CN1233514C - Internet control system for remotely controlling robots to play chess - Google Patents
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Abstract
The present invention relates to the control of remotely controlling robots to play chess, particularly to a system for remotely controlling robots to play chess on webs on the basis of the Internet. In the remote control, transmission media, such as a private line network, a local area network, a wireless network, the Internet, etc., are usually adopted. As the delay in network transmission can make the robot control system unstable, the present invention provides the following technical scheme in order to solve the problem: a unique system construction mode (distributed grading real-time control constructed on a universal industry bus), a chess playing mechanism, a multi-host mode and a non-destructive bus arbitrament mechanism are used on the basis of the INTERNET; the present invention comprises the following two chess playing modes in the realizing mode of a client end: a universal web interface and local chess playing (C/S); the chess playing operation is completed by using a mouse, a keyboard and a game operating lever. The present invention has the advantages that different modes of robot manipulators are combined, and tasks are allocated to the robot manipulators; the running state of the system can be remotely monitored; chess playing methods and chess playing strategies can be changed in real time, and chess playing results can be evaluated in time.
Description
Technical field
The present invention relates to the control system that teleoperation robot is played chess, especially a kind of control system of playing chess based on the online teleoperation robot of Internet belongs to the Robotics field.
Background technology
Because the promotion of the complicated and job task demand of applied environment, the development of the teleoperation robot technology of Network Environment and use in the ascendant.Usually, the common transmission medium that adopts of teleoperation of robot mainly contains private line network, LAN, wireless network and Internet etc.The key operation task of carrying out comprises that the principal and subordinate operates, locatees assembling, both arms coordinative operation etc., and its application mainly comprises long-range assembling, long-range exploration, tele-medicine and remote service etc.Because ductility when network transmission has becomes when this time delay is, can not modeling, and change along with the different of network and communication environment, the situation of especially severe is based on the teleoperation of robot of Internet.Network the time postpone a meeting or conference and make the robot control system instability, bring difficulty for the real-time control of tele-robotic system.Various control methods and control device are being attempted using in the academic research field at present, solve based on the problem in the teleoperation robot control of Internet, and have developed various robot experimental provision and control system.Mainly comprise following a few class: first, based on traditional control method and the improved distant operation control system of means of communication, mainly solve problems such as time delay in the remote control system, trajectory planning etc., as, sliding formwork control, impedance adjustment and based on " pushing away " (PUSH) mechanics of communication, based on distributed frame of CORBA etc.; The another kind of teleoperation of robot control system that is based on task, this type systematic adopts the Supervised Control pattern, monitor command is carried out as task, avoided network delay or network communication to interrupt the system's instability bring, as based on the distant operation control system of Petri net etc.; The 3rd class is to adopt various sensors and the auxiliary control of virtual reality technology, and various distant operation tasks are finished in the influence that the compensating network time delay is brought, as based on the remote control system of visual sensing etc.In addition, also have the distant operation control system based on various computing machine mechanics of communication, its starting point is compensation and the influence that reduces network delay.Above system generally all adopts various improved control devices or method, solves the elemental operation problem of teleoperation of robot, as long-range assembling, both arms coordination etc.
Tele-robotic system based on Internet exists propagation delay time, this time delay seriously affects the stability of robot real-time control system, even control is failed, therefore, the groundwork of present most teleoperation robot system is to adopt various real-time controls or compensation method, address this problem and finish some distant substantially operation tasks, as operations such as long range positioning installation, long-range welding and both arms coordinations based on Internet.
