CN103101054B - Mobile phone is to the programming of robot and Controlling System - Google Patents

Mobile phone is to the programming of robot and Controlling System Download PDF

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Publication number
CN103101054B
CN103101054B CN201310017799.0A CN201310017799A CN103101054B CN 103101054 B CN103101054 B CN 103101054B CN 201310017799 A CN201310017799 A CN 201310017799A CN 103101054 B CN103101054 B CN 103101054B
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China
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data
robot
module
motion
mobile phone
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CN201310017799.0A
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Chinese (zh)
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CN103101054A (en
Inventor
王雯珊
曹其新
罗东明
唐孟甫
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上海交通大学
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Abstract

The present invention provides a mobile phone to the programming of robot and Controlling System. Mainly contain robot zero correction, robot motion editor, robot state display and instruction and receive and dispatch three functions. System is primarily of data corresponding module, real-time monitoring module, data display module, motion editing module, protocol generation module and motion-control module composition. System take cloud computing as the framework of data Storage and Processing, the common platform of sing on web, the data of all robots of Storage and Processing. Robot by Zigbee module data through Zigbee gateway, be transferred on internet. This cloud Platform integration robot data on internet, and provide to upper strata and call interface, also it is responsible for providing man-machine interface for data display and instruction transmitting-receiving. As long as user logs in corresponding web page with mobile phone, above-mentioned three function just can be completed.

Description

Mobile phone is to the programming of robot and Controlling System

Technical field

The present invention is a system that robot carries out action programming and motion control with mobile phone.

Background technology

Along with the development of robot technology, robot is more and more popular. Especially small-sized biped teaching robot is colleges and universities and the good platform of middle and primary schools' electromechanical integration education, and this just requires that there be close friend's programming interface and control method easily in robot. In traditional sense, robotic programming and control are all realized by computer, geographically with resource on have certain restricted. Along with the rise of the universal of mobile phone and cloud computing, smart mobile phone trends towards replacing the function of computer. Removing action, the motion route of editor robot with mobile phone, receive its state data, sending instruction becomes possibility.

Chinese invention patent (publication number CN101581936, publication date 2009.11.18, patent is called: the system and method utilizing mobile phone control two-legged type robot), set forth a kind of system utilizing mobile phone control two-legged type robot, its can be stable the walking of control two-legged type robot, and teletype control can be carried out. Chinese utility model patent (Authorization Notice No. CN2754288Y, authorization date 2006.1.25, patent is called: a kind of utilize mobile phone to the system of teleoperation of robot), utilize existing mobile radio communication, internet, mobile phone to achieve the remote control control of robot, reduce again the remote control cost of robot. Retrieving the documents such as domestic and international patent to find, still not in conjunction with cloud computing technology, mobile phone is to the precedent that robot directly carries out motion editing and Behavior-Based control.

Summary of the invention

For deficiency of the prior art, it is an object of the invention to utilize current wireless network develop rapidly, in conjunction with cloud computing technology, it is achieved with intelligent terminals such as mobile phones to the programming of robot and controlling functions.

According to an aspect of the present invention, it is provided that a kind of mobile phone, to the programming of robot and Controlling System, comprises such as lower device:

-data corresponding module, comprise for the Zigbee module of robot communication and the bluetooth module two portions for communicating with mobile phone, bluetooth module is used for being responsible for the transfer of big data quantity, Zigbee module is used for being responsible for real-time Data Transmission, wherein, the data comprise robot motion of big data quantity, drama, real time data robot state data, user instruction;

-real-time monitoring module, for transmitting real-time control information and state data, real-time monitoring module is connected with motion-control module with data display module;

-data display module, for showing the data of three parts, is the angle data in the current each joint of robot, robot zero correction data, user instruction respectively;

-motion editing module, for providing the editing interface of close friend, by editor's instruction of the robot pose of the transmission of data corresponding module receives user and action;

-protocol generation module, for converting the form that robot can identify execution to by the data that motion editing module edits;

-motion-control module, performs an action for the action control robot according to user instruction, editor.

Preferably, described system take cloud computing as the framework of data Storage and Processing, the public cloud platform of sing on web, the data of all robots of described public cloud platform Storage and Processing.

Preferably, described public cloud Platform integration robot data, and provide to upper strata and call interface, it is also responsible for man-machine interface and data display and instruction transmitting-receiving are provided.

Preferably, the interaction of described public cloud platform and mobile phone is completed by transmitting-receiving SCI instruction.

More specifically, the function that the present invention mainly realizes has following three:

1) robot zero correction.

Each robot is in production installation process, and all inevitable exists structure error. This kind of structure error causes the zero-bit of the zero-bit of robot reality and control software design definition inconsistent, and we adopt the method for software compensation to eliminate this kind of error. Robot zero correction module can allow the angle in each joint of user debugging machine people, makes correction, and correction data downloaded stored in the internal memory of robot.

2) robot motion editor.

Test humanoid robot has 17 joints. Giving different angles to these joints just can allow robot show different attitudes, a string continuous print attitude is connected in series, just can complete a set of action. User can write each joint angles of robot, is kept in the frame of time axle, the action of composition complete set, as walked, squat down, dancing etc. Action data, by bluetooth, downloads in robot internal memory.

3) display of robot state and instruction transmitting-receiving.

In system operation interface Shang You robot status display function module and instruction sending function module. State display module read machine people each joint data, and be displayed in interfaces windows. Instruction sending module reads the instruction of user's input, is sent to robotic end, performs all kinds of order, and as performed an action, actuation cycle, arranges bluetooth connection etc.

The present invention comprises following module:

1) data corresponding module

Data corresponding module is mainly divided into Zigbee module and bluetooth module two portions. Bluetooth is responsible for downloading the transmission of the big data quantity such as robot motion, drama, and Zigbee is responsible for the real-time Data Transmission such as robot state data, user instruction.

