CN106625659A - Robot control method convenient for user to monitor robot operation state in real time - Google Patents

Robot control method convenient for user to monitor robot operation state in real time Download PDF

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Publication number
CN106625659A
CN106625659A CN201611052017.7A CN201611052017A CN106625659A CN 106625659 A CN106625659 A CN 106625659A CN 201611052017 A CN201611052017 A CN 201611052017A CN 106625659 A CN106625659 A CN 106625659A
Authority
CN
China
Prior art keywords
control
robot
module
program
line program
Prior art date
Application number
CN201611052017.7A
Other languages
Chinese (zh)
Inventor
钟志锋
Original Assignee
广州途道信息科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广州途道信息科技有限公司 filed Critical 广州途道信息科技有限公司
Priority to CN201611052017.7A priority Critical patent/CN106625659A/en
Publication of CN106625659A publication Critical patent/CN106625659A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1674Programme controls characterised by safety, monitoring, diagnostic

Abstract

The invention relates to a robot control method convenient for a user to monitor the robot operation state in real time. The method includes the steps of firstly, control equipment transmits a control program to a master control module through a wireless communication manner; secondly, the master control module monitors the operation state of a function module, the master control module executes the control program and transmits an instruction to control the operation of the function module when the operation state of the function module satisfies the preset conditions of the control program, and the master control module feeds back the executing condition of the control program to the control equipment in a wireless communication manner at the same time or after a certain period of time; thirdly, the display module of the control equipment displays the executing condition of the control program to a user. By the robot control method, a robot can be monitored in real time, the control program can be edited and transmitted to the robot, and multi-variant control is achieved.

Description

A kind of robot control method for being easy to user's monitor in real time robot running status

Technical field

The present invention relates to a kind of control method, more particularly to a kind of machine for being easy to user's monitor in real time robot running status Device people's control method.

Background technology

In prior art, the control system of robot cannot directly display the control program of robot, existing machine People's control system mostly be sealing black box, user cannot supervisory-controlled robot running status, lack playability;Part programmable Robot, its operation scheme for programming is complicated, poor user experience.

The content of the invention

The technical problem to be solved is to provide a kind of machine for being easy to user's monitor in real time robot running status Device people's control method, to solve it is of the prior art cannot supervisory-controlled robot running status technical problem.

A kind of robot control method for being easy to user's monitor in real time robot running status, comprises the following steps:

(1) control device sends control program to main control module by wireless communication mode;

(2) running status of the main control module monitoring function module, when the running status of functional module meets the control Processing procedure sequence it is pre-conditioned when, the main control module performs the control program, sends the instruction control functional module running, Simultaneously or after a fixed response time, the main control module is fed back to the implementation status of the control program by wireless communication mode The control device;

(3) display module of the control device displays to the user that the implementation status of the control program.

Preferably, the control program has several rows program, and each line program includes condition part and executable portion, described The condition part of a line control program includes several Rule of judgment, and/or the executable portion of a line program includes number Individual execute instruction.

Preferably, the step (1) also shows the control program including the display module;The step (3) is also wrapped Include the several rows program that the robot is carrying out that highlights.

Preferably, the functional module includes function element and prompting element, and the step (2) also includes the function mould While the instruction of main control module is performed, the prompting element issues the user with information to block.

Preferably, it is described to highlight mode to be highlighted or flickering display.

Preferably, the prompting element is light-emitting component or horn element.

Preferably, the functional module includes computing chip, and the computing chip directly controls its of the functional module His part, the computing chip is by the master control module controls.

Preferably, the step (2) also includes that, when robot is carrying out a certain line program, display module will correspondence A line program highlight, remind the user that, the condition part of a line program has met, and robot is carrying out Corresponding executable portion;When robot not perform a line program when, i.e., when robot has been unsatisfactory for the one stroke The condition part of sequence, robot now also under the control of main control module not perform corresponding executable portion when, now this one Disappearance is returned to the not highlighted front dispaly state of a line program for highlighting for line program, or a line Program present from it is not highlighted before dispaly state and highlight an all different dispaly state of state, that is, perform after Dispaly state.

Preferably, the control device is mobile phone either hand-held control device or handheld computing device, along with protrusion While display, the control device can produce vibration to remind user.

Preferably, the control device is mobile phone, and the display module is the display screen of mobile phone;And/or side wireless communication Formula is bluetooth or WiFi.

