CN111283680B - System and method for wireless remote control of robot - Google Patents
System and method for wireless remote control of robot Download PDFInfo
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- CN111283680B CN111283680B CN202010127044.6A CN202010127044A CN111283680B CN 111283680 B CN111283680 B CN 111283680B CN 202010127044 A CN202010127044 A CN 202010127044A CN 111283680 B CN111283680 B CN 111283680B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to a system for wireless remote control of a robot, comprising: the system comprises an upper computer client, a server comprising a communication module and a robot entity; the remote communication is carried out between the client of the upper computer and the communication module by adopting a Socket network protocol, and communication data is packaged by adopting a self-defined Json data format; and the robot entity and the communication module are in wireless communication by adopting WIFI, and communication data are packaged by adopting a self-defined serial data format. The invention adopts the server end containing the communication module as the middleware of the upper computer client and the robot to forward the control command and the data message, and the communication module adopts a mode of processing tasks simultaneously by multithreading, so that the functions of establishing connection, sending the control command, receiving the feedback data and the like are mutually independent and do not interfere with each other, and the real-time performance of controlling the robot is improved.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a system and a method for wireless remote control of a robot.
Background
OpenCV is a cross-platform computer vision library based on BSD license (open source) release that can run on Linux, windows, android and Mac OS operating systems. The system is lightweight and efficient, is composed of a series of C functions and a small number of C++ classes, provides interfaces of Python, ruby, MATLAB and other languages, and realizes a plurality of general algorithms in the aspects of image processing and computer vision.
Socket is a middleware abstraction layer that the application layer communicates with the TCP/IP protocol suite, which is a set of interfaces. In the design mode, socket is actually a portal mode, which hides the complex TCP/IP protocol family behind Socket interfaces, and for the user, a set of simple interfaces are all, so that the Socket organizes data to conform to the specified protocol. Therefore, the developer does not need to deeply understand the tcp/udp protocol, the socket is already packaged for the user, the user only needs to follow the specification of the socket to program, and the programmed program naturally follows the tcp/udp standard.
Along with the progress of technology and technology, the development of robot technology has also entered a new stage, and a large number of robots are applied to different fields, especially in environments where human beings are difficult to explore or are easy to cause harm to personal safety, and different types of robots are required to replace human beings to complete actual work. Most of the existing robots are controlled by wired connection, and when the robots work in these scenes, the mobile robots are limited by the control mode based on wired connection, so that the exploration scope of the robots is limited. There is thus an urgent need in the industry to develop a stable system or method for wireless control of mobile robots capable of supporting long-range communication.
Disclosure of Invention
Aiming at the defect that most of the existing robots in the prior art are controlled by wired connection, the invention designs a system and a method for remotely controlling the robots in a wireless way.
The specific scheme of the application is as follows:
a system for wireless remote control of a robot, comprising: the system comprises an upper computer client, a server comprising a communication module and a robot entity; the upper computer client is used for sending a robot control instruction to realize motion control of a robot entity, receiving data from the robot entity and analyzing the data; the server side is used for processing the robot control instruction and outputting the control instruction to the robot entity; the robot entity is used for moving according to the control instruction; the remote communication is carried out between the client of the upper computer and the communication module by adopting a Socket network protocol, and communication data is packaged by adopting a self-defined Json data format; and the robot entity and the communication module are in wireless communication by adopting WIFI, and communication data are packaged by adopting a self-defined serial data format.
Preferably, the robot entity is a multi-joint serial robot, and comprises a main controller, a WIFI module, a camera, a bus, M driving steering engines and a power supply unit; the driving steering engine is connected with the main controller through a bus; the driving steering engine moves according to a control instruction output by the main controller; the power supply unit is used for supplying power.
Preferably, the server and the client of the host computer are in a local area network, and the server comprises a wireless network card driver connected with a WIFI module of the robot entity.
Preferably, the number of the clients of the upper computer is N, and N is more than or equal to 1024 and more than or equal to 1.
