CN105955072A - Loss of communication control system and method of wireless remote control robot - Google Patents
Loss of communication control system and method of wireless remote control robot Download PDFInfo
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- CN105955072A CN105955072A CN201610091163.4A CN201610091163A CN105955072A CN 105955072 A CN105955072 A CN 105955072A CN 201610091163 A CN201610091163 A CN 201610091163A CN 105955072 A CN105955072 A CN 105955072A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The present invention relates to the field of the wireless remote control robot technology, especially to a loss of communication control system and method of a wireless remote control robot. The system comprises a remote control unit and a robot unit, the remote control unit includes a remote control master control CPU and a remote control wireless data transmission module, and the robot unit includes a robot master control CPU and a robot wireless data transmission module. The method comprises: arranging the time interval of the remote control unit to send the control signals and the max time interval of the robot unit to receive heartbeat signals, taking the control signals received by the robot unit as heartbeat signals, if receiving new heartbeat signals by using the robot unit in the max time interval of receiving the heartbeat signals, restarting the timing, and or else, stopping all the motion, and recovering the initial state, and restarting to wait for the control signals sent by the remote control. The problem is effectively avoided that the robot is lost contact with and control with a remote control caused by exceeded remote control distance and barrier shielding, etc.
Description
Technical field
The present invention relates to wireless remote control type robotics, particularly relate to a kind of wireless remote control type robot
Lost contact control system and control method.
Background technology
Along with the development of society, robotics has had the development advanced by leaps and bounds the most therewith.Fire-fighting machine
People the most more and more instead of fire fighter and enters into the tasks such as the scene of a fire one line carries out that fire-fighting is speedily carried out rescue work, significantly
Improve the efficiency that fire-fighting is speedily carried out rescue work, add the safety that fire-fighting is speedily carried out rescue work, decrease being subject to of fire fighter etc.
Hinder probability.
At present, conventional fire-fighting robot is all the mode of operation using wireless remote control, by be wirelessly transferred
Mode completes the data exchange between remote controller and robot and movement instruction sends, but scene of fire environment
Typically more complicated, robot is carry out may be because of the generation of various unexpected situations during fire-fighting is speedily carried out rescue work
And cause losing with remote controller end to be connected causing robot lost contact out of control, delay the rescue of accident.It addition,
Owing to scene of fire exists barrier and the remote signal distance factor such as not, also easily cause fire tower
The situation that device people's lost contact is out of control.
Summary of the invention
It is an object of the invention to provide lost contact control system and the control method of a kind of wireless remote control type robot,
Avoid the problem that wireless remote control type robot in prior art is out of control with remote controller lost contact.
In order to solve above-mentioned technical problem, the lost contact that the invention provides a kind of wireless remote control type robot controls
System, including remote control unit and robot cell, described remote control unit include remote controller master cpu and
Remote controller wireless data transfer module, described robot cell includes that robot master cpu and robot are wireless
Data transmission module, described remote controller wireless data transfer module can be to described robot wireless data module
Periodically sending the control signal with time interval, described control signal is the heart of described robot cell
Jump signal.
Preferably, described remote control unit sends the time interval of described control signal is 50ms.
Preferably, described robot cell receives the maximum time interval of described heartbeat signal is 100ms.
Preferably, described remote controller master cpu uses serial ports side with described remote controller wireless data transfer module
Formula communicates.
Preferably, described robot master cpu and wireless data transfer module employing serial ports side of described robot
Formula communicates.
Preferably, described robot cell is fire-fighting robot.
Present invention also offers the lost contact control method of a kind of wireless remote control type robot, comprise the following steps:
S1., remote control unit is set and sends the time interval of control signal to robot cell；
S2., robot cell is set and receives the maximum time interval of heartbeat signal；
S3. controller unit and robot cell being powered on, controller unit is periodically sent out to robot cell
Send control signal, robot cell using the control signal that receives as heartbeat signal；
S4. robot cell starts timing after receiving a heartbeat signal, if receiving heartbeat signal at it
Maximum time interval in receive new heartbeat signal again, then restart timing, if its receive the heart
Be not received by new heartbeat signal in jumping the maximum time interval of signal, then robot stops everything,
Recover init state, and resume waiting for the control signal that remote controller sends.