The control method provided by the present invention, can increase playability with the running status of monitor in real time robot;Can be with Editor control program is sent to robot, realizes the control polynary to robot.Additionally, robot be provided with can be anti-to user The prompting element of feedforward information, control device can also be as the operation conditions of user feedback robot, so as to allow user to understand in real time The running status of robot.

Specific embodiment

The description of technical scheme in the embodiment of the present invention, only a part of embodiment of the invention, rather than whole Embodiment.Based on the embodiment in the present invention, art technology those of ordinary skill obtains creative work is not paid Every other embodiment, belong to the scope of protection of the invention.

It should be noted that " several " in present invention style of writing be one, two, three or more etc..

The present invention is intended to provide a kind of robot control system, by the system, user can be with monitor in real time robot Which functional module in ruuning situation, including robot is triggered (for example sensor is triggered), and robot is carrying out Which program, so as to increase enjoyment of the user in Manipulation of the machine people.

The robot of indication in the present invention, is the installations for performing work automatically, is not limited in anthropomorphic robot, example The robot that such as can be indication in the present invention can be by main control module and the assembled machine with reference to rear formation of constitutional detail People, or the toy robot by assembled formation.

The control device of indication in the present invention, is the computing device of the programming of being suitable for radio communication function, for example Can be mobile phone, computer and handheld computing device etc.;The control device can be wireless by bluetooth, WiFi, ZigBee etc. Communication mode carries out data exchange with main control module;And the control device has display module, the display module can be The display screen of display screen, such as mobile phone, so as to allow users to the ruuning situation of supervisory-controlled robot in visual mode, bag The control program for showing that editor completes is included, highlightedly which line program display is carrying out and/or which control program is touched Send out, such as when certain a line control program is carrying out, a line program will be highlighted or flickering display, when certain a line control When processing procedure sequence is triggered, a line program will be highlighted or flickering display, and certainly, the mode for highlightedly showing has a lot Kind, it is not limited in being highlighted and highlights.

The functional module of indication in the present invention, can include the function element with certain function;Or can be bag Include the function element with certain function and so that functional module has the computing chip of certain operational capability, function element and fortune Chip connection is calculated, computing chip is connected with the main control module, and the function element is directly controlled by the computing chip, described Computing chip carries out data exchange with the main control module, and the computing chip is by the master control module controls;Or can be Including the prompting element that there is the function element that can realize certain function and can point out to user, once meet preset Condition when, the function element sends signal, at the same (or after certain hour) it is described prompting element issue the user with prompting letter Breath;Or can be include the function element with certain function, can to user prompting prompting element and cause function mould Block has a computing chip of certain operational capability, and function element and prompting element are connected with computing chip, computing chip and institute Main control module connection is stated, the function element and prompting element are directly controlled by the computing chip, the computing chip and institute Stating main control module carries out data exchange, and the computing chip is by the master control module controls.Certainly the functional module can be with Including other elements.

Such as functional module can include a motor or steering wheel as function element, and the motor or steering wheel can be given Robot provides the power of motion.Such as functional module can include a motor or steering wheel as function element, with And a control chip, the motor or steering wheel are connected with control chip.

Such as described functional module can also be a sensor assembly, and the sensor assembly includes sensor element and carries Show element (light element, horn element etc.), sensor element here can be infrared distance sensor, for real-time monitoring The distance between robot and barrier, when condition set in advance is met (such as distance greater than, equal to or less than certain During numerical value), infrared distance sensor sends signal, while (or after certain hour) described prompting element (light element, loudspeaker Element etc.) issue the user with information (for example light, send sound etc.).Here citing is not limited to issue the user with and carried Show the mode of information, such as fluorescent tube element can be state of often going out, by luminous prompting user (as previously described), lamp Tube elements can also be normal bright state, by extinguishing prompting user.The mode that user is pointed out in the present invention is not limited to text of the invention The content that word is directly recorded, as long as user can be pointed out to notice the functional module because meeting condition set in advance and quilt Triggering, all should can be the method for applying to the prompting user in the present invention, should belong to protection scope of the present invention, together When, this is also one of primary object of the present invention, and by way of this prompting, user is apparent that program runs shape The running status of state and robot.

