CN106313038A - Real-time control debugging system and debugging method - Google Patents
Real-time control debugging system and debugging method Download PDFInfo
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- CN106313038A CN106313038A CN201510387027.5A CN201510387027A CN106313038A CN 106313038 A CN106313038 A CN 106313038A CN 201510387027 A CN201510387027 A CN 201510387027A CN 106313038 A CN106313038 A CN 106313038A
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- control
- debugging
- exploitation
- controls
- remote port
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Debugging And Monitoring (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of control debugging of robot devices, in particular to a real-time control debugging system and debugging method. The real-time control debugging system comprises a control terminal, a remote terminal matched with a robot as well as a communication unit, wherein a local control terminal is contained in the robot. Compared with the prior art, the real-time control debugging system has the following advantages: independent debugging of the local control terminal of the robot and the remote terminal is not needed, the debugging efficiency of a user is increased greatly, and the debugging cost and the debugging time are reduced; meanwhile, the development control terminal is wirelessly connected with the local control terminal and the remote terminal, constraint of cables or other linear connections is avoided, the user can still perform control debugging on the robot and obtain a debugging result even when the robot is out of the visual range of the user in a control debugging process, and the degree of freedom is higher.
Description
Technical field
The present invention relates to the control debugging technique field of a kind of robot device, particularly relate to a kind of control in real time
Debugging system processed and adjustment method.
Background technology
Robot (Robot) is the installations automatically performing work.It both can accept mankind commander,
The program of layout in advance can be run again, it is also possible to according to the principle guiding principle row formulated with artificial intelligence technology
Dynamic.Its task is to assist or replace the work of human work, such as, produce industry, building industry, or danger
The work of danger.Robot is performing in course of action, it usually needs receives local program and controls end with remote
Jointly controlling of journey programme-control end.After robot dispatches from the factory, user or third party are in the process of use
In, in order to allow the robot to preferably run, it usually needs the control program of robot is carried out secondary
Exploitation and debugging, during existing secondary development, third party developer is in the process to robot development
In need to connect a data line between computer and robot, use usb protocol to carry out data exchange,
The local program program write being uploaded to robot controls on end and runs debugging.And to this machine
Device people then needs after being locally composed in the program that remote port is corresponding, and packing uploads to high in the clouds, with this
Also need to the local code of robot is updated simultaneously.The most this mode cannot be to this robot at cloud
The code of end is edited and is debugged, can only be effective to the code that robot is local, and the code to high in the clouds
Then need packing, upload after carry out joint debugging, this slatterns the research and development time that developer is limited significantly, debugging
Difficulty is big, inefficiency.
Summary of the invention
For the deficiencies in the prior art, the present invention provides a kind of and debugs real-time control simple, that debugging efficiency is high
Debugging system processed and adjustment method.
The present invention realizes by the following method:
A kind of control debugging system in real time, is applied to remotely control robot and debug, wherein,
Including: exploitation controls remote port and the communication unit that end mates, and described robot with described robot
Inside it is provided with a local control end,
Described exploitation controls in the processing system that end is arranged at this locality, and described exploitation controls end and is prefabricated with an exploitation
Environment, user controls end by described exploitation and controls to adjust to the transmission of described remote port in described development environment
Examination order；
Described communication unit, controls end and described remote port, described local control end in order to realize described exploitation
Between data interaction,
Described remote port independent of described robot, and and described exploitation control to realize wireless connections between end,
Described remote port receives corresponding described control debug command, so that described remote port combines this locality and controls end
Under described control debug command effect, control described robot perform corresponding operation, and form one
Debugging result is back to described exploitation and controls end.
Above-mentioned controls debugging system in real time, and wherein, described exploitation controls end and includes,
Instruction input unit, in order to receive the control debugging instruction of user's input, and by described communication list
Unit's output is to described remote port；
Judging unit, accepts the described debugging result that described remote port sends, and sentences according to described debugging result
Disconnected described control debugs whether instruction has debugged, and forms a judged result output to described remote port.
