CN106060058A - Internet-based industrial robot remote control method - Google Patents
Internet-based industrial robot remote control method Download PDFInfo
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- CN106060058A CN106060058A CN201610444195.8A CN201610444195A CN106060058A CN 106060058 A CN106060058 A CN 106060058A CN 201610444195 A CN201610444195 A CN 201610444195A CN 106060058 A CN106060058 A CN 106060058A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
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Abstract
The present invention discloses an internet-based industrial robot remote control method. The method includes four steps: control mode design, network protocol selection, network remote drive, and virtual reality control. An objective of the present invention is to remotely control an industrial robot on a production line through an internet so as to enable the industrial robot to complete related production tasks. In the method, a client and server (C/S) control mode is used, a connection-oriented transmission control protocol (TCP) is selected to transmit a remote control command between a client and a server, and a connectionless user datagram protocol (UDP) is used to realize image transmission; in addition, the industrial robot is remotely driven (time drive, event drive, prediction display and so on) through the internet to complete related tasks; and simulation modeling is performed on the industrial robot through virtual reality control, a control command sequence is transmitted through the internet to a remote industrial robot to execute, and returned actual execution result information is reflected through a virtual industrial robot simulation model.
Description
Technical field
The present invention relates to the technical field that industrial robot controls, particularly to a kind of industrial robot based on the Internet
Long-range control method.
Background technology
Industrial robot is a kind of electromechanical integration automated production equipment that can complete production operation in 3d space, special
Be not suitable for multi items, become the flexible production process of batch, it for stably improving product quality, production efficiency, renewal are changed
Generation, and improve working conditions etc. and to play a very important role.Industrial robot becomes the most increasingly through the development of more than 50 years
Ripe, a collection of famous industrial robot company, such as, and Sweden ABB Robotics, Japan's FA NUC, Yaskawa, Germany KUKA
Roboter, U.S. Adept Technology, American Robot, Emerson Industrial Automation, S-T
Robotics, Italy COMAU, Britain AutoTech Robotics, Canada Jcd International Robotics,
Robogroup Tek company of Israel etc. has been developed for spraying paint, arc-welding, spot welding, assemble, many types or the sequence such as carrying
The industrial robot of row, and have been widely used for punching press, die casting, forge, process, weld, heat treatment, spraying, feeding,
In the operations such as assembling, detection, stacking.
At present, industry of industrial robots growth is the most powerful, and Industrial Robot Technology is the most just towards structural module
With restructural, control technology, opening up and PCization and networking, Servo Drive Technology's digitized and decentralized, multisensor and melt
Close intellectuality, modularity, networking and the systematization directions such as technical application, working environment design optimization, operation flexibility to send out
Exhibition.Wherein, the networking of industrial robot is an emphasis direction development.Traditional industrial robot remote control technology is very
Complexity, needs to set up special operating board, lays special communication line, because hardware device is extremely expensive, so that it does not has
Method popularization and application effectively.Along with developing rapidly of IT technology, the Internet is own through becoming the meter that information resources in the world are the abundantest
Calculation machine public network.1993, Ken Goldberg etc. the Mercury Project robot being connected on the Internet is complete
The robot remote control system of the first in the world sing on web browser.Hereafter, industrial robot based on the Internet is remotely controlled
Method processed becomes important research direction.Remote control method of industrial robot based on the Internet using the Internet as communication
Medium, is possible not only to remotely control every industrial robot on flow production line, but also can break away from original
Constraint that special messenger's special plane remotely controls and reduce cost, this is very beneficial for the promotion and application of industrial robot and general
And.
Developing rapidly of the Internet remotely controls to industrial robot to provide wide application space to industrial machine
The directly operation of device people is converted into remotely control.Remotely control in view of industrial robot to be of great immediate significance and wide
Application prospect, the flourishing various countries such as the U.S., Japan and Europe competitively develop relevant technology.But, industrial machine based on the Internet
Device people remotely control to exist time delay, stable, packet loss, dispatch, synchronize, safety, drive, emulate, the great number of issues such as control, be badly in need of wanting
The key technologies such as effective internet-based control pattern, agreement selection, network-driven, virtual reality.
Summary of the invention
It is an object of the invention to the shortcoming overcoming prior art with not enough, it is provided that a kind of industrial machine based on the Internet
People's long-range control method.
The purpose of the present invention is achieved through the following technical solutions:
A kind of remote control method of industrial robot based on the Internet, described long-range control method includes:
Step S1, control model design, and use the C/S control model of client-server, and it is soft that user logs in client
Part, by the Internet and server end communication, and controls the industrial robot of server end by server software；
Step S2, procotol select, select connection-oriented transmission control protocol TCP transmission client-server it
Between remote control command, and utilize connectionless UDP UDP to realize image transmitting；
Step S3, network remote drive, and allow industry by time type of drive, event driven manner, predictive display mode
The relevant components of robot are partially completed relevant operation；
Step S4, virtual reality control, and utilize virtual reality to control industrial robot is carried out simulation modeling, control are ordered
Make sequence pass to long-range industrial robot by the Internet perform, the actual execution result information returned is passed through virtual
Industrial robot phantom reflects.
Further, the C/S control model of described step S1, control model design uses double-layer structure system, Qi Zhong
One layer is to combine expression and service logic on a client, and the second layer is by network integration database server, and C/S controls
User Interface GUI, service application process and database access and process that multiple complex networks are applied by pattern are separated,
Being engaged in the dialogue by message passing mechanism between server and client computer, client issue a request to server, server enters
After row respective handling, send client back to through pass through mechanism.
