CN106444458B - A kind of method and system of long-range control industrial robot - Google Patents
A kind of method and system of long-range control industrial robot Download PDFInfo
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- CN106444458B CN106444458B CN201610996223.7A CN201610996223A CN106444458B CN 106444458 B CN106444458 B CN 106444458B CN 201610996223 A CN201610996223 A CN 201610996223A CN 106444458 B CN106444458 B CN 106444458B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The invention discloses a kind of method and system of long-range control industrial robot, method includes: that control terminal is based on DiiVA technology access industrial robot；Industrial robot carries out address verification to control terminal, judges whether the control terminal address is legal；After completing control terminal address verification, file transport interface is sent to control terminal；Control terminal is based on file transport interface and sends control file；Industrial robot parses control file, and makes respective handling.Through the embodiment of the present invention, control end data can be quickly transferred to industrial robot end based on DiiVA technology, mode based on certification access, guarantee the safety of data transmission, entire data transfer mode diversification, it can be realized real-time command acquisition and file transmitting function, facilitate the handling of remote control.
Description
Technical field
The present invention relates to intelligent Manufacturing Technology fields, and in particular to one kind remotely controls the method for industrial robot and is
System.
Background technique
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability.It can receive mankind commander, can also
To run according to the program of preparatory layout, modern industrial robot can also be according to the principle program of artificial intelligence technology formulation
Action.
With the continuous development of robot technology, more and more robots start to substitute the various tasks of mankind's execution.One
As in the case of, between robot and operator a good distance off or operator need to realize remote operation to complete, but it is existing
Robot and the large data capacity of control terminal transmit, and certain big data content transmissions are slower to industrial robot end, cause
Industrial robot can not timely respond to and parse related command operator.
Summary of the invention
The present invention provides a kind of method and system of long-range control industrial robot, are realized and are controlled by DiiVA technology
The transmission of file reaches long-range Large Volume Data to the rapid interpretive at industrial robot end, realizes the quick sound of industrial robot
It should and handle.
The present invention provides a kind of methods of long-range control industrial robot, comprising:
Control terminal is based on DiiVA technology access industrial robot；
Industrial robot carries out address verification to control terminal, judges whether the control terminal address is legal；
After completing control terminal address verification, file transport interface is sent to control terminal；
Control terminal is based on file transport interface and sends control file；
Industrial robot parses control file, and makes respective handling.
The file transport interface includes:
Video window interface and file upload interface.
When the file transport interface is video window, control terminal is based on DiiVA technology by the way of IP Streaming Media
Send control file.
The control terminal sends control file based on DiiVA technology by the way of IP Streaming Media
It is encoded using the mpeg transport stream for meeting DiiVA transmission mode, using finely expansible in MPEG-4 standard
Property the fine scalable coding PFGSH technology of coding FGSH or gradual, H.264 technology is combined with the network transmission protocol；
Real-time Transmission Error Control is carried out to data using real-time transport protocol/transmission control protocol.
When the file transport interface is file upload interface, in control terminal, two-dimensional code display and file upload boundary simultaneously
Face.
The method also includes:
When judging that intelligent terminal scans the two-dimensional code, industrial robot and intelligent terminal are established and are communicated to connect；
And after industrial robot makes respective handling, related trip information is sent to intelligent terminal.
Correspondingly, the present invention also provides a kind of system of long-range control industrial robot, the system comprises:
Control terminal for being based on DiiVA technology access industrial robot, and is completed control terminal address in industrial robot and is recognized
After card, control file is sent based on file transport interface；
Industrial robot, for carrying out address to control terminal when control terminal is based on DiiVA technology access industrial robot
Certification, judges whether the control terminal address is legal；After completing control terminal address verification, file transmission is sent to control terminal
Interface；And it receives control terminal and is based on file transport interface transmission control file, and control file is parsed, and make phase
It should handle.
Control terminal is based on DiiVA technology when the file transport interface is video window by the way of IP Streaming Media
Send control file.