Preferably, in described step S2, it is remote control that robot cell receives the maximum time interval of heartbeat signal
Device unit sends the time interval two times of control signal to robot cell.
Preferably, in described step S1, remote control unit is between the time that robot cell sends control signal
It is divided into 50ms
Preferably, in described step S2, robot cell receives the maximum time interval of heartbeat signal and is
100ms。
The lost contact control system of the wireless remote control type robot of the present invention and control method are with a kind of heartbeat signal
Mode, can be real-time judge that robotic end and remote controller end are the most online, thus make corresponding further
Safety behavior, effectively avoids the robot owing to causing beyond reasons such as remote control distance and barrier block
The problem out of control with remote controller lost contact, make the control security of wireless remote control type robot be obviously improved and
Ensure, ensured the personal safety of personnel, be also greatly improved the efficiency of fire-fighting operation simultaneously.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the lost contact control system of the wireless remote control type robot of the embodiment of the present invention.
Detailed description of the invention
With embodiment, embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings.Hereinafter implement
Example is used for illustrating the present invention, but can not be used for limiting the scope of the present invention.
As it is shown in figure 1, the lost contact control system of the wireless remote control type robot of the present embodiment includes: remote controller
Unit and robot cell；Remote control unit includes: remote controller master cpu (central processing unit, Central
Processing Unit) and remote controller wireless data transfer module, robot cell: include robot master cpu
With robot wireless data transfer module.
Pass through remote controller wireless data transfer module between remote control unit and robot cell and robot is wireless
Data transmission module carries out radio communication, and remote controller wireless data transfer module can be to robot wireless data
Module periodically sends the control signal with time interval, and robot wireless data transfer module will receive
The control signal arrived is as the heartbeat signal of robot cell.Heartbeat signal is at set intervals to interconnection
The opposing party sends a packet the least, replys situation by the other side and judges the bipartite communication of interconnection
The method that link is the most already off.
Remote controller master cpu and remote controller wireless data transfer module use serial mode to communicate, machine
People's master cpu and robot wireless data transfer module use serial mode to communicate.
In the present embodiment, it is 50ms that remote control unit sends the time interval of control signal, robot cell
The maximum time interval receiving heartbeat signal is 100ms, between the maximum time that robot cell receives heartbeat signal
Every the integral multiple of the time interval that should send control signal for remote control unit, those skilled in the art are permissible
Concrete application scenarios according to robot selects suitable multiple, it addition, remote control unit sends controls letter
Number time interval and the concrete time length of robot cell's maximum time interval of receiving heartbeat signal should answer
This according to practical situation from preferably selecting.
Robot cell can be fire-fighting robot, speedily carries out rescue work for fire-fighting, and the concrete structure of fire-fighting robot
Here is omitted with concrete function.
The present embodiment additionally provides the lost contact control method of a kind of wireless remote control type robot, comprises the following steps:
S1., remote control unit is set and sends the time interval of control signal to robot cell；In the present embodiment,
It is preferably 50ms.
S2., robot cell is set and receives the maximum time interval of heartbeat signal；In the present embodiment, the most distant
Control device unit sends two times of the time interval of control signal, i.e. 100ms to robot cell.
S3. controller unit and robot cell are powered on；
Now, controller unit with 50ms for time interval to robot cell periodically send control letter
Number, robot cell using the cyclic control signal that time interval is 50ms that receives as heartbeat signal；
S4. robot cell starts timing after receiving a heartbeat signal；
If receiving new heart beating letter in 100ms (it receives the maximum time interval of heartbeat signal) again
Number, then restart timing；
If being not received by new heart beating in 100ms (it receives the maximum time interval of heartbeat signal)
Signal, then robot stops everything, recovers init state, and resumes waiting for the control that remote controller sends
Signal processed.
The lost contact control system of the wireless remote control type robot of the present invention and control method are with a kind of heartbeat signal
Mode, can be real-time judge that robotic end and remote controller end are the most online, thus make corresponding further
Safety behavior, effectively avoids the robot owing to causing beyond reasons such as remote control distance and barrier block
The problem out of control with remote controller lost contact, make the control security of wireless remote control type robot be obviously improved and
Ensure, ensured the personal safety of personnel, be also greatly improved the efficiency of fire-fighting operation simultaneously.