Further, described rapid S2 step by step, procotol select particularly as follows: remote send between client-server
All using connection-oriented Transmission Control Protocol to be transmitted when process control order and feedback of status, server is obtained by CCD gamma camera
The video image of industrial robot operation field, is converted into the frame color bit of 24 via video frequency collection card by pal mode image
Figure image, then sends into video coder-decoder by image, then transmits after being compressed image, and uses connectionless
Udp protocol realizes image transmitting.
Further, described step S3, network remote drive particularly as follows: the sensor employing time of industrial robot drives
Mode works, and the executor of industrial robot and controller use event driven manner work, and use stochastic prediction to show
Mode predicts the state of environment and industrial robot, and shows that, on the monitor of operator, operator passes through virtual reality
Technology observes the motor behavior of industrial robot.
Further, described step S4, virtual reality control particularly as follows: use predictive display mode to carry out industrial robot
Remotely control, utilize and by virtual reality technology, industrial robot is modeled, and emulate the fortune of actual industrial robot
OK, verify errorless after again control command sequence is passed to entity industrial robot perform, and by return actual execution information lead to
Cross virtual industrial machine human model to reflect.
Further, the mode of operation of described remote control method of industrial robot includes that simple joint controls and overall control
System, wherein, in the mode of operation that described simple joint controls, operator first passes through operation control end and selectes phantom or entity
Certain joint of industrial robot, and use this operation to control the anglec of rotation in the selected joint of end adjustment, by one group of joint
The anglec of rotation adjust one by one, operator is controlled industrial robot and completes certain specific task；In described overall control
Mode of operation in, operator is controlled for the mechanical hand of industrial robot, operator by control mechanical hand upwards, to
Under, stretch out, retract, forward translation, reverse translation six direction move and drive industrial robot to complete the action specified, this control
In mode processed, the parameter in each joint is all obtained by inverse kinematics Equation for Calculating, and wherein, simple joint controls and overall control
Support switching in real time in operation.
Further, described remote control method of industrial robot includes local emulation pattern and distance control mode,
Under described local emulation pattern, client is not attached to server, by local emulation pattern to the industrial machine in simulator
People is simulated controlling, with the exercise various operations to industrial robot, the various actions under described local emulation pattern and reality
Body industrial robot is identical, and all various operations carrying out native industry robot may be directly applied to entity industrial machine
On device people；
Under described distance control mode, client is connected to server, by the Internet industrial machine to server end
Device people remotely control, and all of operation of user is all sent to server end, native industry robot simulation by the Internet
The state of model reads from entity industrial robot in real time, and passes client back from server.
Further, described remote control method of industrial robot is supported operating process to record and plays, and records in selection
After gesture function, the movement locus of industrial robot in operating process can be preserved, in follow-up operation by operator
Middle the movement locus preserved is played back, and repeat the operations various to industrial robot being previously saved, operation
Person can select operation trace to be saved in file the most again to call in from file when next time performs application program simultaneously.
Further, described remote control method of industrial robot supports real-time video feedback, in distance control mode
The real-time video information of industrial robot can be sent to client by the Internet by the CCD camera being connected on server host
End interface；
Described remote control method of industrial robot supports the switching of video/artificial window, initial at distance control mode
In interface, operator by monitoring the current state of industrial robot, now video in real time to the feedback of status of phantom
Window plays auxiliary supervisory function bit, and video window can be switched to by windows exchange function and mainly observe interface, now by user
Phantom window plays supplementary observation effect；
Described remote control method of industrial robot supports phantom view angle switch, by the observation visual angle of phantom
Handoff functionality, operator can observe industrial robot state the most from different perspectives.
Further, the C/S control model of described client-server uses communication based on socket s,
Support the transmitting-receiving of data, all set up a sockets in every one end of network, connection can be set up between two sockets, also
Without connecting, and network communicating function can be realized by the reading and writing of sockets are operated.
The present invention has such advantages as relative to prior art and effect:
The remote control method of industrial robot based on the Internet of the present invention is applicable to all kinds of labour-intensive production and makes
Make enterprise, the letter that ceaselessly replacement technique content was low and repeated in environment poisonous, harmful, easily generation occupation disease in 24 hours
Either simplex is made, thus improves the production efficiency of enterprise, reduces the industrial accident of enterprise, reduces the cost burden of enterprise.
Accompanying drawing explanation
Fig. 1 (a) is industrial robot networking operating diagram based on the Internet；
Fig. 1 (b) is remote control method of industrial robot flow chart based on the Internet；
Fig. 2 is C/S control model schematic diagram；
Fig. 3 is connection-oriented TCP communication flow process；
Fig. 4 is towards connectionless UDP communication process；
Fig. 5 is tele-control system functional structure chart based on C/S control model；
Fig. 6 is the main interface of client；
Fig. 7 is the main interface of server end；
Fig. 8 is to set up server interface；
Fig. 9 is control interface, industrial robot this locality；
Figure 10 is single industrial robot's remote control network structure chart；
Figure 11 is that little rod iron clamped by industrial robot；
Figure 12 is that rod iron to be put in rod set by industrial robot；
Figure 13 is Industrial Robot Manipulator ending coordinates variation diagram；
Figure 14 is industrial robot joint angle variation diagram；
Figure 15 is the network structure that many industry robot remotes control.