Above-mentioned controls debugging system in real time, and wherein, described remote port includes:
First memory element, receives and stores described control and debug instruction, and under the effect of a delete command
Delete described control and debug instruction；
Control unit, reads the described control debugging instruction of storage in described first memory element and performs, in
Send described delete command to described first memory element after being finished, concurrently form a debugging result and send out
Deliver to described exploitation and control end；
Second memory element, under described judged result is the state debugged, reads and stores described control
The described control debugging instruction matched with described judged result in unit processed.
Above-mentioned controls debugging system in real time, and wherein, described instruction input unit also receives stopping of user's input
Only debugging instruction, stop under debugging instruction effect in described, described remote port stops debugging operations.
Above-mentioned controls debugging system in real time, and wherein, described exploitation controls end and also comprises log-in module, in order to
User is carried out authentication, and after subscriber authentication is passed through, the described control receiving user's input is adjusted
Examination instruction.
One controls adjustment method in real time, is applied to remotely control robot and debug, wherein, and bag
Include exploitation and control remote port, the communication unit that end mates with robot, wherein said robot interior bag
Include a local control end,
Described exploitation controls in the processing system that end is arranged at this locality, and described exploitation controls end and is prefabricated with an exploitation
Environment, user controls end by described exploitation and described remote port sends control debug command；
Communication unit, controls the data interaction between end and described remote port in order to realize described exploitation；
Described remote port and described exploitation control to realize wireless connections between end, and user is controlled by described exploitation
Remote port described in end property sends and controls debug command accordingly, so that described remote port controls described robot
Performing corresponding operation, described real-time control adjustment method specifically includes:
Step S1, user controls end input by described exploitation and controls debugging instruction, and forms one with described
The control tune-up data output that remote port data form matches；
Step S2, remote port performs matched operation according to described control tune-up data, and is formed
One debugging result sends to described exploitation control end.
Above-mentioned controls adjustment method in real time, and wherein, described step S1 specifically includes:
Step S11, user controls end by described exploitation and selects target robot；
Step S12, described exploitation controls end and receives the described control debugging instruction of user's input, compiles institute
State control debugging instruction and form compiling source code；
Step S12, generates according to described compiling source code and controls debugger file；
Step S13, described exploitation control end upload described control debugging routine to described target robot
Corresponding remote port.
Above-mentioned controls adjustment method in real time, and wherein, described step S2 specifically includes:
Step S21, controls the first memory element, receives and stores described control and debug instruction；
Step S22, control unit reads the described control debugging instruction of storage in described first memory element
And perform, after being finished, send described delete command to described first memory element, concurrently form one
Debugging result sends to described exploitation control end；
Step S23, described first memory element receives described delete command, and deletes described control debugging
Instruction；
Step S24, the judged result sent in described exploitation control end is under the state debugged,
Second memory element reads and stores the described control matched in described control unit with described judged result
Debugging instruction.
Compared with prior art, the invention have the advantage that
In the present invention, it is not necessary to respectively robot this locality is controlled end and remote port carries out independent debugging, significantly
Improve the debugging efficiency of user, reduce debugging cost and shorten the debugging time, simultaneously in the present invention,
Exploitation controls end and local controls to use between end and remote port radio connection, not by cable or its
The constraint of his linearly connected, during controlling debugging, even if robot is not in the visual range of user,
User still can be controlled debugging and obtain debugging result robot, and degree of freedom is higher.
Accompanying drawing explanation
Fig. 1 is that the present invention is a kind of controls debugging system structure schematic diagram in real time；
Fig. 2 is that the present invention is a kind of controls adjustment method schematic flow sheet in real time.
Detailed description of the invention
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as the present invention's
Limit.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the present invention, and
It is not all, of embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art are not making
The every other embodiment obtained on the premise of going out creative work, broadly falls into the scope of protection of the invention.