Summary of the invention
Exist propagation delay time and problems such as operation such as long range positioning installation, long-range welding and both arms coordination in order to solve existing tele-robotic system, the present invention proposes following technical scheme: the robot system of playing chess on the net based on Internet that we invented, adopted the unique system constructing mode and the mechanism of playing chess, the robot control system of playing chess is the distributed hierarchical real-time control system that is structured on the universal industrial bus.This bus can adopt controller local area network (CAN) bus, interconnecting bus devices for peripheral equipment (PCI) bus or Process FieldbusROFIBUS (PROFIBUS-DP) etc., because they have stronger error correcting capability, the transmitting-receiving of support difference, thereby suitable high-noise environment, and has a transmission range far away (directly communication distance can reach more than the 10km farthest), can realize the work of many master modes, bus node information (the node number can reach more than 100 at most) can be divided into different priority, and adopted non-destructive bus ruling mechanism, can satisfy the play chess control requirement of system of distributed hierarchical robot.The distant operation system of playing chess comprises two kinds of patterns of playing chess from the client implementation: and a kind of mode of playing chess that is based on network web General Purpose Interface (visit device/server B/S); Another kind is by the client of the special use client/server (C/S) of playing chess in this locality.And used advanced control method, accessorial visual sensing technology and three-dimensional artificial technology, finish remote live complicated, that have the robot manipulator of competitiveness and the tactic task of playing chess.The graphics Simulation system can be operated under two patterns: line model and off-line mode.The person's of playing chess Network Environment is on client computer (10) (12), utilize mouse-keyboard and game paddle to finish operation, play chess to operate by the real-time simulation environment on the client computer is auxiliary simultaneously, and understand the result that plays chess by the video information visualization ground that the on-the-spot charge-coupled device (CCD) video camera (5) of playing chess transmits.
Beneficial effect of the present invention: compared to existing tele-robotic system, the superiority and the technique effect of new technology show: the mechanical hand distributed hierarchical control mode that has adopted a kind of novelty, based on Internet, with dissimilar, six degree of freedom industrial robot operator makes up and task is distributed, simultaneously, introduce a configurable mechanism of playing chess as the task platform, made the entire machine robot system have 9+9+7+1 the free degree; System has adopted advanced control method, accessorial visual sensing technology and emulation technology; But the system running state remote monitoring, the control method and the strategy of playing chess can change in real time, and the result that plays chess can in time assess; This system can provide multiple complicated more coordinative operation task environment, uses in order to the control of research or exploitation remote control system.
Description of drawings
Fig. 1: the robot system of playing chess on the net architectural schematic
Fig. 2: control system control flow chart
Among the figure
1. supervision arbitration mechanical hand 2. mechanical hand 3. industrial bus 4. environment 5. charge-coupled device (CCD) video cameras (wherein being installed in the charge-coupled image sensor initiatively of being on " the 1 ") video camera of playing chess of playing chess, another is overall charge coupled device camera) 6. robot controller 7. image servers 8. robot servers 9. network WEB servers 10. this locality long-range client computer of playing chess of client computer 11. Internet nets 12. of playing chess
The specific embodiment
Below in conjunction with accompanying drawing architecture of the present invention, composition and control system and the course of work thereof are described as follows:
The distant operation system of playing chess is made up of 12 parts: playing chess in supervision arbitration mechanical hand 1,2 two industrial bus 3 of mechanical hand of playing chess, the environment 4 of playing chess, charge coupled device camera 5, robot controller 6, image server 7, robot server 8, network (WEB) server 9, this locality, client computer 10, Internet net 11 provide long-range network of playing chess to visit, it is connected with the long-range client computer 12 of playing chess with web server 9.