Such as described functional module can also be including function element, prompting element and computing chip, the computing chip The function element and prompting element are directly controlled, such as computing core is added in the infrared distance sensor module of above-mentioned example Piece, the infrared distance sensor and the prompting element (light-emitting component, horn element etc.) are connected with the computing chip, Infrared distance sensor described in computing chip controls and the prompting element, the computing chip enters line number with the control device According to exchanging and by control device control, so that function element itself has certain operational capability, and then mitigate master The computing pressure of control module, lifts the operational capability of whole system.

A kind of robot control system for being easy to user's monitor in real time robot running status, including control device, master control Module and functional module, wherein,

The control device can send control program to main control module by wireless communication mode, the control device tool There is display module, display module displays to the user that the implementation status of the control program;

Main control module includes central processing unit, and the main control module is monitored the running status of the functional module, works as function The running status of module meet the control program it is pre-conditioned when, the main control module performs the control program, sends Instruction control functional module running, while or after a fixed response time, the main control module is by wireless communication mode by institute The implementation status for stating control program feeds back to the control device;

Functional module includes function element, and according to the instruction action.

It (is ejected on display module that the implementation status of control program is fed back to user by the display module Dialog box is pointing out user) so that user can in real time understand program ruuning situation, be easy to adjustment of the user to robot, User is enhanced in the enjoyment using robot, this is that prior art is no, is also one of primary object of the present invention.It is existing There is the robot control system in technology, user is sent instructions to after robot, can only be guessed by the action of observer robot The running status of robot and the implementation status of control program, particularly toy robot.The present invention is by increasing display module And the implementation status of display control program, overcome the defect of prior art, and display module not merely display information Effect, by the display module man-machine interaction experience of user and robot is enhanced, for example, use the robot control system When teaching, student can be just allowed quickly to understand program ruuning situation using display module, so that teaching process is more fast It is fast effective, therefore display module is not simply to produce the technique effect of display, and be preferably to improve man-machine interaction body Test, be easy to user in real time to check the ruuning situation of program ruuning situation and robot, generate unexpected technology Effect.

The control program includes several rows program, and each line program includes condition part and executable portion, and main control module exists When monitoring the functional module, when the running status of discovery feature module meets the condition part, main control part then sends finger The order control functional module completes the content of the executable portion.For example, a certain line program is " when robot and preceding object When thing distance is less than 5 centimetres, motor stalling ", now, when infrared distance measurement sensing module (a kind of functional module) detects " machine People and preceding object thing distance is less than 5 centimetres " when (now robot meets the condition part of a line program), master control sends finger Controlled motor module (a kind of functional module) is made to stall.

Preferably, display module shows the control program, that is, show the program that several rows have been editted, when robot just When a certain line program is performed, display module highlights corresponding a line program, reminds the user that, a line program Condition part met, robot is carrying out corresponding executable portion.When robot is not performing the one stroke During sequence, i.e., when robot has been unsatisfactory for the condition part of a line program, robot is now also under the control of main control module Not perform corresponding executable portion when, now a line program highlight disappearance is returned to a line program not by Dispaly state before highlighting, or from it is not highlighted before dispaly state and highlight state all different Individual dispaly state (dispaly state after can referred to as performing).For example, before a line program is not performed by robot, it is aobvious Show that the dispaly state in module is that (i.e. a line program expresses the font of contents of program to white gravoply, with black engraved characters state with white as background color Or icon etc. is black);When robot performs a line program, a line program is rendered as yellow bottom surplus by display module; When the change because of robot state in which causes robot not when a line program is performed, the dispaly state of a line program Revert to white gravoply, with black engraved characters state (i.e. not highlighted front dispaly state) or the dispaly state of a line program is changed into half Transparent white gravoply, with black engraved characters state (dispaly state after can referred to as performing).

In this way, user can both pass through the ruuning situation of visual observations robot, again can be from display module It is upper to obtain the feedback information of robot, and the not detectable information of range estimation institute can be obtained from display module.Certainly, one In a little embodiments, when robot state in which meets the condition part of multirow program, and while corresponding execution is being performed During part, display module can simultaneously highlight multirow program.

Preferably, along with highlighting while, if the control device be mobile phone or hand-held control device or Person's handheld computing device, the control device can produce vibration to remind user.