Detailed description of the invention
For making the purpose of the present invention, technical scheme and advantage clearer, clear and definite, develop simultaneously embodiment pair referring to the drawings
The present invention further describes.Should be appreciated that specific embodiment described herein, and need not only in order to explain the present invention
In limiting the present invention.
Embodiment one
Present embodiments provide a kind of remote control method of industrial robot based on the Internet, it is intended to flow production line
On every industrial robot remotely control, allowed them to the production task being correlated with.Solve above-mentioned technical problem
Technical scheme such as Fig. 1 (a) and Fig. 1 (b) shown in, this technical scheme utilizes the Internet to realize every industrial robot to carry out
Remotely control.Remote control method of industrial robot based on the Internet described in patent of the present invention includes: control model design,
Four steps such as procotol selection, network remote driving, virtual reality control.Below in conjunction with the accompanying drawings with detailed description of the invention pair
Described in present patent application, four steps involved by remote control method of industrial robot based on the Internet are made the most in detail
Thin description.
Step S1, control model design.
Remote control method of industrial robot based on the Internet have to design efficient and reliable control model,
C/S control model is used, as shown in Figure 2 for this.Owing to industrial robot tele-control system based on the Internet needs to use
The delay problem in remotely controlling is solved, so described system needs in client based on feedback of status and real-time emulation method
By the industrial robot scene virtual emulation of server end out, but also the off-line simulation of client to be realized controls function,
Need to do substantial amounts of data in client to process, and the advantage place of this C/S control model just.In C/S control model, use
Family logs in client software, by the Internet and server end communication, and is controlled the work of server end by server software
Industry robot.C/S control model is a kind of double-layer structure system: ground floor is to combine expression on a client to patrol with business
Volume；The second layer is database server by network integration.User Interface GUI that multiple complex networks are applied by it,
Service application processes and is separated with database access and process, and it is right to be carried out by message passing mechanism between server and client computer
Words, are issued a request to server by client, after server carries out respective handling, send client computer back to through pass through mechanism.This knot
Structure utilizes the disposal ability that client is powerful fully, major part service logic all concentrates on client and realizes, alleviate service
The workload of device end.
Step S2, procotol select.
Industrial robot tele-control system based on the Internet have to select efficient and reliable procotol, with
Ensure the remote control command of described system and the transmission that video image feedback is correct.Described Systematic selection TCP/IP is carried out remotely
Control command and video image feedback transmission.It practice, the host-host protocol of Internet includes transmission control protocol TCP in TCP/IP
With UDP UDP.Wherein, TCP is connection-oriented and provides connection reliably, and UDP is then to provide without connecting
Service, and reliability there is no guarantee that.Owing to the remote control command transmission requirement of industrial robot is reliable, accurate, timely, and
Control command itself takies the minimum network bandwidth, so for ensureing that control command is correctly transmitted, at transmitting control commands and shape
TCP is all used to be transmitted during state feedback, to ensure reliability and the safety of operation of transmission；And the image that server obtains
The video feed such as data are the working site images obtained by CCD gamma camera, are turned by pal mode image via video frequency collection card
Turn to 24 frame Color Bitmap images, then image is sent into video coder-decoder and image is compressed.Even if image is i.e.
Loss a few frame also nothing is made to hinder greatly, so using UDP to carry out video feed transmission.Because it is based on socket (sockets)
C/S control model Application Design has two kinds of communication service type: one is connection-oriented TCP, and another kind is connectionless
UDP, so the telecommunication of described system is all to be implemented by socket.Socket communication is divided into connection-oriented logical
Letter (TCP) is with towards connectionless communicate (UDP), and communication process is the most as shown in Figure 3 and Figure 4.
Step S3, network remote drive.
Industrial robot tele-control system based on the Internet needs the employing time to drive and two kinds of nodes of event-driven
Type of drive.Time drives and refers to described system timing sampling signal under fixed clock, and driving node works and carries out data
Process.This mode requires height to the synchronousness of described system various piece.Event-driven is then that node is according to corresponding
Event signal triggers driving and completes work, and real-time is stronger.The sensor of described system uses the time to drive, executor and control
Device uses to be made under event driven manner.In the system, joint component uses the controlled instruction of event-driven serial interface, sensing
Device feedback channel many employings time drives sampling.The disclosed industrial robot based on the Internet of present patent application remotely controls
System uses forecast display control mode, namely uses stochastic prediction mode predict environment and industrial robot state and show behaviour
On the monitor of author.Operator builds the motion of analog simulation environment perception industrial robot by virtual reality technology, with
Ensure the accuracy of entity industrial robot actual act.
Step S4, virtual reality control.
Industrial robot tele-control system based on the Internet needs to use predictive display mode to carry out industrial robot
Remotely control, need by virtual reality technology, industrial robot to be modeled, and emulate the fortune of actual industrial robot
OK, verify errorless after again control command sequence is passed to entity industrial robot perform, and by return actual execution information lead to
Cross virtual industrial machine human model to reflect.For using long-range programming mode to control industrial robot, virtual reality skill
Art is indispensable.Operator faced by be a virtual environment, operation be only industrial robot phantom,
The all sensory feedback arrived are also directly from virtual environment.In industrial robot side, remotely control received by real industrial robot
After system order, automatically explain and perform this order, industrial robot controller receive all come the on-the-spot video feed of self-operating
Information.Information the most little between operating side and industrial robot is mutual.But, include unstructured moving grids in virtual reality
Environment there is also the biggest difficulty.Industrial robot tele-control system based on projection-type virtual reality technology, is one
It is based entirely on the industrial robot tele-control system of virtual reality.Operator's all operations all in reality environment, by
Reality environment and real industrial robot and running environment thereof are mutual, it may be said that operator is wrapped up by reality environment
And completely cut off with real world completely.