It should be noted that in the case of not conflicting, the embodiment in the present invention and the spy in embodiment
Levy and can be mutually combined.
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as the present invention's
Limit.
Control debugging system in real time as it is shown in figure 1, a kind of, be applied to robot and control debugging system, its
In, including: exploitation controls remote port and the communication unit that end mates, and described machine with described robot
Being provided with a local control end in device people, a usual remote port can mate several robots.
Described exploitation controls in the processing system that end is arranged at this locality, and described exploitation control end is prefabricated with one and opens
Hair ring border, user controls end by described exploitation and described remote port sends control debug command；Wherein institute
The processing system stating this locality can be a computer, or other have input and control the dress of debugging function
Put.
Described communication unit, controls the data interaction between end and described remote port in order to realize described exploitation.
Wherein communication unit can be with wireless communication unit.
Described remote port is independent of described robot, and controls to realize wireless connections between end in described exploitation,
User controls end by described exploitation and controls debug command accordingly to the transmission of described remote port, so that described
Remote port combination this locality control end controls described robot under described control debug command effect and performs phase therewith
The operation answered, and formed a debugging result be back to described exploitation control end.
The operation principle of the present invention is: described exploitation controls, in the processing system that end is arranged at this locality, to utilize
Its communication unit makes described remote port, local control end and exploitation control end and is in consolidated network environment
Realize wireless connections between middle the mutual of data that realize, and described remote port and described exploitation control end, use
Family in described exploitation control end to described remote port send control debug command accordingly so that described remotely
End combination this locality control end controls described robot under described control debug command effect and performs corresponding
Operation, and formed a debugging result be back to described exploitation control end.
In the present invention, it is not necessary to respectively robot this locality is controlled end and remote port carries out independent debugging, significantly carry
The high debugging efficiency of user, reduce debugging cost and shorten the debugging time, simultaneously in the present invention, opening
Send out and control end and local control to use between end and remote port radio connection, not by cable or other
The constraint of linearly connected, during controlling debugging, even if robot is not in the visual range of user,
User still can be controlled debugging and obtain debugging result robot, and degree of freedom is higher.
Above-mentioned controls debugging system in real time, and wherein, described exploitation controls end and includes
Instruction input unit, in order to receive the control debugging instruction of user's input；Further, instruction input
Unit also can receive the stopping debugging instruction of user's input, controls debugging instruction with so that described robot
Perform the described control debugging instruction of user's input, stop debugging instruction with so that described robot stops
Perform the described control debugging instruction of user's input.
Judging unit, accepts the described debugging result that described remote port sends, and user is according to described debugging result
Judge that described control debugs whether instruction has debugged, form a judged result output to described remote port.
When described control debugging instruction is judged as that debugging completes, then it represents that described control debugging instruction can control
Described robot is successfully executed the operation needed for user, then can be stored in the second memory element, be used for replacing
Change existing control of robot and debug instruction.When described control debugging instruction is judged as that debugging is not fully complete,
Then represent that described control debugging instruction can not control described robot and be successfully executed the behaviour needed for user
Make, then can not be stored in the second memory element, change robot and in use still carry out existing control
System debugging instruction.
Above-mentioned controls debugging system in real time, and wherein, described remote port includes:
First memory element, receives and stores described control and debug instruction, and under the effect of a delete command
Delete described control and debug instruction；First memory element is temporary storage cell, described in order to interim storage
Control debugging instruction, and discharge this space internal memory after this control debugging instruction is finished.
Control unit, reads the described control debugging instruction of storage in described first memory element and performs, in
Send described delete command to described first memory element after being finished, concurrently form described debugging result
Send to described exploitation control end；Described debugging result is checked with for user, and according to this debugging result
Described control debugging instruction is made a decision.
Second memory element, under described judged result is the state debugged, reads and stores described control
The described control debugging instruction matched with described judged result in unit processed.
