CN112187871B - Robot control method, device, electronic device and storage medium - Google Patents
Robot control method, device, electronic device and storage medium Download PDFInfo
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- CN112187871B CN112187871B CN202010930394.6A CN202010930394A CN112187871B CN 112187871 B CN112187871 B CN 112187871B CN 202010930394 A CN202010930394 A CN 202010930394A CN 112187871 B CN112187871 B CN 112187871B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/14—Session management
- H04L67/141—Setup of application sessions
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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Abstract
The embodiment of the invention provides a robot control method, a robot control device, electronic equipment and a storage medium, which are applied to a server, wherein the method comprises the following steps: establishing connection with a teach pendant according to a first connection request sent by the teach pendant, and establishing connection with at least one controller according to a second connection request sent by at least one controller; sending the identifier corresponding to the at least one controller to a demonstrator so that the demonstrator can display the identifier corresponding to the at least one controller; receiving a target identifier sent by a demonstrator, and determining a target controller corresponding to the target identifier; and creating a control link between the target controller and the teach pendant, and enabling the teach pendant to control the robot based on the control link. The demonstrator can communicate with different controllers through the server, has universality, and can still use other demonstrator to communicate with the controllers under the condition that the demonstrator is damaged, so that the robot is controlled, and the whole set of robot can be normally used.
Description
Technical Field
The embodiment of the invention relates to the technical field of intelligent control, in particular to a robot control method and device, electronic equipment and a storage medium.
Background
Industrial robots have become an indispensable part of the automation field, and are widely used in various industries, and industrial robots can replace manual work to perform simple and highly-repeatable work. The industrial robot generally comprises a demonstrator, a controller and a robot body.
At present, when the industrial robot is controlled to move, the demonstrator is connected with the matched controller, a user operates on the demonstrator to trigger an instruction, the demonstrator sends the instruction to the controller, and the controller controls the industrial robot to move according to the instruction.
Because the demonstrator needs to be connected with a matched controller to control the industrial robot to move, the problem of singleness is solved, and under the condition that the demonstrator is damaged, the industrial robot cannot be controlled to move, so that the whole set of industrial robot cannot be used.
Disclosure of Invention
In order to solve the technical problem that the industrial robot can be controlled to move only by establishing connection between the demonstrator and a matched controller, and the problem of uniqueness is caused, and the industrial robot cannot be controlled to move under the condition that the demonstrator is damaged, so that the whole set of industrial robot cannot be used, the embodiment of the invention provides a robot control method and device, electronic equipment and a storage medium.
In a first aspect of the embodiments of the present invention, a robot control method is first provided, which is applied to a server, and includes:
establishing connection with a teach pendant according to a first connection request sent by the teach pendant, and establishing connection with at least one controller according to a second connection request sent by the at least one controller;
sending the identifier corresponding to at least one controller to the demonstrator so that the demonstrator can display the identifier corresponding to at least one controller;
receiving a target identifier sent by the demonstrator, and determining a target controller corresponding to the target identifier, wherein the target identifier comprises an identifier corresponding to any one of the controllers;
creating a control link between the target controller and the teach pendant, and causing the teach pendant to control the robot based on the control link.
In an optional embodiment, the establishing a connection with the teach pendant according to the first connection request sent by the teach pendant includes:
receiving a first connection request sent by a demonstrator, and analyzing an identifier corresponding to the demonstrator carried in the first connection request;
and under the condition that the identifier corresponding to the demonstrator is matched with the identifier in the preset demonstrator list, establishing connection with the demonstrator.
In an optional embodiment, the establishing a connection with at least one controller according to a second connection request sent by the at least one controller includes:
receiving a second connection request sent by at least one controller;
analyzing the identifier corresponding to the controller carried in the second connection request sent by at least one controller;
and under the condition that the identifier corresponding to at least one controller is matched with the identifier in the preset controller list, establishing connection with at least one controller.
