| CN110442133A (en) | A kind of method and system of multiple groups industrial robot work compound | |
| CN102215267A (en) | Data communication transmission method of network layer of the Internet of things | |
| CN112634484A (en) | Equipment inspection method, device, equipment and storage medium | |
| CN101170473A (en) | Slave station active communication method in star half duplex link | |
| CN107526681A (en) | The test system and method for testing of a kind of robot | |
| CN107290988A (en) | Robot and its teaching machine communication system and method | |
| CN205644255U (en) | Automatic change control system of workshop | |
| CN104604194B (en) | Flow table control method, device, interchanger and controller | |
| CN110501928B (en) | Intelligent railway monitoring system | |
| CN107743140A (en) | A kind of product Sharing Management system based on Internet of Things | |
| CN111930645A (en) | TCPIP-based universal USB equipment network transparent transmission system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230207 Address after: 411100 No.507, Floor 5, South Main Building, Zhaoshan Two-type Industrial Development Center, Yuetang District, Xiangtan City, Hunan Province Patentee after: Avatar (Hunan) Technology Co.,Ltd. Address before: Room 274, Yingying Building, No. 99, Tuanjie Road, Yanchuangyuan, High-tech Zone, Nanjing, Jiangsu, 210000 Patentee before: NANJING CHENGSI ROBOTICS CO.,LTD. |
|
| TR01 | Transfer of patent right |