Supervision arbitration mechanical hand 1 is equipped with the charge-coupled image sensor camera, and it is connected with robot controller 6, is a kind of six degree of freedom industrial machine hand, is used for the variation of the situation of playing chess is initiatively monitored;
The mechanical hand (2 two) of playing chess, it is connected with robot controller 6, it is a kind of six degree of freedom industrial machine hand, its end is equipped with the flexibility utensil of playing chess, be used to play chess operation, two instructions of mechanical hand 2 of playing chess according to play chess client computer 10 or 12, on the environment of playing chess, finish activity, and decide victory or defeat with the score value that finally obtains separately, in the process of playing chess, two mechanical hands 2 of playing chess can adopt different collision prevention strategy (rule of playing chess accordingly is also inequality), and the collision prevention strategy and the rule of playing chess are selected when playing chess system initialization;
Ccd video camera 5, it is connected with image server 7, it is a kind of universal industrial CCD camera, be used to carry out IMAQ, the visual surveillance system that forms to play chess robot system by two ccd video cameras, can make client computer 10,12 to finish video monitor, simultaneously CCD information be combined with artificial intelligence, three-dimensional real-time simulation figure is provided for client computer 10,12 the environment panorama of playing chess;
Robot server 8, it is connected with industrial bus, the server of forming by computer and corresponding software system, be used to provide the play chess strategy and the instruction of mechanical hand, be responsible for robot trajectory's generation and optimization, its client computer 10 of will playing chess, 12 policy instructions is transformed to suitable robot trajectory, and will be sent to robot controller 6 through the track after optimizing, the information that transmits according to the variation and the image server 7 of the situation of playing chess, adjust the attitude and the position of supervision arbitration mechanical hand 1 by robot controller 6, the control robot 2 of playing chess carries out corresponding action and has gone out to make its terminal active ccd video camera of installing can access the most complete picture of playing chess, and is responsible for the whole process of playing chess of supervision and management.
WEB server 9, it is connected with the Internet net with industrial bus, is used to provide remote client's login and Access Management Access;
This locality client computer 10 of playing chess is to carry out the client of playing chess in this locality, and it is the client computer that has to play chess system that it and industrial bus connect, and is used for this locality operation of playing chess;
Internet net 11 is used to provide the long-range visit of playing chess, and the network of the long-range visit of playing chess is provided, and it is connected with the long-range client computer 12 of playing chess with web server 9;
The long-range client computer 12 of playing chess has the Terminal Server Client of browser, is used to carry out the long-range operation of playing chess, and it is connected with Internet.
Comprise two kinds of patterns of playing chess from the client software implementation: a kind of pattern of playing chess (browser/server) of the web of being based on General Purpose Interface; Another kind is the pattern (client/server) of playing chess in this locality by the client of special use.The former utilizes Internet browser instrument, and employing HTTP (http protocol) etc. visits the WEB server.The operator lands the WEB website, and the interface that provides by the browser people that operates machine finishes certain task.The latter realizes the application layer protocol function of oneself mainly based on transmission control protocol (TCP) agreement.System provides two kinds of patterns of playing chess, control requires height or the bigger user of volume of transmitted data that special-purpose client software is provided to real-time, interactive, adopt the work of client/server (C/S) software pattern, this needs the user that client-side program is installed when using for the first time.Provide open web website to general user, the user can visit this website with browser (IE) or browser (Netscape), in case the user is connected to the WEB server smoothly, obtains access rights by authentication, just can controls robot and finish the distant operation task of playing chess.
The graphics Simulation system can be operated under two patterns: line model and off-line mode.
Under the line model, obtain joint of robot angle value and power sensor values and store in the data file by network; Utilization obtains joint values and finishes the position of robot and guide rail in the next frame picture and the setting of attitude, then rendering three-dimensional graphics again; The power sensor values is given joystick, utilizes method simulation fictitious forces such as DirectInput.According to the working condition of robot site, simulating scenes is observed at the flexible transformation visual angle, can send control command simultaneously.
Under off-line mode, can be according to the trajectory planning algorithm, calculate and generate the joint of robot value sequence, make parameter with the variable quantity of each joint values and draw the joint values curve map, after definite variable quantity belongs to normal range (NR), can in system, finish graphics Simulation the joint sequence as input to robot and guide rail.
Line model is mainly used in the graphical simulation of on-the-spot robot motion in distant operation, and off-line mode is mainly used in inspection machine people trajectory planning algorithm, carries out the analytical test of data.The control of the control system of playing chess may further comprise the steps:
(1) first runtime server end program, the connection request of wait client
(2) client Connection Service device end asks ROBOT CONTROL power
(3) robot server is according to present case, and whether decision gives the client control authority
After (4) two clients all obtain the robot control authority, the beginning of playing chess
(5) each client is judged according to robot and surrounding enviroment information that server end provided, sends the order of playing chess of various robots
(6) robot server receives Client command, robot is carried out corresponding control, and must the situation of grading carry out record to the progress of playing chess, the client of playing chess, and then, informs client.