In an optional embodiment, the causing the teach pendant to control the robot based on the control link comprises:
receiving a control signal sent by the demonstrator, and processing the control signal to generate a control instruction;
and sending the control instruction to a target controller through the control link so that the target controller controls the robot based on the control instruction.
In an optional embodiment, the receiving the control signal sent by the teach pendant includes:
searching and operating an application program corresponding to the target controller;
sending a program interface of the application program to the demonstrator so that the demonstrator can display the program interface;
and receiving a control signal sent by the demonstrator, wherein the control signal is generated by a target object performing a first preset operation on the demonstrator or performing a second preset operation on the program interface displayed by the demonstrator.
In an optional embodiment, the finding and running the application corresponding to the target controller includes:
after determining a target controller corresponding to the target identifier, searching an application program corresponding to the target controller and running the application program;
alternatively, the first and second electrodes may be,
and after a control link between the target controller and the demonstrator is established, searching an application program corresponding to the target controller and running.
In an optional embodiment, the processing the control signal to generate a control instruction includes:
determining a signal type of the control signal;
and processing the control signal to generate a control instruction under the condition that the signal type meets a preset condition.
In an optional embodiment, the method further comprises:
and processing the application program according to the control signal under the condition that the signal type does not meet the preset condition.
In an optional embodiment, the method further comprises:
receiving a control result of the robot returned by the target controller;
updating the program interface based on the control result;
and sending the updated program interface to the demonstrator so that the demonstrator displays the updated program interface.
In a second aspect of embodiments of the present invention, there is provided a robot control apparatus applied to a server, the apparatus including:
the connection establishing module is used for establishing connection with the demonstrator according to a first connection request sent by the demonstrator and establishing connection with at least one controller according to a second connection request sent by the at least one controller;
the identifier sending module is used for sending the identifier corresponding to at least one controller to the demonstrator so that the demonstrator can display the identifier corresponding to at least one controller;
the identification receiving module is used for receiving a target identification sent by the demonstrator and determining a target controller corresponding to the target identification, wherein the target identification comprises an identification corresponding to any one of the controllers;
and the link establishing module is used for establishing a control link between the target controller and the demonstrator and enabling the demonstrator to control the robot based on the control link.
In a third aspect of the embodiments of the present invention, there is further provided an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;
a memory for storing a computer program;
a processor for implementing the robot control method according to the first aspect when executing the program stored in the memory.
In a fourth aspect of embodiments of the present invention, there is also provided a storage medium having instructions stored therein, which when run on a computer, cause the computer to perform the robot control method described in the first aspect above.
In a fifth aspect of embodiments of the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the robot control method described in the first aspect above.
According to the technical scheme provided by the embodiment of the invention, the connection with the demonstrator is established according to a first connection request sent by the demonstrator, the connection with the at least one controller is established according to a second connection request sent by the at least one controller, the identifier corresponding to the at least one controller is sent to the demonstrator, so that the demonstrator displays the identifier corresponding to the at least one controller, receives a target identifier sent by the demonstrator, the target identifier comprises the identifier corresponding to any one of the at least one controller, determines a target controller corresponding to the target identifier, creates a control link between the target controller and the demonstrator, and enables the demonstrator to control the robot based on the control link. The demonstrator can communicate with different controllers through the server, has universality, and can still use other demonstrator to communicate with the controllers under the condition that the demonstrator is damaged, so that the robot is controlled, and the whole set of robot can be normally used.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a robot control system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an internal structure of a teach pendant shown in an embodiment of the present invention;
fig. 3 is a schematic flow chart illustrating an implementation of a robot control method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of interaction between a server and a teach pendant and a controller shown in the embodiment of the present invention;
fig. 5 is a schematic flow chart illustrating another robot control method according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a robot control device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device shown in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, a schematic structural diagram of a robot control system according to an embodiment of the present invention is provided, where the robot control system includes a server, a teach pendant, at least one controller, and a robot corresponding to the at least one controller. It should be noted that, the embodiment of the present invention is described by taking a single teach pendant as an example, and the embodiment of the present invention has generality for other teach pendants.