The functional structure chart of industrial robot tele-control system based on the Internet is as it is shown in figure 5, mainly include client
End function and server side functionality two large divisions.Client mainly negative duty mutually carries out Simulation Control and remotely control to industrial robot
System, server end is mainly responsible for client and provides industrial robot this locality control agent.Server end provides part the most simultaneously
Industrial robot this locality controls function.
(1) client major function
1. client operation control station, Fig. 6 show client operation control station, and namely client carries out emulation control
System, remotely control and the operating console of teaching.
2. simple joint mode of operation and integrated operation mode.Industrial robot tele-control system uses general game hand
Handle controls end as industrial robot operation, and it uses DirectInput package module to process input.Based on the Internet
Industrial robot tele-control system use simple joint to control and overall control two kinds of modes of operation to phantom and entity
Industrial robot is controlled.In simple joint mode of operation, operator first passes through operation control end and selectes phantom or reality
Certain joint of body industrial robot, and use this operation to control the anglec of rotation in the selected joint of end adjustment.By to one group of pass
The anglec of rotation of joint adjusts one by one, and operator is controlled industrial robot and completes certain specific task.In overall controlling party
In formula, operator is controlled just for the mechanical hand (such as, Pneumatic paw) of industrial robot.Operator is by controlling machinery
Hands upwards, downwards, stretch out, retract, forward translation, reverse translation six direction move and drive industrial robot to complete to specify
Action, such as, mobile manipulator is to certain position and captures object.In this control mode, the parameter in each joint is all passed through
Inverse kinematics Equation for Calculating obtains.Joint operation and integrated operation two ways can switch the most in real time, with
Just industrial robot is carried out more flexible manipulation.
3. local emulation pattern and distance control mode.Client, can be imitative by this locality when being not attached to server
Industrial robot in simulator is simulated controlling by true pattern, with the exercise various operations to industrial robot.It is connected to
After server, by the Internet, the industrial robot of server end remotely can be controlled.Under local emulation pattern, behaviour
The instruction that author sends only produces impact to native industry robot simulation model.The various actions of local emulation model and entity
Industrial robot is identical, and all various operations carrying out native industry robot may be directly applied to entity industrial machine
On device people.User can be manipulated by end and select joint control pattern or overall control model, respectively in emulator
Industrial robot carry out simple joint control or industrial robot is controlled by one-piece pattern.Switching to distance control mode
And after being connected to server, all of operation of user is all sent to server end by the Internet.Native industry robot simulation
The state of model reads from entity industrial robot in real time, and passes client back from server.
4. operating process is recorded and is play.After selecting to record gesture function, operator can be by work in operating process
The movement locus of industry robot preserves.The movement locus preserved can be played back by operation later, be
System will repeat the operations various to industrial robot being previously saved.Operator can select to be saved in operation trace simultaneously
File is the most again to call in from file when next time performs application program.This control mode is also called the teaching of industrial robot
With reproduction.Operator can by emulation exercise to industrial robot perform task time various operations, and select one group optimal
Control sequence and preserve.Just need not when performing identical task the most again repeat previous touching step by step
Rope, but directly call in the control sequence recorded to shorten the time needed for reality controls.
5. other function of client: a) real-time video feedback.In distance control mode, sometimes only according to artificial window still without
Method determines certain operation of industrial robot completely, at this moment can by combine with video ensure in operating process ten thousand none
Lose.The real-time video information of industrial robot can be sent to by the CCD camera being connected on server host by the Internet
Client end interface.Operator can observe the video pictures of industrial robot by video window, to ensure that simulation process is just
Really property.B) video/artificial window switching.In the initial interface of distance control mode, operator is mainly by phantom
Feedback of status monitor the current state of industrial robot in real time, now video window acts primarily as auxiliary supervisory function bit.User
Can be switched to by video window by windows exchange function and mainly observe interface, now phantom window plays supplementary observation and makees
With.C) phantom view angle switch.The default setting of phantom is front view, and this is carrying out industrial robot translation
Time seem the most directly perceived.Described system provides the observation visual angle handoff functionality of phantom, and operator can be in operation from difference
Angle observes industrial robot state, it is thus possible to more accurately control industrial robot.
(2) server end major function
Server end as it is shown in fig. 7, server end main frame is connected with actual industrial robot by serial ports, its major function
It is used to provide the local agent of client operation order.Server end also is responsible for status number current for industrial robot simultaneously
Client is returned according to video data.In addition, server end also provides for industrial robot carries out the auxiliary such as local control
Function.
Server end major function is:
1. server is set up.Server end needs the connection request setting up server to start to accept client, sets up clothes
Business device is as shown in Figure 8.After client connection establishment, server end starts control command and the return that agent client is sent
Status data that industrial robot is current and video image.Server end can start at any time by controlling interface or stop generation
Reason service.