A method of wireless remote control of a robot, comprising:
s1, initializing socket network connection as a server side of network communication, and monitoring connection from an upper computer client side;
s2, the server side receives a network connection request sent by the client side of the upper computer, and Socket network connection between the server side and the client side of the upper computer is established;
s3, creating and running a sub-thread module of WIFI communication, and establishing communication between a server side and the WIFI module of the robot entity;
s4, creating a sub-thread module of TCP communication and running, receiving a control instruction of a client by a server, analyzing the control instruction, and sending out a corresponding control instruction to a robot entity according to an analysis result;
and S5, the robot entity moves according to the control instruction.
Preferably, step S2 includes:
s21, when a server side receives a network connection request sent by a client side of an upper computer, the network connection request is processed, and a socket identification variable corresponding to the client side is generated;
s22, storing the client socket identification variable into an FD set of a current process, wherein the FD set is used for storing all the clients of the upper computer which are connected with a current server, and when the upper computer is disconnected with a current communication module of the server, the corresponding sockets are removed from the FD set;
s23, judging whether the number of the clients of the upper computer which are connected currently reaches an upper limit, if so, waiting for the rest upper computers to disconnect, and if not, continuing to execute S21.
Preferably, step S3 includes:
s31, the server side circularly monitors data from the WIFI module, wherein the data comprise video data, picture data, audio data, serial port data and the like; if the data is video data, executing step S32; if the data is picture data, executing step S33; if the data is serial data, executing step S34;
s32, processing the video data frame by frame, converting the processed video data into a BGR format, and then displaying the analyzed video frame data frame by frame through an opencv function library to form continuous video images;
s33, displaying the pictures in a program window through an opencv function library;
s34, analyzing according to a self-defined serial port data format, packaging again according to a self-defined Json data format to obtain information to be sent, then polling to obtain writable client sockets in the FD set, writing the information to be sent into the writable client sockets through TCP communication, and sending the information to be sent to a corresponding upper computer.
Preferably, step S4 includes:
s41: using a select function in socket network programming to poll the FD set regularly, and detecting whether a control instruction from a certain upper computer client exists; if yes, go to step S42;
s42: the temporary buffer area of the received message is emptied, a control instruction from a client is written into the temporary buffer area of the received message, the control instruction is taken out from the buffer area to be analyzed, and a corresponding control instruction is sent to a robot entity according to an analysis result;
s43: and the robot entity returns a corresponding state code to the client side sending the control instruction according to the execution result of the control instruction, and continues to execute S41.
Compared with the prior art, the invention has the following beneficial effects:
the scheme adopts the server end comprising the communication module as the middleware of the upper computer client and the robot to forward the control command and the data message, and the communication module adopts a mode of processing tasks simultaneously in a multithreading way, so that the functions of establishing connection, sending the control command, receiving the feedback data and the like are mutually independent and do not interfere with each other, and the real-time performance of controlling the robot is improved. The method comprises the following steps:
(1) The invention adopts a Socket network communication method, solves the problem that in the prior robot control, one upper computer directly controls one robot in single-to-single communication, so that the robot can receive control commands from a plurality of upper computers, realize multi-machine control, and send various data information fed back by the robot, such as angle information, sensor information, collected image data and the like, back to the plurality of upper computers for processing;
(2) According to the method for wireless remote control of the robot, disclosed by the invention, the communication module adopts a mode of multithreading and simultaneous processing of tasks, so that functions of establishing connection, sending control commands, receiving return data and the like are mutually independent and do not interfere with each other, and the real-time performance of robot control is improved;
(3) The invention adopts a communication mode of combining local area network and WIFI, has more stable communication function compared with Bluetooth control, expands the communication range of robot control, can break the limitation of wired control, and realizes remote control of the robot.