Main control module includes central processing unit so that main control module has operational capability, and main control module receives the control After the order that control equipment sends, this order can be processed, and instruction is sent to corresponding functional module;Due to each Functional module is directly connected with main control module, and main control module can at any time monitor the state of each functional module, judge each work( Whether the state of energy module meets the condition part of the control program;Once the main control module finds that robot meets control The condition part of program, then correspondingly operating function module realizing the content of the executable portion.For example, the main control module A certain line program is received for " when robot and preceding object thing distance are less than 5 centimetres, motor stalling ", now, main control module Instruction is powered and sent to infrared distance measurement sensing module (a kind of functional module), it is desirable to which it is detecting " the infrared distance measurement sensing Module and preceding object thing distance is less than 5 centimetres " when (now robot meets the condition part of a line program), give master control mould Block sends signal to inform main control module, or main control module is powered concurrently to infrared distance measurement sensing module (a kind of functional module) Send instruction, it is desirable to which it sends the infrared distance measurement sensing module and front per (such as 0.5 second) at regular intervals to main control module Whether the distance between barrier, master control module judges infrared distance measurement sensing module is less than 5 centimetres with preceding object thing distance; Now the state of robot meets " when robot and preceding object thing distance are less than 5 centimetres " this condition part, master control mould Block sends to motor module (a kind of functional module) and specifies so as to stop operating (for example stop powering it).

When the condition part of a certain line program includes multiple Rule of judgment, (for example " robot is big with preceding object thing distance In 1 centimetre, during less than 5 centimetres "), and/or the executable portion is including multiple execute instructions (such as " motor stalling, LED point It is bright ") when, when the main control module all can meet the condition part with corresponding functional module, the main control module is to performing Corresponding functional module is instructed to send instruction.

Main control module sends information, to the control device by main control module just while the executable portion is performed The control device is informed in the several rows program for performing, the control device projects corresponding several rows program on display module Show.

A kind of robot control method for being easy to user's monitor in real time robot running status, comprises the following steps:

(1) control device sends control program to main control module by wireless communication mode;

(2) running status of the main control module monitoring function module, when the running status of functional module meets the control Processing procedure sequence it is pre-conditioned when, the main control module performs the control program, sends the instruction control functional module fortune Make, while or after a fixed response time, the main control module by wireless communication mode the implementation status of the control program is anti- It is fed to the control device;

(3) display module of the control device displays to the user that the implementation status of the control program.

Preferably, the control program has several rows program, and each line program includes condition part and executable portion, described The condition part of a line control program includes several Rule of judgment, and/or the executable portion of a line program includes number Individual execute instruction.

Preferably, the step (1) also shows the control program including the display module;The step (3) is also wrapped Include the several rows program that the robot is carrying out that highlights.

Preferably, the functional module includes function element and prompting element, and the step (2) also includes the function mould While the instruction of main control module is performed, the prompting element issues the user with information to block.

Preferably, it is described to highlight mode to be highlighted or flickering display.

Preferably, the prompting element is light-emitting component or horn element.

Preferably, the functional module includes computing chip, and the computing chip directly controls its of the functional module His part, the computing chip is by the master control module controls.

Preferably, the step (2) also includes that, when robot is carrying out a certain line program, display module will correspondence A line program highlight, remind the user that, the condition part of a line program has met, and robot is carrying out Corresponding executable portion;When robot not perform a line program when, i.e., when robot has been unsatisfactory for the one stroke The condition part of sequence, robot now also under the control of main control module not perform corresponding executable portion when, now this one Disappearance is returned to the not highlighted front dispaly state of a line program for highlighting for line program, or a line Program present from it is not highlighted before dispaly state and highlight an all different dispaly state of state, that is, perform after Dispaly state.

Preferably, the control device is mobile phone either hand-held control device or handheld computing device, along with protrusion While display, the control device can produce vibration to remind user.

Preferably, the control device is mobile phone, and the display module is the display screen of mobile phone;And/or side wireless communication Formula is bluetooth or WiFi.

Claims (13)