2. industrial robot local operation.Server end can pass through local operation function in this locality to industrial machine Crinis Carbonisatus
Play various orders, mainly control each joint of industrial robot and move, control interface, industrial robot this locality such as Fig. 9 institute
Show.Server administrators can control native industry machine by mode position, velocity mode and fine setting pattern these three pattern
The rotation in each joint of device people.In mode position, operator can be controlled by the rotating object angle arranging certain joint
Industrial robot turns to certain position.In velocity mode, operator can set the rotation speed in certain joint of industrial robot
Degree, after startup, corresponding joint can rotate until operator presses stop button or reaches the articulation limit always.Fine setting pattern
In, industrial robot can be finely controlled by operator oneself to arrange the angle of fine setting.
3. industrial robot resets.Operator can use reset function to reset industrial robot.By industry
Robot reset function can make industrial robot return to initial condition.Industrial robot often performed a series of actions it
After, it is generally required to allow industrial robot return to original state by reset function before action under performing, to guarantee
The accuracy of lower a series of actions.
4. industrial robot jerk.Unpredictable emergency is can be potentially encountered in industrial robot operating process,
Now operator can make industrial robot stop motion by force by emergency stop function.
(3) network service flow process realizes
Owing to C/S control model Application Design based on socket (sockets) has two kinds of communication service type: Yi Zhongshi
Connection-oriented TCP, another kind is connectionless UDP, so industrial robot tele-control system based on the Internet is logical
Letter is all implemented by socket.Socket is a two-way end points connected, and can send data by it, it is also possible to
Receive data.It has three attributes: the 1. network address (the IP address in TCP/IP)；2. port numbers (port number): represent
Different processes on different main frames；3. Socket type: sockets is the network service basic operation unit supporting TCP/IP.
Sockets can being regarded as, the process between different main frame carries out the end points of two-way communication.It constitute in individual host and
The programming interface of whole internet.In general, to communicate in a network environment between machine application process, it is necessary to
A sockets will be set up in every one end of network, can set up connection between two sockets, it is also possible to without connecting, and leads to
Cross " reading " to sockets, " writing " operation realizes network communicating function.
Different according to wire data type, sockets can be divided into connection-oriented byte stream sockets (stream
Sockets), connectionless datagram sockets (datagram sockets) and original formula sockets (raw socket) three
Type: (a) byte stream socket.Byte stream is not delimited by record, and corresponding TCP in TCP/IP bunch, it is one and is supplied to
The connection oriented protocol of the reliable full duplex of consumer process, most of internet applications such as ftp, telnet use TCP.Logical
Letter end points uses internet address corresponding to TCP to interconnect, it is ensured that in the correct order and single and reliable address biography
Defeated.Owing to it is byte stream, not limiting so the long bag of bag is short, letter bag transmission does not repeats, thus presentation data stream connects word and provides
Two-way, orderly, without repeating and the data flow service on no record border, be also a kind of conventional Socket type.Its
Feature is reliable communications, has verification and the mechanism retransmitted to data.(b) Datagram Socket.Datagram corresponding record type data
Stream, in TCP/IP bunch, corresponding UDP, utilizes datagram service can realize some simple network services, as program is detected in site
PING.Owing to not setting up connection, UDP is faster than TCP.But it cannot be guaranteed that all data all accurately arrive in an orderly manner, do not protect
Card succession, reliability and without repeatability.It is connectionless service, is transmitted with independent letter bag, and communication point uses UDP
Corresponding internet address.Both sides need not interconnection, is transmitted by fixing greatest length, thus be applicable to single message and pass
Defeated, or the transmission of relatively small documents.(c) original formula socket (raw socket), this interface allows lower-level protocols, as IP,
ICMP directly accesses, and is mainly used in checking new protocol realization or accessing the new equipment of configuration in existing service.Socket communication point
For connection-oriented communication (TCP) with towards connectionless communicate (UDP), communication process is as shown in Figure 3 and Figure 4.
(4) virtual reality control realization
Industrial robot tele-control system based on the Internet has the advantages that bidirectional remote controls, and this just determines it
Virtual reality technology is had special relationship and needs naturally.The meaning of virtual reality technology control long-range for industrial robot exists
In, it provide the method for a kind of solution (being specifically shielding) communication delay and carry out the means of system emulation.It practice,
The origin of virtual reality technology and development benefit from many robotics, such as sensor technology etc., the most virtual existing
Real technology provides a strong technological means for robot field again.Industrial robot based on the Internet remotely controls
It is that operator, away from industrial robot location, controls industry by operating side that the bidirectional remote of system controls perfect condition
Robot completes appointed task, and operator also should have sensation (virtual reality) when participating in the cintest true to nature simultaneously, makes certainly for operator
Help is provided surely.This is so-called virtual reality technology (telepresenc technology or there is technology at a distance), and telepresenc technology can
To regard the preliminary realization of virtual reality technology as.Telepresenc technology requires to pass on-the-spot information back operating side, makes operator
The state at the scene of can experiencing, and in side, operating side, need the information table in a suitable form that corresponding device will be sent back
Now giving operator, most of telepresenc technology are desirable that at least returns feedback visual information and power visual information, and by these information to regard
Feel and power feels that form is applied to operator.
Embodiment two
This embodiment carries out testing (Peg-in-Hole experiment) with remotely control single industrial robot.