Drawings
FIG. 1 is a schematic block diagram of a system of a wireless remote control robot of an embodiment;
FIG. 2 is a schematic flow chart of a method of wireless remote control of a robot according to an embodiment;
fig. 3 is a program diagram of a method of wireless remote control of a robot according to an embodiment.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a system for wireless remote control of a robot, comprising: the system comprises an upper computer client, a server comprising a communication module and a robot entity; the upper computer client is used for sending a robot control instruction to realize motion control of a robot entity, receiving data from the robot entity and analyzing the data; the server side is used for processing the robot control instruction and outputting the control instruction to the robot entity; the robot entity is used for moving according to the control instruction; the remote communication is carried out between the client of the upper computer and the communication module by adopting a Socket network protocol, and communication data is packaged by adopting a self-defined Json data format; and the robot entity and the communication module are in wireless communication by adopting WIFI, and communication data are packaged by adopting a self-defined serial data format.
The server side containing the communication module adopts the communication module program as the middleware of the upper computer and the robot to forward the control command and the data message. The communication module can be a software program, and is developed by adopting C++ language and combining with a socket network.
In this embodiment, the robot entity is a multi-joint serial robot, and the robot entity includes a main controller, a WIFI module, a camera, a bus, M driving steering engines, and a power supply unit; the driving steering engine is connected with the main controller through a bus; the driving steering engine moves according to a control instruction output by the main controller; the power supply unit is used for supplying power.
In this embodiment, the server and the client of the host computer are in a local area network, and the server includes a wireless network card driver connected to the WIFI module of the robot entity.
In this embodiment, the number of clients of the host computer is N, where 1024 is greater than or equal to N and greater than or equal to 1.
Referring to fig. 2-3, a wireless remote control robot method based on the system of the wireless remote control robot includes:
s1, initializing socket network connection as a server side of network communication, and monitoring connection from an upper computer client side; specifically, step S1 includes: the method comprises the steps of taking a current process as a server end of socket network communication, creating a server socket of the current process, adopting a TCP protocol for communication, binding the socket with an IP address of a computer where the process is located, and designating a computer port number for communication; setting the server socket into a non-blocking mode, starting a monitoring mode, and waiting for a connection request of an upper computer client;
s2, the server side receives a network connection request sent by the client side of the upper computer, and Socket network connection between the server side and the client side of the upper computer is established; step S2 is a main thread of program operation, specifically, step S2 includes:
s21, when the server receives a network connection request sent by a client of the upper computer, the network connection request is processed, and a socket identification variable corresponding to the client is generated, namely, the socket identification variable and the ip address of the client of the upper computer are obtained.
S22, storing the client socket identification variable into an FD set of a current process, wherein the FD set is used for storing all the clients of the upper computer which are connected with a current server, and when the upper computer is disconnected with a current communication module of the server, the corresponding sockets are removed from the FD set;
s23, judging whether the number of the clients of the upper computer which are connected currently reaches an upper limit, if so, waiting for the rest upper computers to disconnect, and if not, continuing to execute S21.
S3, creating and running a sub-thread module of WIFI communication, and establishing communication between a server side and the WIFI module of the robot entity; specifically, step S3 includes:
s31, the server side circularly monitors data from the WIFI module, wherein the data comprise video data, picture data, audio data, serial port data and the like; if the data is video data, executing step S32; if the data is picture data, executing step S33; if the data is serial data, executing step S34;
s32, processing the video data frame by frame, converting the processed video data into a BGR format, and then displaying the analyzed video frame data frame by frame through an opencv function library to form continuous video images;
s33, displaying the pictures in a program window through an opencv function library;
s34, if serial data are received, the data feedback from the robot is indicated, analysis is carried out according to a self-defined serial data format, then packaging is carried out again according to a self-defined Json data format to obtain information to be sent, writable client sockets in the FD set are obtained through polling, the information to be sent is written into the writable client sockets through TCP communication and is sent to a corresponding upper computer, and the self-defined serial data format is as follows:
| header | Command type ID | Data length | Message data | CRC check bit |
In the format, the length of a header is two bytes, and the header is two fixed characters and is used for identifying the starting position of serial data; the command type ID is an enumeration value and indicates whether the message type is a control command sent to the robot or message data fed back by the robot; the data length is used for recording the length of the following message data, so that the program can correctly read the message data content; the message data part is used for storing the contents such as data, instructions, parameters and the like which need to be transmitted; the CRC check bit is used for judging whether the data transmission result is correct or not.