Above-mentioned controls debugging system in real time, and wherein, described exploitation controls end and also comprises log-in module, in order to
User is carried out authentication, and after subscriber authentication is passed through, the described control receiving user's input is adjusted
Examination instruction.It is provided with log-in module, in order to avoid described robot to be misused.
As in figure 2 it is shown, one controls adjustment method in real time, be applied to robot control debugging system, wherein,
Including controlling end and the remote port mated with robot,
The shown end that controls is arranged in local processing system, grasps for described remote port performs control debugging
Make；
Described remote port and described exploitation control to realize wireless connections between end, and user is controlled by described exploitation
Remote port described in end property sends and controls debug command accordingly, so that described remote port controls described robot
Performing corresponding operation, described real-time control adjustment method specifically includes:
Step S1, user controls end input by described exploitation and controls debugging instruction, and forms one with described
The control tune-up data output that remote port data form matches；
Step S2, remote port performs matched operation according to described control tune-up data, and is formed
One debugging result sends to described exploitation control end.
The one that the present invention provides controls adjustment method in real time, and its operation principle controls debugging in real time with one
System Working Principle is similar, does not repeats.
Above-mentioned controls adjustment method in real time, and wherein, described step S1 specifically includes:
Step S11, user controls end by described exploitation and selects target robot, because a remote port can
To mate several robots, so needing to select a target robot；
Step S12, described exploitation controls end and receives the described control debugging instruction of user's input, compiles institute
State control debugging instruction and form compiling source code；
Step S12, generates according to described compiling source code and controls debugger file；
Step S13, described exploitation control end upload described control debugging routine to described target robot
Corresponding remote port.
Above-mentioned controls adjustment method in real time, and wherein, described step S2 specifically includes:
Step S21, controls described remote port the first memory element and receives and store described control debugging instruction；
Step S22, control unit reads the described control debugging instruction of storage in described first memory element
And perform, after being finished, send described delete command to described first memory element, concurrently form one
Debugging result sends to described exploitation control end；
Step S23, described first memory element receives described delete command, and deletes described control debugging
Instruction；
Step S24, the judged result sent in described exploitation control end is under the state debugged,
Second memory element reads and stores the described control matched in described control unit with described judged result
Debugging instruction.
The foregoing is only preferred embodiment of the present invention, not thereby limit embodiments of the present invention and
Protection domain, to those skilled in the art, it should can appreciate that all utilization description of the invention
And the equivalent done by diagramatic content and the scheme obtained by obvious change, all should comprise
Within the scope of the present invention.
Claims (8)
1. a real-time control debugging system, is applied to remotely control robot and debug, and its feature exists
In, including: exploitation controls remote port and the communication unit that end mates, and described machine with described robot
A local control end it is provided with in device people,
Described exploitation controls in the processing system that end is arranged at this locality, and described exploitation controls end and is prefabricated with an exploitation
Environment, user controls the described development environment of end by described exploitation and described remote port sends control debugging
Order；
Described communication unit, controls end and described remote port, described local control end in order to realize described exploitation
Between data interaction,
Described remote port independent of described robot, and and described exploitation control to realize wireless connections between end,
Described remote port receives described control debug command, so that described remote port combines this locality and controls end in described
Control under debug command effect, to control described robot and perform corresponding operation, and form a debugging knot
Fruit is back to described exploitation and controls end.
Real-time control debugging system the most according to claim 1, it is characterised in that described exploitation controls end
Including,
Instruction input unit, in order to receive the control debugging instruction of user's input, and by described communication unit
Output is to described remote port；
Judging unit, accepts the described debugging result that described remote port sends, and user is according to described debugging result
Judge that described control debugs whether instruction has debugged, form a judged result output to described remote port.