The edge cloud is distributed on the edge side of the network, and a small-scale cloud data center for real-time data processing and analysis decision is provided.
The teaching aid comprises a touch screen, a switch, a key, a circuit board, a 5G wireless communication module, a shell and the like. For the circuit board in the demonstrator, as shown in fig. 2, the demonstrator comprises a system circuit, a touch screen circuit, a switch circuit, a power supply circuit and a 5G wireless communication module circuit, and the demonstrator has communication and display functions, can complete data processing and calculation on an edge cloud server, can simplify the circuit, reduce the heat generated inside the demonstrator, and reduce the temperature of the demonstrator.
For the controller, a 5G wireless communication module can be included for communicating with the edge cloud server, and the controller can communicate with a matched industrial robot.
As shown in fig. 3, an implementation flow diagram of a robot control method provided in an embodiment of the present invention is shown, where the method may be applied to an edge cloud server, and specifically may include the following steps:
s301, connection is established with the teach pendant according to a first connection request sent by the teach pendant, and connection is established with at least one controller according to a second connection request sent by the at least one controller.
For a robot, for example, an industrial robot, generally includes a robot body, a teach pendant (which may be regarded as a terminal), and a controller (which may also be called a control cabinet), and the robot may be controlled by the cooperation of the teach pendant and the controller.
For the teach pendant, a first connection request may be actively sent to the server after power-on, and for the at least one controller, a second connection request may also be actively sent to the server after power-on.
For example, as shown in fig. 4, after the power-on is started, the demonstrator may send a first connection request to the edge cloud server through the internal 5G wireless communication module, after the power-on is started, the controller a may send a second connection request a to the edge cloud server through the internal 5G wireless communication module, after the power-on is started, the controller B may send a second connection request B to the edge cloud server through the internal 5G wireless communication module, and after the power-on is started, the controller C may send a second connection request C to the edge cloud server through the internal 5G wireless communication module.
The server can receive a first connection request sent by the demonstrator and a second connection request sent by the at least one controller, so that connection is established with the demonstrator according to the first connection request and connection is established with the at least one controller according to the second connection request.
The server can receive a first connection request sent by the demonstrator, analyze the identifier corresponding to the demonstrator carried in the first connection request, and establish connection with the demonstrator under the condition that the identifier corresponding to the demonstrator is matched with the identifier in the preset demonstrator list, so as to complete connection with the demonstrator.
For example, the preset demonstrator list may be a demonstrator white list, the server may receive a first connection request sent by the demonstrator, analyze a device number (for example, a device name, a device MAC address, and the like) corresponding to the demonstrator carried in the first connection request, indicate that the demonstrator is available when the device number corresponding to the demonstrator matches the device number in the demonstrator white list, and may establish a connection with the demonstrator, and indicate that the demonstrator is unavailable when the device number corresponding to the demonstrator does not match the device number in the demonstrator white list, and do not need to establish a connection.
The server may receive a second connection request sent by the at least one controller, analyze the identifier of the controller carried in the second connection request sent by the at least one controller, and establish a connection with the at least one controller when the identifier corresponding to the at least one controller matches the identifier in the preset controller list, thereby completing the connection with the at least one controller.
For example, the preset controller list may be a controller white list, the server may receive the second connection request a sent by the controller a, the second connection request B sent by the controller B, and the second connection request C sent by the controller C, resolve the device number (for example, the device name, the device MAC address, and the like) corresponding to the controller a carried in the second connection request a, in the case where the device number corresponding to controller a matches the device number in the controller white list, indicating that controller a is available, a connection can be established with controller a, when the device number corresponding to the controller A is not matched with the device number in the white list of the controller, the controller A is indicated to be unavailable and does not need to establish connection, for the similar processing of the second connection request B and the second connection request C, the embodiments of the present invention are not described in detail herein.
S302, sending the identifier corresponding to at least one controller to the demonstrator, so that the demonstrator displays the identifier corresponding to at least one controller.