In the present embodiment, the hardware of application includes: two 6DOF industrial robots, be used for running client control program
Common PC mono-, for runtime server end control program, dress by industrial robot control drive card two PCs, as figure
Shown in 10.The software that this experiment is used includes: control software by the client of VC++, OpenGL and 3DS MAX exploitation
RobotTelecontrol, the server end control software RobotControl developed with VC++.Peg-in-Hole experiment content
It is to control single industrial robot or coordinate to control two industrial robots, rod iron little in laboratory table is picked up, then that it is accurate
Really it is put in laboratory table rod set the most on one side.Experiment is carried out between two different network segments, and client and server leads to
Crossing network to be attached, centre has a router to separate.Client is a common PC controlling software equipped with client, and
Connected to the network；Server end includes that a 6DOF industrial robot and one control the common of software equipped with server end
PC, industrial robot is connected with PC by controlling to drive to block, and server PC is connected to the network.This experiment is to utilize the Internet
Remotely control single industrial robot and realize Peg-in-Hole experiment.
First start server, the port numbers of communication is set, then set up server and wait that client connects, and
And start the industrial robot being connected with server, initialize the various settings of industrial robot；Then client-side program is started,
And be connected with server end foundation.Operator passes through remote control table, selects control model, and by real-time simulation and vision
Feedback determines that next step operates in time, it may also be necessary to distance control mode is switched to local Autonomous Control, carries out more
It is accurately controlled, until completing whole task.The synchronous effect of real-time simulation is as shown in Figure 11 and Figure 12.Under work pattern in real time
The feedback arm end coordinate of industrial robot and each joint angles (the 4th joint and the 6th joint did not rotate, and always 0
Degree, so being not drawn into) change over as shown in Figure 13 and Figure 14.
In order to verify that real-time simulation is solving the effectiveness of network control problem, and off-line teaching emulation exercise/online
Control, remotely control/local control model such as Autonomous Control, single command pattern/work pattern combines and is controlling network delay
With the effect ensured in system stability and safety, carrying out four class grouping experiments altogether, often group experiment has been carried out 10 times respectively, note
Under often organize experiment average operating time and be successfully completed number of times (what is called be successfully completed be control industrial robot successfully will
In the little rod iron on one side picks up the rod set being put into another side the most exactly in laboratory table, could not put in exactly, calculate mistake
Lose):
1. with or without opening real-time simulation.When having startup real-time simulation, can directly promptly take down according to real-time simulation
Single stepping；Visual feedback is the most all relied on to be controlled without starting real-time simulation.The experiment of this group is carried out under single command pattern,
It the results are shown in Table shown in 1.
With or without the simulation result of real-time simulation under table 1. single command pattern
| Average operating time (second) | It is successfully completed number of times | |
| There is real-time simulation | 301 | 9 |
| Only visual feedback | 496 | 4 |
2. with or without first carrying out off-line teaching emulation exercise before On-line Control.Two groups of experiments below are all opening real-time simulation
Single command pattern premise under carry out, be shown in Table 2.
With or without the simulation result first carrying out off-line teaching emulation exercise under table 2. single command pattern
3. with or without the pattern switching remotely controlled with local Autonomous Control.Have pattern switching be when little rod iron very close to
During rod set, carry out pattern switching, make local Autonomous Control into, control platform by server end and complete decline control.Nothing
Pattern switching is then that whole task is all by remotely having controlled.Two groups of emulation below are all to have real-time simulation and single life
Carry out on the premise of making pattern, be shown in Table 3.
Table 3. remotely controls and the simulation result under the pattern switching of local Autonomous Control
| Average operating time (second) | It is successfully completed number of times | |
| Pattern is had to switch | 274 | 10 |
| Non-mode switches | 301 | 9 |
4. single command pattern or work pattern are used.Below two groups experiment be all have real-time simulation and carry out in advance from
Carry out on the premise of line teaching emulation exercise.It is shown in Table 4.
Table 4. uses the simulation result of single command pattern or work pattern
| Average operating time (second) | It is successfully completed number of times | |
| Single command pattern | 245 | 10 |
| Work pattern | 73 | 8 |
Can be seen that visual feedback is few have been used 195 seconds than depending merely in real-time simulation from experiment result 1., and depended merely on and regard
Feeling that the mortality of feedback is the highest, this needs to transmit substantial amounts of video information when being due to video feed, easily cause network delay,
And the video caused due to network delay is the most delayed, it is impossible to the truth that reflection is on-the-spot, and visual feedback can not picture
Emulate such rotating object and carry out careful observation from all angles and the position of judgment object exactly, so easily causing mistake
Maloperation, produces safety issue.This explanation real-time simulation is solving the effectiveness of network delay, and also can improve remotely
The stability controlled and safety.Experiment result 2. shows to have first has used 98 with off-line teaching emulation exercise than the not fewest
Second, and have higher success rate, this is because by off-line teaching emulation exercise, operator can be familiar with various operation in advance, and
The optimal path that industrial robot moves can be determined whereby.This explanation off-line teaching emulation can shorten On-line Control operation effectively
Time, moreover it is possible to improve processing safety to a certain extent.Experiment result 3. shows have pattern switching ratio not have pattern to switch
Average operating time somewhat less, and the accuracy operated is some higher.This be due to local autonomous operation do not have time
Prolong, and can avoid emulating the slight error being likely to occur.The switching of this explanation pattern can effectively ensure that operating accuracy
And safety.The average operating time of experiment result display single command 4. than work pattern long a lot, but work pattern
Success rate does not but have the height of single command.This is because between the often step of single command pattern many thinkings next step which kind of takes control
The time of strategy, so the time used can be the most elongated, but also just because of there being the timely of each step to adjust, so more
Can guarantee that accuracy and the safety of operation.This explanation is on the premise of ensureing operating accuracy, and work pattern can be further
Shorten the operating time remotely controlled.