Work such as record, control also will finish.
Embodiment
The present invention has obtained enforcement in robot of Nankai University and open laboratory, information automation system research institute intelligent robot site.This system of playing chess is that main body is fixed (seeing figure) by triangle by a PUMA562 six degree of freedom industrial machine hand and two RH6 six degree of freedom industrial machine hands, the rotation platform that an adjustable-speed has been installed in the centre of two RH6 simultaneously is as playing chess platform, divided different intervals on the platform, different score values is given in each interval.Wherein the terminal sight control feedback that a ccd video camera is installed as the environment of playing chess of PUMA562 mechanical hand is installed another overall charged coupled device CCD camera as the auxiliary feedback in mechanical hand position directly over platform is played chess in rotation.This system also comprises a configurable integrated control platform [being made up of a Control Server (PC) and three robot controllers (modularization nonshared control unit)] and an image server (PC).By integrated control platform, can utilize mouse, keyboard and control stick that mechanical hand is carried out the long-range operation of playing chess, can also control mode be set to the mechanical hand control system, control parameter and the strategy of playing chess, carry out On-line Control.Utilize image server to carry out Research on Real-time Simulation, also can assist operation the effect of the operation of playing chess.At two RH6 mechanical hand end of playing chess pen with the different colours of passive compliant mechanism is housed respectively, in playing chess, two mechanical hands are respectively under operator's separately control, grid on the platform of playing chess is carried out punctuate, the effect of practical operation can be transmitted observation as a result by video, and utilizes three-dimensional real-time graph analogue system to proofread and correct the performance accuracy of mechanical hand.At last, with the obtained at the appointed time score value of both sides as the foundation of passing judgment on victory or defeat.
Claims (6)
1, a kind of online teleoperation robot of Internet control system of playing chess, it is characterized in that: the robot control system of playing chess is the distributed hierarchical real-time control system that is structured on the universal industrial bus (3), can realize the work of many master modes, bus node information is divided into different priority, and adopted non-destructive bus ruling mechanism, it comprises:
Supervision arbitration mechanical hand (1) is equipped with the charge-coupled image sensor camera, and described supervision arbitration mechanical hand (1) is connected with robot controller (6);
Play chess (2) two of mechanical hands, it is connected with robot controller (6);
Its connects robot server (8), image server (7), the webserver, this locality client computer (10) of playing chess industrial bus (3);
Play chess environment (4) it be connected (3) with industrial bus;
It is connected charge coupled device camera (5) with image server (7);
It is connected robot controller (6) with industrial bus with mechanical hand;
It is connected image server (7) with industrial bus with camera;
It is connected robot server (8) with industrial bus;
It is connected the webserver (9) with Internet with industrial bus;
This locality client computer (10) of playing chess is to carry out the client of playing chess in this locality, and it is connected with industrial bus;
Internet (11) provides the network of the long-range visit of playing chess, and it is connected with the long-range client computer (12) of playing chess with the webserver (9);
The long-range client computer (12) of playing chess is used to carry out long-range client of playing chess, and it is connected with Internet.