3. according to the control debugging system in real time described in described claim 1, it is characterised in that described remote port
Including:
First memory element, receives and stores described control and debug instruction, and under the effect of a delete command
Delete described control and debug instruction；
Control unit, reads the described control debugging instruction of storage in described first memory element and performs, in
Send described delete command to described first memory element after being finished, concurrently form described debugging result
Send to described exploitation control end；
Second memory element, under described judged result is the state debugged, reads and stores described control
The described control debugging instruction matched with described judged result in unit processed.
4. according to the control debugging system in real time described in described claim 2, it is characterised in that described instruction is defeated
Enter unit and also receive the stopping debugging instruction of user's input, stop under debugging instruction effect in described, described
Remote port stops debugging operations.
5. according to the control debugging system in real time described in described claim 1, it is characterised in that described exploitation control
End processed also comprises log-in module, in order to user is carried out authentication, is used to subscriber authentication and passes through
After, receive the described control debugging instruction of user's input.
6. a real-time control adjustment method, is applied to robot and controls debugging system, it is characterised in that include
Exploitation controls end and the remote port mated with robot,
The shown end that controls is arranged in local processing system, and described exploitation controls end and is prefabricated with an exploitation ring
Border, user controls end by described exploitation and described remote port sends control debug command；
Described remote port and described exploitation control to realize wireless connections between end, and user is controlled by described exploitation
Hold to send to described remote port and control debug command accordingly, so that described remote port controls described robot
Performing corresponding operation, described real-time control adjustment method specifically includes:
Step S1, user controls end input by described exploitation and controls debugging instruction, and forms one with described
The control tune-up data output that remote port data form matches；
Step S2, remote port performs matched operation according to described control tune-up data, and is formed
One debugging result sends to described exploitation control end.
Real-time control adjustment method the most according to claim 6, it is characterised in that described step S1 has
Body includes:
Step S11, user controls end by described exploitation and selects target robot；
Step S12, described exploitation controls end and receives the described control debugging instruction of user's input, compiles institute
State control debugging instruction and form compiling source code；
Step S12, generates according to described compiling source code and controls debugger file；
Step S13, described exploitation control end upload described control debugging routine to described target robot
Corresponding remote port.
Real-time control adjustment method the most according to claim 6, it is characterised in that described step S2 has
Body includes:
Step S21, controls the first memory element of described remote port, receives and stores described control and debug
Instruction；
Step S22, control unit reads the described control debugging instruction of storage in described first memory element
And perform, after being finished, send described delete command to described first memory element, concurrently form one
Debugging result sends to described exploitation control end；
Step S23, described first memory element receives described delete command, and deletes described control debugging
Instruction；
Step S24, the judged result sent in described exploitation control end is under the state debugged,
Second memory element reads and stores the described control matched in described control unit with described judged result
Debugging instruction.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510387027.5A CN106313038B (en) | 2015-06-30 | 2015-06-30 | A kind of real-time control debugging system and adjustment method |