For the identifier corresponding to the at least one controller, the identifier corresponding to the at least one controller can be sent to the teach pendant, so that the teach pendant can display the identifier corresponding to the at least one controller, and thus a user can select the controller on the side of the teach pendant.
For example, the device number of the controller a, the device number of the controller B, and the device number of the controller C may be transmitted to the teach pendant, so that the teach pendant may display the device number of the controller a, the device number of the controller B, and the device number of the controller C, and thus the user may select the controller a, the controller B, or the controller C on the side of the teach pendant, communicate with the teach pendant, and control the corresponding industrial robot.
S303, receiving a target identifier sent by the demonstrator, and determining a target controller corresponding to the target identifier, wherein the target identifier comprises an identifier corresponding to any one of the controllers.
On the side of the demonstrator, a target identifier selected by a user can be determined, the target identifier comprises an identifier corresponding to any one of the at least one controller, and the target identifier is sent to the server.
On the server side, the target identifier sent by the demonstrator can be received, and a target controller corresponding to the target identifier is determined, wherein the target controller comprises any one of the at least one controller.
For example, the server receives a target identifier sent by the demonstrator, and determines a target controller corresponding to the target identifier: and a controller A.
S304, a control link between the target controller and the demonstrator is established, and the demonstrator is used for controlling the robot based on the control link.
For the determined target controller, a control link between the target controller and the teach pendant may be created, and the teach pendant may subsequently control the robot through the control link, specifically, may control the robot corresponding to the target controller.
Like this same demonstrator can control the robot of multiple different grade type, has the commonality, under the condition that the demonstrator damaged, still can use other demonstrator to communicate with the controller to control the robot, the whole set of robot of guarantee can normal use. And the demonstrator communicates with the controller based on 5G and edge cloud, so that the robot is fast in transmission, low in delay, high in stability and safe, and the efficiency of a user in operating the robot can be improved.
For example, as shown in table 1 below, there is a corresponding robot for each controller, and the controllers and robots may be in one-to-one correspondence.
| Controller | Robot |
| Controller A | Robot 1 |
| Controller B | Robot 2 |
| Controller C | Robot 3 |
TABLE 1
For the target controller: the controller a, the server may create a control link between the controller a and the teach pendant, and the teach pendant may control the robot 1 corresponding to the controller a through the control link.
Through the above description of the technical solution provided by the embodiment of the present invention, a connection is established with a teach pendant according to a first connection request sent by the teach pendant, a connection is established with at least one controller according to a second connection request sent by at least one controller, an identifier corresponding to the at least one controller is sent to the teach pendant, so that the teach pendant displays the identifier corresponding to the at least one controller, receives a target identifier sent by the teach pendant, where the target identifier includes an identifier corresponding to any one of the at least one controller, determines a target controller corresponding to the target identifier, creates a control link between the target controller and the teach pendant, and enables the teach pendant to control a robot based on the control link. The demonstrator can communicate with different controllers through the server, has universality, and can still use other demonstrator to communicate with the controllers under the condition that the demonstrator is damaged, so that the robot is controlled, and the whole set of robot can be normally used.
In order to solve the problems of unsmooth clamping caused by storage of a large number of files and long-time operation in the demonstrator and the problems of damage to the demonstrator, data loss and influence on production, data and application programs can be stored in a server and are not limited by hardware of the demonstrator any more. Meanwhile, the application program and the parameters of the demonstrator can be updated on the server side, and each demonstrator does not need to be processed one by one on site.
As shown in fig. 5, which is a schematic view of an implementation flow of another robot control method provided in an embodiment of the present invention, the method may be applied to an edge cloud server, and specifically may include the following steps:
s501, connection is established with the teach pendant according to a first connection request sent by the teach pendant, and connection is established with at least one controller according to a second connection request sent by the at least one controller.
In the embodiment of the present invention, this step is similar to the step S301, and the details of the embodiment of the present invention are not repeated herein.
S502, sending the identifier corresponding to at least one controller to the demonstrator, so that the demonstrator displays the identifier corresponding to at least one controller.