Embodiments of the invention in order to example and describe for the sake of and be given, and be not exhaustively or
It limit the invention to disclosed form.Many modifications and variations are for the ordinary skill in the art
It is apparent from.Selecting and describing embodiment is in order to the principle of the present invention and actual application are more preferably described,
And make those of ordinary skill in the art it will be appreciated that the present invention thus design be suitable to special-purpose with respectively
Plant the various embodiments of amendment.
Claims (10)
1. the lost contact control system of a wireless remote control type robot, it is characterised in that include remote control unit
And robot cell, described remote control unit includes remote controller master cpu and remote controller wireless data transmission mould
Block, described robot cell includes robot master cpu and robot wireless data transfer module, described distant
Control device wireless data transfer module periodically can send to described robot wireless data module has the time
The control signal at interval, described control signal is the heartbeat signal of described robot cell.
The lost contact control system of wireless remote control type robot the most according to claim 1, it is characterised in that
It is 50ms that described remote control unit sends the time interval of described control signal.
The lost contact control system of wireless remote control type robot the most according to claim 2, it is characterised in that
It is 100ms that described robot cell receives the maximum time interval of described heartbeat signal.
The lost contact control system of wireless remote control type robot the most according to claim 1, it is characterised in that
Described remote controller master cpu and described remote controller wireless data transfer module use serial mode to communicate.
The lost contact control system of wireless remote control type robot the most according to claim 1, it is characterised in that
Described robot master cpu and described robot wireless data transfer module use serial mode to communicate.
6. according to the lost contact control system of the wireless remote control type robot in any of the one of claim 1-5,
It is characterized in that, described robot cell is fire-fighting robot.
7. the lost contact control method of a wireless remote control type robot, it is characterised in that comprise the following steps:
S1., remote control unit is set and sends the time interval of control signal to robot cell；
S2., robot cell is set and receives the maximum time interval of heartbeat signal；
S3. controller unit and robot cell being powered on, controller unit is periodically sent out to robot cell
Send control signal, robot cell using the control signal that receives as heartbeat signal；
S4. robot cell starts timing after receiving a heartbeat signal, if receiving heartbeat signal at it
Maximum time interval in receive new heartbeat signal again, then restart timing, if its receive the heart
Be not received by new heartbeat signal in jumping the maximum time interval of signal, then robot stops everything,
Recover init state, and resume waiting for the control signal that remote controller sends.
The lost contact control method of wireless remote control type robot the most according to claim 7, it is characterised in that
In described step S2, it is that remote control unit is to machine that robot cell receives the maximum time interval of heartbeat signal
People's unit sends the time interval two times of control signal.
The lost contact control method of wireless remote control type robot the most according to claim 7, it is characterised in that
In described step S1, the time interval that remote control unit sends control signal to robot cell is 50ms.
The lost contact control method of wireless remote control type robot the most according to claim 9, its feature exists
In, in described step S2, it is 100ms that robot cell receives the maximum time interval of heartbeat signal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610091163.4A CN105955072A (en) | 2016-02-19 | 2016-02-19 | Loss of communication control system and method of wireless remote control robot |
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| CN201610091163.4A CN105955072A (en) | 2016-02-19 | 2016-02-19 | Loss of communication control system and method of wireless remote control robot |
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Cited By (5)
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| CN108803474A (en) * | 2018-06-14 | 2018-11-13 | 武汉船用机械有限责任公司 | A kind of portable electric gunnel remote control and its control method |
| CN108873774A (en) * | 2018-06-14 | 2018-11-23 | 合肥工业大学 | A kind of VEX robot teaching supplementary controlled system and control method |
| CN110999223A (en) * | 2017-06-05 | 2020-04-10 | 阿雷特埃姆私人有限公司 | Secure encrypted heartbeat protocol |
| CN111427683A (en) * | 2020-03-20 | 2020-07-17 | 达而观信息科技（上海）有限公司 | Task allocation method and device of robot for process automation in computer |
| CN114770514A (en) * | 2022-05-11 | 2022-07-22 | 北京睿知文峰教育科技有限公司 | STM 32-based artificial intelligent robot control method and device |
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