2) real-time monitoring module

Real-time monitoring module is connected with motion-control module with data display module, transmits real-time control information and state data.

3) data display module

Data display module mainly shows the data of three parts, is the angle data in the current each joint of robot respectively, robot zero correction data and user instruction.

4) motion editing module

Motion editing module provides friendly editing interface, data and image is combined, and user can the attitude of editor robot and action intuitively.

5) protocol generation module

After the data of action are editted, carry out data transmission according to certain agreement between robot and Controlling System. The data editted are converted to the form that robot can identify execution by protocol generation module.

6) motion-control module

After robot receives data, it is sent to motion-control module. Again according to user instruction, the action of editor can perform to get up in robot.

Data display module, motion editing module and real-time monitoring module all realize on a public cloud platform. So-called cloud platform is that the responsible data of on the internet store and data processing common platform, and user is shielded the hardware information of robot by it, and only provides the interface of service data, it is achieved that the encapsulation of data and data integration. Thus the mobile equipments such as mobile phone are directly by this platform of browser access, and specifically operate.

Accompanying drawing explanation

Fig. 1 shows mobile phone to the system chart of the programming of robot and Controlling System.

Fig. 2 is the relation block diagram between each module.

Fig. 3 is cloud platform framework.

Embodiment

Below in conjunction with specific embodiment, the present invention is described in detail. The technician contributing to this area is understood the present invention by following examples further, but does not limit the present invention in any form. It should be appreciated that to those skilled in the art, without departing from the inventive concept of the premise, it is also possible to make some distortion and improvement. These all belong to protection scope of the present invention.

The integral frame of the present invention is as shown in Figure 1. User, by the GPRS/Wifi function connecting Internet of mobile phone, signs in on this common platform of robot cloud. Robot cloud platform provides robot zero correction, motion editing and state display and instruction transmitting-receiving three zones to user. Robot cloud platform is connected with the human-like robot of Zigbee protocol and biped, it is achieved to programming and the controlling functions of robot. After mobile phone edits action drama on cloud, it is possible to download on mobile phone, then by bluetooth, download in the internal memory of robot. Robot receives instruction by Zigbee module from high in the clouds, and control unit calls running gear and performs the action being stored in internal memory.

The present invention comprises data corresponding module, real-time monitoring module, data display module, motion editing module, protocol generation module and motion-control module. Relation between each module is as shown in Figure 2. Data corresponding module is mainly divided into Zigbee module and bluetooth module two portions. Bluetooth module in charge downloads the transmission of the big data quantity such as robot motion, drama, and Zigbee module is responsible for the real-time Data Transmission such as robot state data, user instruction. Real-time monitoring module is connected with motion-control module with data display module, transmits real-time control information and state data. Data display module mainly shows the data of three parts, is the angle data in the current each joint of robot respectively, robot zero correction data and user instruction. Motion editing module provides friendly editing interface, data and image is combined, and user can the attitude of editor robot and action intuitively. After the data of action are editted, carry out data transmission according to certain agreement between robot and Controlling System. The data editted are converted to the form that robot can identify execution by protocol generation module. After robot receives data, it is sent to motion-control module. Again according to user instruction, the action of editor can perform to get up in robot.

Fig. 3 shows the framework of robot cloud platform. Cloud platform is the common platform of a sing on web, the data of all robots of Storage and Processing. Robot by Zigbee module data through Zigbee gateway, be transferred on internet. This cloud Platform integration robot data on internet, and provide to upper strata and call interface, also it is responsible for providing man-machine interface for data display and instruction transmitting-receiving. As long as user logs in corresponding web page with mobile phone, above-mentioned three function just can be completed. The interaction of mobile phone and cloud platform is completed by transmitting-receiving SCI instruction.

Above specific embodiments of the invention are described. It is understood that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect the flesh and blood of the present invention.

Claims (1)

1. a mobile phone is to the programming of robot and Controlling System, it is characterised in that, comprise such as lower device:
-data corresponding module, comprise for the Zigbee module of robot communication and the bluetooth module two portions for communicating with mobile phone, bluetooth module is used for being responsible for the transfer of big data quantity, Zigbee module is used for being responsible for real-time Data Transmission, wherein, the data comprise robot motion of big data quantity, drama, real time data comprises robot state data, user instruction;
-real-time monitoring module, for transmitting real-time control information and state data, real-time monitoring module is connected with motion-control module with data display module;
-data display module, for showing the data of three parts, is the angle data in the current each joint of robot, robot zero correction data, user instruction respectively;
-motion editing module, for providing the editing interface of close friend, by editor's instruction of the robot pose of the transmission of data corresponding module receives user and action;
-protocol generation module, for converting the form that robot can identify execution to by the data that motion editing module edits;
-motion-control module, performs an action for the action control robot according to user instruction, editor;
Described system take cloud computing as the framework of data Storage and Processing, the public cloud platform of sing on web, the data of all robots of described public cloud platform Storage and Processing;
Described public cloud Platform integration robot data, and provide to upper strata and call interface, it is also responsible for man-machine interface and data display and instruction transmitting-receiving are provided;
The interaction of described public cloud platform and mobile phone is completed by transmitting-receiving SCI instruction;
User is shielded the hardware information of robot by described public cloud platform, and only provides the interface of service data, it is achieved that the encapsulation of data and data integration;
Described public cloud platform comprises robot zero correction module, and wherein, robot zero correction module, for allowing the angle in each joint of user debugging machine people, makes correction, and correction data downloaded stored in the internal memory of robot.
CN201310017799.0A 2013-01-17 2013-01-17 Mobile phone is to the programming of robot and Controlling System CN103101054B (en)

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