In the embodiment of the present invention, this step is similar to the step S302, and the details of the embodiment of the present invention are not repeated herein.
S503, receiving a target identifier sent by the demonstrator, and determining a target controller corresponding to the target identifier, where the target identifier includes an identifier corresponding to any one of the controllers.
In the embodiment of the present invention, this step is similar to the step S303, and details of the embodiment of the present invention are not repeated herein.
S504, a control link between the target controller and the demonstrator is established.
In the embodiment of the present invention, this step is similar to the step S304, and the details of the embodiment of the present invention are not repeated herein.
And S505, receiving the control signal sent by the demonstrator, and processing the control signal to generate a control command.
In the embodiment of the invention, the server can locally search and operate the application program corresponding to the target controller, and send the program interface of the application program to the demonstrator, so that the demonstrator displays the program interface of the application program.
The demonstrator can receive and display the program interface of the application program, a user can click and other operations on the program interface of the application program displayed by the demonstrator, or can click a key, click a switch and other operations on the demonstrator, and the demonstrator can generate corresponding control signals according to the operations, such as screen click signals, key signals and switch signals, and further send the control signals to the server.
The server can receive a control signal sent by the demonstrator, and can process the control signal to generate a control instruction, wherein the control signal is generated by a user performing operations such as key clicking, switch clicking and the like on the demonstrator, or performing operations such as clicking and the like on a program interface displayed by the demonstrator.
In addition, for the opportunity of finding and running the application program corresponding to the target controller, the target controller corresponding to the target identifier can be determined, or the control link between the target controller and the demonstrator can be established.
For example, after a control link between a target controller (controller a) and a demonstrator is created, an application program corresponding to the controller a may be searched and run, a program interface of the application program corresponding to the controller a is sent to the demonstrator, the demonstrator displays the program interface of the application program corresponding to the controller a, a user may perform a key click operation on the demonstrator, the demonstrator generates a key signal accordingly, the demonstrator sends the key signal to a server, and the server receives the key signal and further processes the key signal to generate a control instruction.
For the control signal, different signal types exist in the control signal due to different generation mechanisms, the server can determine the signal type of the control signal, process the control signal to generate a control instruction when the signal type meets a preset condition, and process the application program according to the control signal when the signal type does not meet the preset condition.
For example, the control signal is generated by a user clicking a shaft motion key on the teach pendant, and the signal type of the control signal may be determined: the robot control signal type meets a preset condition (namely the signal type is the robot control signal type), and the control signal can be analyzed, converted and the like to generate a control instruction of the robot.
For another example, the control signal is generated by a user clicking a screen on a program interface displayed by the demonstrator, and the signal type of the control signal can be determined: and the application program control type, wherein the signal type does not meet the preset condition (namely the signal type is not the robot control signal type), and the application program can be processed according to the control signal, such as interface jump and the like.
S506, the control instruction is sent to a target controller through the control link, so that the target controller controls the robot based on the control instruction.
For the control instruction, the server sends the control instruction to the target controller through a control link between the demonstrator and the target controller, and the target controller can receive the control instruction, so that the robot corresponding to the target controller can be controlled according to the control instruction.
For example, the control signal is generated by the user clicking a shaft motion key on the teach pendant, and the server may determine the signal type of the control signal: the robot control signal type meets a preset condition (namely the signal type is the robot control signal type), the control signal can be analyzed, converted and the like to generate a control instruction of the robot, the control instruction is sent to a target controller through a control link between a demonstrator and the target controller, and the target controller can receive the control instruction and control the robot to perform axis motion according to the control instruction.
In addition, the target controller can send the control result of the robot to the server, the server can receive the control result of the robot returned by the target controller, the program interface of the application program is updated based on the control result, the updated program interface of the application program is sent to the demonstrator, the demonstrator can receive the updated program interface of the application program, and then the updated program interface of the application program is displayed, so that the control of the robot is completed.