Control terminal is used finely in MPEG-4 standard using the mpeg transport stream coding for meeting DiiVA transmission mode
Scalable coding FGSH or gradual fine scalable coding PFGSH technology, H.264 technology and network transmission protocol phase
In conjunction with；Real-time Transmission Error Control is carried out to data using real-time transport protocol/transmission control protocol.
The control terminal is when file transport interface is file upload interface, while two-dimensional code display and file upload boundary
Face.
In the present invention, control end data can be quickly transferred to by industrial robot end based on DiiVA technology, based on recognizing
The mode of access is demonstrate,proved, guarantees that the safety of data transmission, entire data transfer mode diversification can be realized real-time command acquisition
And file transmitting function, facilitate the handling of remote control.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the method flow diagram of the long-range control industrial robot in the embodiment of the present invention；
Fig. 2 is the system structure diagram of the long-range control industrial robot in the embodiment of the present invention；
Fig. 3 is the system structure diagram of the long-range control industrial robot in the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
The method of long-range control industrial robot in the real-time example of the present invention is visited by control terminal based on DiiVA technology
Ask industrial robot；Industrial robot carries out address verification to control terminal, judges whether the control terminal address is legal；It completes
After control terminal address verification, file transport interface is sent to control terminal；Control terminal is based on file transport interface and sends control text
Part；Industrial robot parses control file, and makes respective handling.
Correspondingly, Fig. 1 shows the method flow diagram of the long-range control industrial robot in the embodiment of the present invention, it is specific to wrap
Include following steps:
S101, control terminal are based on DiiVA technology access industrial robot；
A kind of digital high-definition of DiiVA interacts coffret technology, and video bandwidth is supported to reach 13.5Gbps, supports hybrid channel
Bandwidth is total can to do bi-directional data and audio transmission more than 2Gbps, while also supporting HDCP2.0 (high-bandwidth digital content protection
Technology) and DTCP-IP (passing through the Digital Transmission Content Protection of Internet protocol).The data type of transmission can simultaneously crossfire,
Sound format, USB (universal serial bus), Ethernet, device control are regarded including the existing uncompressed high-resolution with the following application
System instruction etc..DiiVA specification includes transport layer and network layer, allows video, audio and data packet, can be in DiiVA home network
In network, safely change the path that any display is transmitted to from either signal source.In addition, DiiVA specification will provide movement just
Take network connection and the charge function of equipment.
S102, industrial robot carry out address verification to control terminal；
The address information of control terminal is obtained based on DiiVA technology, and is transferred to industrial robot, and industrial robot is to the ground
Location information judges whether the address is the registered address in industrial robot end, if registered address is then to close into certification
Otherwise method address is illegal address.
The address verification has ensured the safety guarantee of data transmission procedure, realizes the operation of data content legitimacy.
S103, judge whether the control terminal geology is legal, if address legal entrance S104 then terminates if it is illegal；
S104, judge the requested file transport interface type of control terminal；
File transport interface type in implementation process of the present invention includes: video window interface, file upload interface.Video
Transport interface can get the data at relevant control end in real time.File upload interface can will control file based on control terminal
It is directly transmitted to industrial robot.
S105, judge the requested file transport interface type of control terminal be video window interface when, control end group
Control file is sent in video window interface；
, should be when the file transport interface be video window in specific implementation process, control terminal is using IP Streaming Media
Mode is based on DiiVA technology and sends control file.
In specific implementation process, control terminal is marked using the mpeg transport stream coding for meeting DiiVA transmission mode in MPEG-4
Using the scalable coding PFGSH technology that fine scalable coding FGSH or gradual is fine in standard, H.264 technology with
The network transmission protocol combines；The control of real-time Transmission mistake is carried out to data using real-time transport protocol or transmission control protocol
System.
S106, judge the requested file transport interface type of control terminal be file upload interface when, control end group
Control file is sent in file upload interface；
S107, industrial robot parse control file, and make respective handling.