2, control system of playing chess based on the online teleoperation robot of Internet according to claim 1 is characterized in that described:
Supervision arbitration mechanical hand (1) is a kind of six degree of freedom industrial machine hand, is used for the variation of the situation of playing chess is initiatively monitored;
The mechanical hand (2) of playing chess is a kind of six degree of freedom industrial machine hand, its end is equipped with the flexibility utensil of playing chess, be used to play chess operation, two mechanical hands of playing chess (2) are according to the instruction of local client computer (10) or the long-range client computer (12) of playing chess, on the environment of playing chess, finish activity, and decide victory or defeat with the score value that finally obtains separately;
Industrial bus (3) is a kind of universal industrial bus, and the environment as local network control is used to provide the support of network control environment;
The environment (4) of playing chess is a kind of mechanical device that has disk driven by stepper motors, be used to provide environment, comprise the rotatable disk having divided the zone and had sign, can cover millimeter paper on the disk, by a driven by servomotor, can change difficulty and the grade of playing chess by governing speed, in addition, by the millimeter paper on the conversion disk and the rule of playing chess, can change the pattern of playing chess;
Charge coupled device camera (5) is a kind of universal industrial charge-coupled image sensor camera, be used to carry out IMAQ, the visual surveillance system that forms to play chess robot system by two charge coupled device cameras, can make client computer (10) (12) to finish video monitor to the environment panorama of playing chess, information with the charge-coupled image sensor camera collection combines with artificial intelligence simultaneously, three-dimensional real-time simulation figure is provided for client computer (10) (12);
The controller that robot controller (6) is made up of mechanical hand control integrated circuit board is used for realizing to the play chess control of mechanical hand of six degree of freedom;
The server that image server (7) is made up of image pick-up card and computer, the image of charge-coupled image sensor camera collection is handled and sent according to user's request, in distant operation is played chess by based on network robot, user (10) or (12) receive information such as the sensor of robot site and image by network, send control command, the people that the operates machine task of finishing the work, the graphics Simulation system of client can generate robot and the environmental model of playing chess, according to the sensing data that receives, change the position and the attitude of joint of robot, play up three-dimensional animation; Distant operation user can utilize interactive tools such as mouse, keyboard or joystick, to robot transmit operation order, and the control robot motion; Adopt graphics Simulation, by the small number of sensors data that network transmits, the real-time simulation robot environment of playing chess;
The server that robot server (8) is made up of computer and corresponding software system, be used to provide the play chess strategy and the instruction of mechanical hand, its will play chess policy instructions of client computer (10), (12) is transformed to suitable robot trajectory, and will be sent to robot control (6) through the track after optimizing, control robot (2) and carry out corresponding action;
The webserver (9) is used to provide remote client's login and Access Management Access;
This locality client computer (10) of playing chess is the client computer that has to play chess system, is used for this locality operation of playing chess;
Internet (11) is used to provide long-range and plays chess to visit;
The long-range client computer (12) of playing chess has the Terminal Server Client of browser, is used to carry out the long-range operation of playing chess.
3, control system of playing chess based on the online teleoperation robot of Internet according to claim 1 is characterized in that: described industrial bus (3) is to adopt Controller Area Network BUS, interconnecting bus devices for peripheral equipment or Process FieldbusROFIBUS.
4, control system of playing chess based on the online teleoperation robot of Internet according to claim 2 is characterized in that: described graphics Simulation system can be operated under two patterns line model and off-line mode.Line model is used for the graphical simulation the on-the-spot robot motion of distant operation, and off-line mode is mainly used in inspection machine people trajectory planning algorithm, carries out the analytical test of data.
5, a kind of control method of control system of playing chess based on the online teleoperation robot of Internet is characterized in that:
The robot control system of playing chess is the distributed hierarchical real-time control system that is structured on the universal industrial bus (3), can realize the work of many master modes, and bus node information is divided into different priority, and has adopted non-destructive bus ruling mechanism, and it comprises:
Supervision arbitration mechanical hand (1) is equipped with the charge-coupled image sensor camera, and described supervision arbitration mechanical hand (1) is connected with robot controller (6);
Play chess (2) two of mechanical hands, it is connected with robot controller (6);
Its connects robot server (8), image server (7), the webserver, this locality client computer (10) of playing chess industrial bus (3);
Play chess environment (4) it be connected (3) with industrial bus;
It is connected charge coupled device camera (5) with image server (7);
It is connected robot controller (6) with industrial bus with mechanical hand;
It is connected image server (7) with industrial bus with camera;
It is connected robot server (8) with industrial bus;
It is connected the webserver (9) with Internet with industrial bus;
This locality client computer (10) of playing chess is to carry out the client of playing chess in this locality, and it is connected with industrial bus;
Internet (11) provides the network of the long-range visit of playing chess, and it is connected with the long-range client computer (12) of playing chess with the webserver (9);
The long-range client computer (12) of playing chess is used to carry out long-range client of playing chess, and it is connected with Internet;
The person's of playing chess Network Environment is on client computer (10) (12), utilize mouse-keyboard and game paddle to finish operation, play chess to operate by the real-time simulation environment on the client computer is auxiliary simultaneously, and the video information visualization of transmitting by the on-the-spot charge coupled device camera (5) of playing chess ground understands the result that plays chess, and it comprises following control step:
(1) first runtime server end program, the connection request of wait client
(2) client Connection Service device end asks ROBOT CONTROL power
(3) robot server is according to present case, and whether decision gives the client control authority
After (4) two clients all obtain the robot control authority, the beginning of playing chess
(5) each client is judged according to robot and surrounding enviroment information that server end provided, sends the order of playing chess of various robots
(6) robot server receives Client command, robot is carried out corresponding control, and must the situation of grading carry out record to the progress of playing chess, the client of playing chess, and then, informs client.