For example, the target controller controls the robot to perform axis motion according to the control command, and may send information such as an axis angle to the server, the server may receive the information such as the axis angle, update the program interface of the application program according to the information such as the axis angle, send the updated program interface of the application program to the demonstrator, and the demonstrator may receive the updated program interface of the application program, and then display the updated program interface of the application program, thereby completing axis motion control of the robot.
Corresponding to the above method embodiment, an embodiment of the present invention further provides a robot control apparatus, as shown in fig. 6, applied to a server, where the apparatus may include: a connection establishing module 610, an identification sending module 620, an identification receiving module 630 and a link creating module 640.
The connection establishing module 610 is configured to establish a connection with a teach pendant according to a first connection request sent by the teach pendant, and establish a connection with at least one controller according to a second connection request sent by the at least one controller;
the identifier sending module 620 is configured to send an identifier corresponding to at least one controller to the teach pendant, so that the teach pendant displays the identifier corresponding to the at least one controller;
an identifier receiving module 630, configured to receive a target identifier sent by the teach pendant, and determine a target controller corresponding to the target identifier, where the target identifier includes an identifier corresponding to any controller in at least one controller;
a link creation module 640 for creating a control link between the target controller and the teach pendant and causing the teach pendant to control the robot based on the control link.
The embodiment of the present invention further provides an electronic device, as shown in fig. 7, which includes a processor 71, a communication interface 72, a memory 73 and a communication bus 74, where the processor 71, the communication interface 72, and the memory 73 complete mutual communication through the communication bus 74,
a memory 73 for storing a computer program;
the processor 71, when executing the program stored in the memory 73, implements the following steps:
establishing connection with a teach pendant according to a first connection request sent by the teach pendant, and establishing connection with at least one controller according to a second connection request sent by the at least one controller; sending the identifier corresponding to at least one controller to the demonstrator so that the demonstrator can display the identifier corresponding to at least one controller; receiving a target identifier sent by the demonstrator, and determining a target controller corresponding to the target identifier, wherein the target identifier comprises an identifier corresponding to any one of the controllers; creating a control link between the target controller and the teach pendant, and causing the teach pendant to control the robot based on the control link.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
In yet another embodiment of the present invention, a storage medium is further provided, which stores instructions that, when executed on a computer, cause the computer to perform the robot control method according to any one of the above embodiments.
In a further embodiment provided by the present invention, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the robot control method of any of the above embodiments.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a storage medium or transmitted from one storage medium to another, for example, from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The storage medium may be any available medium that can be accessed by a computer or a data storage device including one or more available media integrated servers, data centers, and the like. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. A robot control method applied to a server, the method comprising:
establishing connection with a teach pendant according to a first connection request sent by the teach pendant, and establishing connection with at least one controller according to a second connection request sent by the at least one controller;
sending the identifier corresponding to at least one controller to the demonstrator so that the demonstrator can display the identifier corresponding to at least one controller;
receiving a target identifier sent by the demonstrator, and determining a target controller corresponding to the target identifier, wherein the target identifier comprises an identifier corresponding to any one of the controllers;
creating a control link between the target controller and the teach pendant and causing the teach pendant to control the robot based on the control link, comprising: receiving a control signal sent by the demonstrator, and processing the control signal to generate a control instruction; sending the control instruction to a target controller through the control link so that the target controller controls the robot based on the control instruction; the receiving of the control signal sent by the demonstrator comprises: searching and operating an application program corresponding to the target controller; sending a program interface of the application program to the demonstrator so that the demonstrator can display the program interface; and receiving a control signal sent by the demonstrator, wherein the control signal is generated by a target object performing a first preset operation on the demonstrator or performing a second preset operation on the program interface displayed by the demonstrator.
2. The method of claim 1, wherein establishing a connection with the teach pendant according to a first connection request sent by the teach pendant comprises:
receiving a first connection request sent by a demonstrator, and analyzing an identifier corresponding to the demonstrator carried in the first connection request;
and under the condition that the identifier corresponding to the demonstrator is matched with the identifier in the preset demonstrator list, establishing connection with the demonstrator.