S4, creating a sub-thread module of TCP communication and running, receiving a control instruction of a client by a server, analyzing the control instruction, and sending out a corresponding control instruction to a robot entity according to an analysis result; specifically, step S4 includes:
s41: using a select function in socket network programming to poll the FD set regularly, and detecting whether a control instruction from a certain upper computer client exists; if yes, go to step S42;
s42: the temporary buffer area of the received message is emptied, a control instruction from a client is written into the temporary buffer area of the received message, the control instruction is taken out from the buffer area to be analyzed, and a corresponding control instruction is sent to a robot entity according to an analysis result; the custom Json format control command is as follows:
the MessageType field is used to hold an enumerated value, such as 0,1,2;0 indicates that the type of the transmitted message is a top-level command, namely, the UpperLayerMessage field has data, and 1 indicates that the type of the transmitted message is bottom-level data, namely, the LowerLayerMessage field has data; 2 indicates that the type of the transmitted message is a mixed command, namely, the UpperLayerMessage field and the LowerLayerMessage field have data;
the UpperLayerMessage field is used to store a top level command, also an enumerated value, which includes: starting serial port communication, starting a camera, shooting and other robot functions;
the LowerLayerMessage field is used for storing bottom data, the format is a self-defined serial data format, and the appointed steering engine is controlled to perform rotation motion at a certain angle;
s43: and the robot entity returns a corresponding state code to the client side sending the control instruction according to the execution result of the control instruction, and continues to execute S41.
And S5, the robot entity moves according to the control instruction. Step S5 is followed by: if the communication module program is closed, all socket network connections established by the process are disconnected.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (3)
1. A system for wireless remote control of a robot, comprising: the system comprises an upper computer client, a server comprising a communication module and a robot entity;
the upper computer client is used for sending a robot control instruction to realize motion control of a robot entity, receiving data from the robot entity and analyzing the data;
the server side is used for processing the robot control instruction and outputting the control instruction to the robot entity;
the robot entity is used for moving according to the control instruction;
the remote communication is carried out between the client of the upper computer and the communication module by adopting a Socket network protocol, and communication data is packaged by adopting a self-defined Json data format;
the robot entity and the communication module are in wireless communication by adopting WIFI, and communication data are packaged by adopting a self-defined serial data format;
the robot entity comprises a WIFI module;
the server end and the client end of the upper computer are in a local area network, and the server end comprises a wireless network card driver connected with a WIFI module of the robot entity;
the number of the upper computer clients is N, and N is more than or equal to 1024 and more than or equal to 1;
the method comprises the steps of using a select function in socket network programming to poll an FD set at regular time, and detecting whether a control instruction from a certain upper computer client exists or not; if so, the temporary buffer area of the received message is emptied, the control instruction from the client is written into the temporary buffer area of the received message, the control instruction is taken out from the buffer area for analysis, and the corresponding control instruction is sent to the robot entity according to the analysis result.
2. The system of wireless remote control robots of claim 1, wherein the robot entity is a multi-joint serial robot, the robot entity further comprising a master controller, a camera, a bus, M drive steering engines, and a power supply unit; the driving steering engine is connected with the main controller through a bus; the driving steering engine moves according to a control instruction output by the main controller; the power supply unit is used for supplying power.