Embodiment three
This embodiment is tested with the remotely many industrial robots of control.
Experiment is carried out between two different network segments, and client and server is attached by network, and centre has
One router separates.Client is a common PC controlling software equipped with client, and connected to the network；Server end bag
Including the industrial robot of two 6DOFs and two common PC controlling software equipped with server end, industrial robot is by control
System drives card to be connected with PC, and server PC is connected to the network.This experiment is to utilize network remote to control two industrial machines
People coordinated Peg-in-Hole experiment.First it is respectively started the control program of two server ends, sets server
Hold respective communication port numbers, the most each set up server, wait the connection of client, and start the work being connected with server
Industry robot, initializes the various settings of industrial robot；Then start client-side program, be respectively provided with the port numbers of correspondence also
Set up with corresponding server end and connect.Finally, operator passes through remote control table, selects control model, and by real time
Emulation and visual feedback are coordinated to control two industrial robots, it may also be necessary to be switched to by distance control mode local autonomous
Control, carry out more precise control, until completing whole task.
In sum, above-mentioned remote control method of industrial robot based on the Internet uses client-server
(Client/Server, C/S) control model, selects connection-oriented transmission control protocol (Transmission Control
Protocol, TCP) transmit the remote control command between client-server, and utilize connectionless user datagram
Agreement (User Datagram Protocol, UDP) realizes image transmitting；Drive (time driving, thing by network remote simultaneously
Part driving, predictive display etc.) industrial robot completes relevant operation；And utilize virtual reality to control industrial robot is carried out
Simulation modeling, passes to long-range industrial robot by control command sequence by the Internet and performs, the actual execution that will return
Object information is reflected by virtual industrial robot phantom.The industrial robot based on the Internet of the present invention is remote
Process control method is applicable to all kinds of labour-intensive enterprise that manufactures, 24 hours ceaselessly poisonous, harmful, easily there is occupation
The simple work that in sick environment, replacement technique content is low and repeated, thus improve the production efficiency of enterprise, reduce enterprise
Industrial accident, reduces the cost burden of enterprise.
Above-described embodiment is the present invention preferably embodiment, but embodiments of the present invention are not by above-described embodiment
Limit, the change made under other any spirit without departing from the present invention and principle, modify, substitute, combine, simplify,
All should be the substitute mode of equivalence, within being included in protection scope of the present invention.
Claims (10)
1. a remote control method of industrial robot based on the Internet, it is characterised in that described long-range control method includes:
Step S1, control model design, and use the C/S control model of client-server, and user logs in client software, logical
Cross the Internet and server end communication, and controlled the industrial robot of server end by server software；
Step S2, procotol select, and select between connection-oriented transmission control protocol TCP transmission client-server
Remote control command, and utilize connectionless UDP UDP to realize image transmitting；
Step S3, network remote drive, and allow industrial machine by time type of drive, event driven manner, predictive display mode
The relevant components of people are partially completed relevant operation；
Step S4, virtual reality control, and utilize virtual reality to control industrial robot to be carried out simulation modeling, by control command sequence
Arrange and pass to long-range industrial robot execution by the Internet, then by the actual execution result information of return by virtual industry
Robot simulation model reflects.
Remote control method of industrial robot based on the Internet the most according to claim 1, it is characterised in that
The C/S control model of described step S1, control model design uses double-layer structure system, and wherein ground floor is in client computer
On combine expression and service logic, the second layer is that C/S control model is by multiple complexity by network integration database server
The process of the User Interface GUI of network application, service application and database access and process are separated, server and client computer
Between engaged in the dialogue by message passing mechanism, client issue a request to server, after server carries out respective handling, warp
Pass through mechanism sends client back to.
Remote control method of industrial robot based on the Internet the most according to claim 1, it is characterised in that
Described step S2, procotol select particularly as follows: at the remote control command sent between client-server and shape
All using connection-oriented Transmission Control Protocol to be transmitted during state feedback, server obtains industrial robot operation by CCD gamma camera
On-the-spot video image, is converted into the frame Color Bitmap image of 24 via video frequency collection card by pal mode image, then will figure
As sending into video coder-decoder, then transmit after image is compressed, and use connectionless udp protocol to realize image to pass
Defeated.
Remote control method of industrial robot based on the Internet the most according to claim 1, it is characterised in that
Described step S3, network remote drive particularly as follows: the sensor of industrial robot uses the work of time type of drive, industry
The executor of robot and controller use event driven manner work, and use stochastic prediction display mode prediction environment and
The state of industrial robot, and show that, on the monitor of operator, operator observes industry by virtual reality technology
The motor behavior of robot.
Remote control method of industrial robot based on the Internet the most according to claim 1, it is characterised in that
Described step S4, virtual reality control, particularly as follows: use predictive display mode to carry out industrial robot and remotely control, to utilize
By virtual reality technology, industrial robot is modeled, and emulates the operation of actual industrial robot, verify errorless after
Control command sequence is passed to entity industrial robot again perform, and the actual execution information returned is passed through virtual industrial machine
Device human model reflects.