| PCT/CN2016/085906 WO2017000783A1 (en) | 2015-06-30 | 2016-06-15 | Real-time control debugging system and debugging method |
| TW105120422A TW201706092A (en) | 2015-06-30 | 2016-06-29 | A real-time control and debugging system and debugging method |
| HK17105087.4A HK1231438A1 (en) | 2015-06-30 | 2017-05-19 | A real-time control and debugging system and debugging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510387027.5A CN106313038B (en) | 2015-06-30 | 2015-06-30 | A kind of real-time control debugging system and adjustment method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106313038A true CN106313038A (en) | 2017-01-11 |
| CN106313038B CN106313038B (en) | 2019-01-29 |
Family
ID=57607834
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510387027.5A Active CN106313038B (en) | 2015-06-30 | 2015-06-30 | A kind of real-time control debugging system and adjustment method |
Country Status (4)
| Country | Link |
|---|---|
| CN (1) | CN106313038B (en) |
| HK (1) | HK1231438A1 (en) |
| TW (1) | TW201706092A (en) |
| WO (1) | WO2017000783A1 (en) |
Cited By (10)
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| CN108810138A (en) * | 2018-06-11 | 2018-11-13 | 浙江国自机器人技术有限公司 | A kind of robot and its data transmission system and commissioning device |
| CN109491811A (en) * | 2018-11-20 | 2019-03-19 | 网易（杭州）网络有限公司 | Game test method, device and storage medium |
| CN109732597A (en) * | 2018-12-29 | 2019-05-10 | 深圳市越疆科技有限公司 | A kind of remote debugging method based on robot, device and controller |
| CN109815135A (en) * | 2018-12-31 | 2019-05-28 | 深圳市越疆科技有限公司 | A kind of monitoring method, device and the intelligent terminal of robot program's operating status |
| CN109822549A (en) * | 2018-12-31 | 2019-05-31 | 深圳市越疆科技有限公司 | A kind of robotic programming method, apparatus and controller |
| CN111203869A (en) * | 2018-11-21 | 2020-05-29 | 深圳市优必选科技有限公司 | Robot system maintenance method and device, robot and readable storage medium |
| CN111673747A (en) * | 2020-06-02 | 2020-09-18 | 中国建设银行股份有限公司 | Remote testing method and device for robot agent end |
| CN112035306A (en) * | 2020-09-04 | 2020-12-04 | 浙江网商银行股份有限公司 | Debugging robot and debugging method |
| CN112621744A (en) * | 2020-11-20 | 2021-04-09 | 创泽智能机器人集团股份有限公司 | Robot remote control system and control method thereof |
| CN117245646A (en) * | 2022-12-12 | 2023-12-19 | 北京小米机器人技术有限公司 | Robot and debugging method and device thereof as well as storage medium |
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| CN108810138A (en) * | 2018-06-11 | 2018-11-13 | 浙江国自机器人技术有限公司 | A kind of robot and its data transmission system and commissioning device |
| CN109491811A (en) * | 2018-11-20 | 2019-03-19 | 网易（杭州）网络有限公司 | Game test method, device and storage medium |
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| CN111203869A (en) * | 2018-11-21 | 2020-05-29 | 深圳市优必选科技有限公司 | Robot system maintenance method and device, robot and readable storage medium |
| CN109732597A (en) * | 2018-12-29 | 2019-05-10 | 深圳市越疆科技有限公司 | A kind of remote debugging method based on robot, device and controller |
| CN109815135A (en) * | 2018-12-31 | 2019-05-28 | 深圳市越疆科技有限公司 | A kind of monitoring method, device and the intelligent terminal of robot program's operating status |
| CN109822549A (en) * | 2018-12-31 | 2019-05-31 | 深圳市越疆科技有限公司 | A kind of robotic programming method, apparatus and controller |
| CN111673747A (en) * | 2020-06-02 | 2020-09-18 | 中国建设银行股份有限公司 | Remote testing method and device for robot agent end |
| CN111673747B (en) * | 2020-06-02 | 2021-12-17 | 中国建设银行股份有限公司 | Remote testing method and device for robot agent end |
| CN112035306A (en) * | 2020-09-04 | 2020-12-04 | 浙江网商银行股份有限公司 | Debugging robot and debugging method |
| CN112621744A (en) * | 2020-11-20 | 2021-04-09 | 创泽智能机器人集团股份有限公司 | Robot remote control system and control method thereof |
| CN112621744B (en) * | 2020-11-20 | 2022-07-12 | 创泽智能机器人集团股份有限公司 | Robot remote control system and control method thereof |
| CN117245646A (en) * | 2022-12-12 | 2023-12-19 | 北京小米机器人技术有限公司 | Robot and debugging method and device thereof as well as storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201706092A (en) | 2017-02-16 |
| HK1231438A1 (en) | 2017-12-22 |
| WO2017000783A1 (en) | 2017-01-05 |
| CN106313038B (en) | 2019-01-29 |
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