Correspondingly, Fig. 2 shows industrial robots and intelligent terminal interactive flow chart in the embodiment of the present invention, including such as
Lower step:
S201, control terminal simultaneously two-dimensional code display and file upload interface；
S202, it judges whether there is intelligent terminal and scans the two-dimensional code, if judgement has intelligent terminal to scan the two-dimensional code, enter
Otherwise S203 terminates；
S203, industrial robot and intelligent terminal, which are established, to be communicated to connect；
S204, judge whether industrial robot makes respective handling, if judging, industrial robot makes respective handling,
Into S205, otherwise continue deterministic process；
In step shown in Fig. 1: industrial robot parses control file, and makes respective handling, whole
After a file uploads, industrial robot can make corresponding processing.
S205, related trip information is sent to intelligent terminal.
Correspondingly, Fig. 3 also shows the system structure diagram of the long-range control industrial robot in the embodiment of the present invention,
The system comprises:
Control terminal for being based on DiiVA technology access industrial robot, and is completed control terminal address in industrial robot and is recognized
After card, control file is sent based on file transport interface；
Industrial robot, for carrying out address to control terminal when control terminal is based on DiiVA technology access industrial robot
Certification, judges whether the control terminal address is legal；After completing control terminal address verification, file transmission is sent to control terminal
Interface；And it receives control terminal and is based on file transport interface transmission control file, and control file is parsed, and make phase
It should handle.
In specific implementation process, the control terminal is when the file transport interface is video window, using IP Streaming Media
Mode is based on DiiVA technology and sends control file.
In specific implementation process, the control terminal is using the mpeg transport stream coding for meeting DiiVA transmission mode, in MPEG-4
Using the scalable coding PFGSH technology that fine scalable coding FGSH or gradual is fine in standard, H.264 technology
It is combined with the network transmission protocol；The control of real-time Transmission mistake is carried out to data using real-time transport protocol or transmission control protocol
System.
In specific implementation process, the control terminal is when file transport interface is file upload interface, while two-dimensional code display
With file upload interface.
To sum up, control end data can be quickly transferred to by industrial robot end based on DiiVA technology, based on certification access
Mode, guarantee data transmission safety, entire data transfer mode diversification, can be realized real-time command acquisition and file
Transfer function facilitates the handling of remote control.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can store in computer readable storage medium, and storage is situated between
Matter may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access
Memory), disk or CD etc..
The method and system for being provided for the embodiments of the invention long-range control industrial robot above have carried out detailed Jie
It continues, used herein a specific example illustrates the principle and implementation of the invention, and the explanation of above embodiments is only
It is to be used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to this hair
Bright thought, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not manage
Solution is limitation of the present invention.
Claims (9)
1. a kind of method of long-range control industrial robot characterized by comprising
Control terminal is based on DiiVA technology access industrial robot；
Industrial robot carries out address verification to control terminal, judges whether the control terminal address is legal；
After completing control terminal address verification, file transport interface is sent to control terminal；
Control terminal is based on file transport interface and sends control file；
Industrial robot parses control file, and makes respective handling；
The file transport interface includes:
Video window interface and file upload interface.
2. the method for long-range control industrial robot as described in claim 1, which is characterized in that in the file transport interface
When for video window, control terminal sends control file based on DiiVA technology by the way of IP Streaming Media.
3. the method for long-range control industrial robot as claimed in claim 2, which is characterized in that the control terminal is flowed using IP
The mode of media is based on DiiVA technology transmission control file
It is encoded using the mpeg transport stream for meeting DiiVA transmission mode, is compiled in MPEG-4 standard using fine scalability
Code FGSH or gradual fine scalable coding PFGSH technology, H.264 technology is combined with the network transmission protocol；
Real-time Transmission Error Control is carried out to data using real-time transport protocol or transmission control protocol.
4. the method for long-range control industrial robot as described in claim 1, which is characterized in that in the file transport interface
When for file upload interface, in control terminal two-dimensional code display and file upload interface simultaneously.
5. the method for long-range control industrial robot as claimed in claim 4, which is characterized in that the method also includes:
When judging that intelligent terminal scans the two-dimensional code, industrial robot and intelligent terminal are established and are communicated to connect；
And after industrial robot makes respective handling, related trip information is sent to intelligent terminal.