3. The method of claim 1, wherein the establishing a connection with at least one controller according to a second connection request sent by the at least one controller comprises:
receiving a second connection request sent by at least one controller;
analyzing the identifier corresponding to the controller carried in the second connection request sent by at least one controller;
and under the condition that the identifier corresponding to at least one controller is matched with the identifier in the preset controller list, establishing connection with at least one controller.
4. The method of claim 1, wherein the finding and running of the application corresponding to the target controller comprises:
after determining a target controller corresponding to the target identifier, searching an application program corresponding to the target controller and running the application program;
alternatively, the first and second electrodes may be,
and after a control link between the target controller and the demonstrator is established, searching an application program corresponding to the target controller and running.
5. The method of claim 1, wherein the processing the control signal to generate a control instruction comprises:
determining a signal type of the control signal;
and processing the control signal to generate a control instruction under the condition that the signal type meets a preset condition.
6. The method of claim 5, further comprising:
and processing the application program according to the control signal under the condition that the signal type does not meet the preset condition.
7. The method according to any one of claims 1, 4 to 6, further comprising:
receiving a control result of the robot returned by the target controller;
updating the program interface based on the control result;
and sending the updated program interface to the demonstrator so that the demonstrator displays the updated program interface.
8. A robot control apparatus, applied to a server, the apparatus comprising:
the connection establishing module is used for establishing connection with the demonstrator according to a first connection request sent by the demonstrator and establishing connection with at least one controller according to a second connection request sent by the at least one controller;
the identifier sending module is used for sending the identifier corresponding to at least one controller to the demonstrator so that the demonstrator can display the identifier corresponding to at least one controller;
the identification receiving module is used for receiving a target identification sent by the demonstrator and determining a target controller corresponding to the target identification, wherein the target identification comprises an identification corresponding to any one of the controllers;
a link creation module for creating a control link between the target controller and the teach pendant and causing the teach pendant to control the robot based on the control link, comprising: receiving a control signal sent by the demonstrator, and processing the control signal to generate a control instruction; sending the control instruction to a target controller through the control link so that the target controller controls the robot based on the control instruction; the receiving of the control signal sent by the demonstrator comprises: searching and operating an application program corresponding to the target controller; sending a program interface of the application program to the demonstrator so that the demonstrator can display the program interface; and receiving a control signal sent by the demonstrator, wherein the control signal is generated by a target object performing a first preset operation on the demonstrator or performing a second preset operation on the program interface displayed by the demonstrator.
9. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of any one of claims 1 to 7 when executing a program stored on a memory.
10. A storage medium on which a computer program is stored, which program, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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| CN115476347B (en) * | 2021-06-16 | 2023-12-12 | 北京小米机器人技术有限公司 | Communication link establishment method and device, control equipment and robot |
| CN114571471B (en) * | 2022-05-07 | 2022-10-14 | 广东隆崎机器人有限公司 | Method and system for centralized control of multiple SCARA robots |
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| WO2010045968A1 (en) * | 2008-10-21 | 2010-04-29 | Abb Technology Ab | A robot system with a teach pendant |
| CN103097970B (en) * | 2010-08-19 | 2015-10-21 | Abb技术有限公司 | For providing the system and method for safety remote access to robot controller |
| CN103737602B (en) * | 2013-11-25 | 2015-10-21 | 王伟栋 | Industrial robot is wireless teaching device for carrying out said and method thereof |
| CN107783509A (en) * | 2016-08-27 | 2018-03-09 | 北京北信源软件股份有限公司 | A kind of intelligent home furnishing control method, device and system |
| CN106125676A (en) * | 2016-08-31 | 2016-11-16 | 滕晓波 | A kind of robot control system |
| CN106873977A (en) * | 2016-12-30 | 2017-06-20 | 南京埃斯顿机器人工程有限公司 | A kind of expansible robot demonstrator based on script and plug-in unit |
| CN108198024B (en) * | 2017-12-28 | 2021-05-18 | 纳恩博（北京）科技有限公司 | Information processing method and device, electronic device and storage medium |
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