Remote control method of industrial robot based on the Internet the most according to claim 1, it is characterised in that
The mode of operation of described remote control method of industrial robot includes that simple joint controls and overall control, wherein, described
In the mode of operation that simple joint controls, operator first passes through operation and controls end and select certain of phantom or entity industrial robot
Individual joint, and use this operation to control end to adjust the anglec of rotation in selected joint, by the anglec of rotation in one group of joint one by one
Adjusting, operator is controlled industrial robot and completes certain specific task；In the described overall mode of operation controlled, behaviour
Author is controlled for the mechanical hand of industrial robot, operator by control mechanical hand upwards, downwards, stretch out, retract, just
Moving drive industrial robot to complete the action specified to translation, reverse translation six direction, in this control mode, each closes
The parameter of joint is all obtained by inverse kinematics Equation for Calculating, and wherein, simple joint controls and overall control props up in operation
Hold switching in real time.
Remote control method of industrial robot based on the Internet the most according to claim 1, it is characterised in that
Described remote control method of industrial robot includes local emulation pattern and distance control mode, at described local emulation mould
Under formula, client is not attached to server, is simulated controlling to the industrial robot in simulator by local emulation pattern,
With the exercise various operations to industrial robot, various actions and entity industrial robot under described local emulation pattern are complete
Identical, all various operations carrying out native industry robot may be directly applied on entity industrial robot；
Under described distance control mode, client is connected to server, by the Internet industrial robot to server end
Remotely controlling, all of operation of user is all sent to server end, native industry robot simulation model by the Internet
State read in real time from entity industrial robot, and pass client back from server.
Remote control method of industrial robot based on the Internet the most according to claim 1, it is characterised in that
Described remote control method of industrial robot is supported operating process to record and plays, after selecting to record gesture function,
The movement locus of industrial robot in operating process can preserve by operator, will preserve in follow-up operation
Movement locus plays back, and repeats the operations various to industrial robot being previously saved, and operator can select simultaneously
Operation trace is saved in file the most again to call in from file when next time performs application program.
Remote control method of industrial robot based on the Internet the most according to claim 1, it is characterised in that
Described remote control method of industrial robot supports real-time video feedback, is connected to server master in distance control mode
The real-time video information of industrial robot can be sent to client end interface by the Internet by the CCD camera on machine；
Described remote control method of industrial robot supports video/artificial window switching, in the initial interface of distance control mode
In, operator by monitoring the current state of industrial robot, now video window in real time to the feedback of status of phantom
Playing auxiliary supervisory function bit, video window can be switched to by windows exchange function and mainly observe interface by user, now emulates
Model window plays supplementary observation effect；
Described remote control method of industrial robot supports phantom view angle switch, is switched by the observation visual angle of phantom
Function, operator can observe industrial robot state the most from different perspectives.
Remote control method of industrial robot based on the Internet the most according to claim 1, it is characterised in that
The C/S control model of described client-server uses communication based on socket s, supports the receipts of data
Send out, all set up a sockets in every one end of network, between two sockets, connection can be set up, it is also possible to without connecting,
And by the reading and writing of sockets operation is realized network communicating function.
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| CN106383461A (en) * | 2016-11-29 | 2017-02-08 | 福州大学 | Novel ABB robot control method based on network |
| CN106444784A (en) * | 2016-11-17 | 2017-02-22 | 北京酷思倍科技有限公司 | Virtual and real space crossing device for robot competition |
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| CN111223358A (en) * | 2019-12-02 | 2020-06-02 | 中国计量大学现代科技学院 | Virtual-real combined remote experiment teaching information processing system and method and intelligent terminal |
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| CN106444784A (en) * | 2016-11-17 | 2017-02-22 | 北京酷思倍科技有限公司 | Virtual and real space crossing device for robot competition |
| CN106444784B (en) * | 2016-11-17 | 2023-09-29 | 北京酷思倍科技有限公司 | Virtual-real space crossing device for robot competition |
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| CN106796666B (en) * | 2016-12-30 | 2019-05-07 | 深圳前海达闼云端智能科技有限公司 | Robot control device, method and system |
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| CN108789410A (en) * | 2018-06-26 | 2018-11-13 | 西华大学 | ABB robot long-distance control methods |
| CN110442133A (en) * | 2019-07-29 | 2019-11-12 | 南京市晨枭软件技术有限公司 | A kind of method and system of multiple groups industrial robot work compound |
| CN111223358A (en) * | 2019-12-02 | 2020-06-02 | 中国计量大学现代科技学院 | Virtual-real combined remote experiment teaching information processing system and method and intelligent terminal |
| CN111223358B (en) * | 2019-12-02 | 2023-01-10 | 浙江中路智能装备有限公司 | Virtual-real combined remote experiment teaching information processing system and method and intelligent terminal |
| CN111283680A (en) * | 2020-02-28 | 2020-06-16 | 华南理工大学 | System and method for remotely controlling robot in wireless manner |
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| CN112165521B (en) * | 2020-09-25 | 2023-07-28 | 北京自如信息科技有限公司 | Communication control method of computer equipment, success rate determining method and device |
| CN112165521A (en) * | 2020-09-25 | 2021-01-01 | 北京自如信息科技有限公司 | Communication control method of computer equipment, and method and device for determining success rate |
| CN112643676A (en) * | 2020-12-17 | 2021-04-13 | 上海新时达机器人有限公司 | Stamping manipulator control system based on TCP/IP communication and control method thereof |
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| CN115933575A (en) * | 2023-01-09 | 2023-04-07 | 北京北测数字技术有限公司 | Industrial real-time operation control system and method based on virtual reality |
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