6. a kind of system of long-range control industrial robot, which is characterized in that the system comprises:
Control terminal, for be based on DiiVA technology access industrial robot, and industrial robot complete control terminal address verification it
Afterwards, control file is sent based on file transport interface；
Industrial robot, for carrying out address to control terminal and recognizing when control terminal is based on DiiVA technology access industrial robot
Card, judges whether the control terminal address is legal；After completing control terminal address verification, file is sent to control terminal and transmits boundary
Face；And it receives control terminal and is based on file transport interface transmission control file, and control file is parsed, and makes corresponding
Processing；
The file transport interface includes:
Video window interface and file upload interface.
7. the system of long-range control industrial robot as claimed in claim 6, which is characterized in that control terminal is passed in the file
When defeated interface is video window, control file is sent based on DiiVA technology by the way of IP Streaming Media.
8. the system of long-range control industrial robot as claimed in claim 7, which is characterized in that control terminal, which uses, to be met
The mpeg transport stream of DiiVA transmission mode encodes, and fine scalable coding FGSH or progressive is used in MPEG-4 standard
The fine scalable coding PFGSH technology of formula, H.264 technology is combined with the network transmission protocol；Using real-time transport protocol
Or transmission control protocol carries out real-time Transmission Error Control to data.
9. the system of long-range control industrial robot as claimed in claim 6, which is characterized in that the control terminal is passed in file
When defeated interface is file upload interface, while two-dimensional code display and file upload interface.
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| CN201610996223.7A CN106444458B (en) | 2016-11-11 | 2016-11-11 | A kind of method and system of long-range control industrial robot |
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| CN201610996223.7A CN106444458B (en) | 2016-11-11 | 2016-11-11 | A kind of method and system of long-range control industrial robot |
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| CN106444458B true CN106444458B (en) | 2019-05-03 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112677159B (en) * | 2021-03-22 | 2023-02-28 | 佛山隆深机器人有限公司 | Mechanical arm operation path planning method and device based on visual positioning |
| CN113672559A (en) * | 2021-08-30 | 2021-11-19 | 中科新松有限公司 | Robot access method and device, robot and storage medium |
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| CN102722116A (en) * | 2012-05-08 | 2012-10-10 | Tcl集团股份有限公司 | System for controlling electronic equipment, control end and control receiving end |
| CN204989857U (en) * | 2015-10-14 | 2016-01-20 | 云南大学 | Remote control device based on pioneer robot |
| CN105922257A (en) * | 2016-04-28 | 2016-09-07 | 纳博特南京科技有限公司 | Robot teaching system based on mobile electronic equipment |
| CN105959618A (en) * | 2016-02-19 | 2016-09-21 | 青岛克路德机器人有限公司 | Method of robot remote control |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102722116A (en) * | 2012-05-08 | 2012-10-10 | Tcl集团股份有限公司 | System for controlling electronic equipment, control end and control receiving end |
| CN102722116B (en) * | 2012-05-08 | 2016-08-31 | Tcl集团股份有限公司 | A kind of control electronic equipment system, control end and controlled end |
| CN204989857U (en) * | 2015-10-14 | 2016-01-20 | 云南大学 | Remote control device based on pioneer robot |
| CN105959618A (en) * | 2016-02-19 | 2016-09-21 | 青岛克路德机器人有限公司 | Method of robot remote control |
| CN105922257A (en) * | 2016-04-28 | 2016-09-07 | 纳博特南京科技有限公司 | Robot teaching system based on mobile electronic equipment |
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Effective date of registration: 20220207 Address after: 528300 b03-01, block B, No. 18, Chengxi Road, Honggang neighborhood committee, Daliang sub district office, Shunde District, Foshan City, Guangdong Province Patentee after: Foshan Guyi Technology Co.,Ltd. Address before: 4 / F, block F, Central Europe center, No.2 South Lingnan Avenue, Lecong Town, Shunde District, Foshan City, Guangdong Province 528315 Patentee before: SOUTH CHINA ROBOTICS INNOVATION Research Institute |