3. A method of wirelessly remotely controlling a robot, comprising:
s1, initializing socket network connection as a server side of network communication, and monitoring connection from an upper computer client side;
s2, the server side receives a network connection request sent by the client side of the upper computer, and Socket network connection between the server side and the client side of the upper computer is established;
s3, creating and running a sub-thread module of WIFI communication, and establishing communication between a server side and the WIFI module of the robot entity;
s4, creating a sub-thread module of TCP communication and running, receiving a control instruction of a client by a server, analyzing the control instruction, and sending out a corresponding control instruction to a robot entity according to an analysis result;
s5, the robot entity moves according to the control instruction;
the server end and the client end of the upper computer are in a local area network, and the server end comprises a wireless network card driver connected with a WIFI module of the robot entity;
the step S2 comprises the following steps:
s21, when a server side receives a network connection request sent by a client side of an upper computer, the network connection request is processed, and a socket identification variable corresponding to the client side is generated;
s22, storing the client socket identification variable into an FD set of a current process, wherein the FD set is used for storing all the clients of the upper computer which are connected with a current server, and when the upper computer is disconnected with a current communication module of the server, the corresponding sockets are removed from the FD set;
s23, judging whether the number of the clients of the upper computer which are connected currently reaches an upper limit, if so, waiting for the rest upper computers to disconnect, and if not, continuing to execute S21;
the step S3 comprises the following steps:
s31, the server side circularly monitors data from the WIFI module, wherein the data comprise video data, picture data, audio data and serial port data; if the data is video data, executing step S32; if the data is picture data, executing step S33; if the data is serial data, executing step S34;
s32, processing the video data frame by frame, converting the processed video data into a BGR format, and then displaying the analyzed video frame data frame by frame through an opencv function library to form continuous video images;
s33, displaying the pictures in a program window through an opencv function library;
s34, analyzing according to a self-defined serial port data format, packaging again according to a self-defined Json data format to form information to be sent, then polling to obtain writable client sockets in the FD set, writing the information to be sent into the writable client sockets through TCP communication, and sending the information to be sent to a corresponding upper computer;
the step S4 includes:
s41: using a select function in socket network programming to poll the FD set regularly, and detecting whether a control instruction from a certain upper computer client exists; if yes, go to step S42;
s42: the temporary buffer area of the received message is emptied, a control instruction from a client is written into the temporary buffer area of the received message, the control instruction is taken out from the buffer area to be analyzed, and a corresponding control instruction is sent to a robot entity according to an analysis result;
s43: and the robot entity returns a corresponding state code to the client side sending the control instruction according to the execution result of the control instruction, and continues to execute S41.
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| CN111917822A (en) * | 2020-06-17 | 2020-11-10 | 王鹤淳 | Mobile equipment remote control method and system based on mobile network module |
| CN112198840B (en) * | 2020-08-11 | 2022-07-01 | 北京如影智能科技有限公司 | Robot task scheduling method and device |
| CN112549023B (en) * | 2020-11-25 | 2022-05-27 | 浙江同善人工智能技术有限公司 | Industrial robot demonstrator mode and protocol control method based on TCP socket interface |
| CN113370211A (en) * | 2021-06-25 | 2021-09-10 | 深圳市拓普智造科技有限公司 | Robot and remote control method and system thereof |
| CN113608538A (en) * | 2021-08-04 | 2021-11-05 | 联想新视界(南昌)人工智能工研院有限公司 | Control service integration method of underwater robot based on 5G edge calculation |
| CN114401162B (en) * | 2022-01-14 | 2022-11-08 | 中国科学院地理科学与资源研究所 | Wireless control system and method based on hole robot |
| CN114338836B (en) * | 2022-03-15 | 2022-06-17 | 佛山智能装备技术研究院 | Man-machine command interaction method based on background agent |
| 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 |
| CN116192919A (en) * | 2023-04-19 | 2023-05-30 | 天亿纵横智能科技(天津)有限公司 | Remote operation control system of bullet train image acquisition robot |
| CN116506326B (en) * | 2023-06-21 | 2023-11-24 | 季华实验室 | Sub-thread data receiving method, data monitoring method, upper computer and robot |
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| CN103324178A (en) * | 2013-06-14 | 2013-09-25 | 南昌大学 | Wireless robot long-range control system based on WIFI |
| CN103862457B (en) * | 2014-03-13 | 2017-02-08 | 湖南信息职业技术学院 | Service robot with visual system |
| CN105208016B (en) * | 2015-09-07 | 2018-06-05 | 山东大学 | The a variety of data transmissions of agriculture Internet of Things and the method for processing |
| CN106060058A (en) * | 2016-06-16 | 2016-10-26 | 华南理工大学 | Internet-based industrial robot remote control method |
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