When (7) playing chess to finish, the client of playing chess is returned ROBOT CONTROL power, and at this moment, work such as the record that robot server is played chess to this time, control also will finish.
6,, it is characterized in that described two kinds of patterns of playing chess are: a kind of mode of playing chess that is based on the network General Purpose Interface according to claim 1 or 3 described control systems of playing chess based on the online teleoperation robot of INTERNET; Another kind is to play chess in this locality by the client of special use, and the former utilizes Internet browser instrument, adopts the HTTP agreement, visits the webserver; The latter realizes the application layer protocol function of oneself mainly based on the transmission control protocol agreement.Two kinds of patterns of playing chess that system provides, adopt the work of client/server software pattern respectively, this needs the user that client software is installed when using for the first time, provide open website to general user, the user can visit this website with web browser, in case the user is connected to the webserver smoothly, obtains access rights by authentication, just can controls robot and finish the distant operation task of playing chess.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 03119499 CN1233514C (en) | 2003-03-14 | 2003-03-14 | Internet control system for remotely controlling robots to play chess |
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| CN 03119499 CN1233514C (en) | 2003-03-14 | 2003-03-14 | Internet control system for remotely controlling robots to play chess |
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| CN1233514C true CN1233514C (en) | 2005-12-28 |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1835582B (en) * | 2005-03-18 | 2010-04-21 | 北京富星创业科技发展有限公司 | Inquiry commanding and special supervision management system and its working method |
| CN101436061B (en) * | 2008-12-12 | 2010-08-25 | 南开大学 | Competing type network robot chess-playing system |
| CN101794349B (en) * | 2010-02-09 | 2012-08-29 | 北京邮电大学 | Experimental system and method for augmented reality of teleoperation of robot |
| CN102957732A (en) * | 2011-08-31 | 2013-03-06 | 德信互动科技（北京）有限公司 | Man-machine interaction system and method |
| JPWO2013150596A1 (en) * | 2012-04-02 | 2015-12-14 | 株式会社安川電機 | Robot system and work equipment |
| CN103389650B (en) * | 2013-08-08 | 2016-01-06 | 西华大学 | The bilateral unknown dead zone adaptive control system of four-way remote control system |
| CN105138754A (en) * | 2015-05-13 | 2015-12-09 | 西北工业大学 | Design method of variable-structure controller for double teleoperation with feature of time-varying delay |
| CN105965507B (en) * | 2016-05-16 | 2018-04-03 | 西北工业大学 | A kind of double shared tow-armed robot remote operating control system |
| CN106254632A (en) * | 2016-07-26 | 2016-12-21 | 青岛欧开智能系统有限公司 | Remote operation controller |
| CN106444638B (en) * | 2016-07-26 | 2018-12-04 | 南京国际船舶设备配件有限公司 | A kind of marine low-speed machine air valve welding robot workstation control system |
| CN106422295B (en) * | 2016-09-27 | 2020-03-17 | 珠海格力智能装备有限公司 | Method and device for processing difficulty level of playing chess and robot |
| CN106926260A (en) * | 2017-03-10 | 2017-07-07 | 蒙柳 | A kind of teleoperation robot interaction controller |
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