1. a kind of robot control method for being easy to user's monitor in real time robot running status, comprises the following steps:
(1) control device sends control program to main control module by wireless communication mode;
(2) running status of the main control module monitoring function module, when the running status of functional module meets the control journey Sequence it is pre-conditioned when, the main control module performs the control program, sends the instruction control functional module running, while Or one after fixed response time, the main control module is fed back to the implementation status of the control program by wireless communication mode described Control device;
(3) display module of the control device displays to the user that the implementation status of the control program.
2. control method according to claim 1, it is characterised in that the control program has several rows program, per a line Program includes condition part and executable portion, and the condition part of a line control program includes several Rule of judgment, and/ Or the executable portion of a line program includes several execute instructions.
3. control method according to claim 2, it is characterised in that the step (1) is also aobvious including the display module Show the control program;The step (3) also includes highlighting the several rows program that the robot is carrying out.
4. the control method according to any one in claim 1-3, it is characterised in that the functional module includes function Element and prompting element, the step (2) also includes the functional module while instruction of main control module is performed, described to carry Show that element issues the user with information.
5. control method according to claim 3, it is characterised in that described to highlight mode to be highlighted or flashing Show.
6. control method according to claim 4, it is characterised in that the prompting element is light-emitting component or loudspeaker unit Part.
7. control system according to claim 3, it is characterised in that the functional module includes computing chip, the fortune The miscellaneous part that chip directly controls the functional module is calculated, the computing chip is by the master control module controls.
8. control system according to claim 4, it is characterised in that the functional module includes computing chip, the fortune The miscellaneous part that chip directly controls the functional module is calculated, the computing chip is by the master control module controls.
9. control system according to claim 3, it is characterised in that the step (2) also includes, when robot is held During a certain line program of row, display module highlights corresponding a line program, reminds the user that, the bar of a line program Part part has met, and robot is carrying out corresponding executable portion;When robot not perform a line program when, I.e. when robot has been unsatisfactory for the condition part of a line program, robot is not now also being held under the control of main control module Row corresponding executable portion when, now a line program highlight disappearance is returned to a line program be not highlighted it is aobvious Dispaly state before showing, or the dispaly state before a line program presents and be not highlighted and highlight state all A different dispaly states, that is, dispaly state after performing.
10. control system according to claim 4, it is characterised in that the step (2) also includes, when robot When performing a certain line program, display module highlights corresponding a line program, reminds the user that, a line program Condition part has met, and robot is carrying out corresponding executable portion;When robot is not performing a line program When, i.e., when robot has been unsatisfactory for the condition part of a line program, robot now also under the control of main control module not When corresponding executable portion is performed, now a line program highlighting disappearance return to a line program and do not dashed forward The dispaly state gone out before showing, or a line program present with it is not highlighted before dispaly state and highlight shape An all different dispaly state of state, that is, dispaly state after performing.
Control system described in 11. 3, the 5-6 in claim, it is characterised in that the control device is mobile phone, adjoint While highlight, the control device can produce vibration to remind user.
12. in claim 4 described in control system, it is characterised in that the control device is mobile phone or hand-held Control device or handheld computing device, while along with highlighting, the control device can produce vibration to remind User.
13. control systems according to any one of the claims, it is characterised in that the control device is hand Machine, the display module is the display screen of mobile phone;And/or communication is bluetooth or WiFi.
CN201611052017.7A 2016-11-24 2016-11-24 Robot control method convenient for user to monitor robot operation state in real time CN106625659A (en)

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Application Number Priority Date Filing Date Title
CN201611052017.7A CN106625659A (en) 2016-11-24 2016-11-24 Robot control method convenient for user to monitor robot operation state in real time

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Application Number Priority Date Filing Date Title
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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06301412A (en) * 1993-04-14 1994-10-28 Citizen Watch Co Ltd Controller for robot cell
CN103101054A (en) * 2013-01-17 2013-05-15 上海交通大学 Programming and control system of mobile phone to robot
CN103252799A (en) * 2013-04-03 2013-08-21 深圳市深科达气动设备有限公司 Precise electric-conducting adhesive film cutting device
CN104656609A (en) * 2014-12-25 2015-05-27 南京熊猫电子股份有限公司 Robot remote real-time monitoring system and method based on cloud computing
CN105242935A (en) * 2015-11-19 2016-01-13 长春工程学院 System and method for generating display interface executing program source codes
CN105342462A (en) * 2015-11-09 2016-02-24 宁波心想科技有限公司 Control device and method of coffee machine
CN105988398A (en) * 2015-03-03 2016-10-05 上海电气自动化设计研究所有限公司 PC-based industrial robot control system and method for unmanned machine room

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06301412A (en) * 1993-04-14 1994-10-28 Citizen Watch Co Ltd Controller for robot cell
CN103101054A (en) * 2013-01-17 2013-05-15 上海交通大学 Programming and control system of mobile phone to robot
CN103252799A (en) * 2013-04-03 2013-08-21 深圳市深科达气动设备有限公司 Precise electric-conducting adhesive film cutting device
CN104656609A (en) * 2014-12-25 2015-05-27 南京熊猫电子股份有限公司 Robot remote real-time monitoring system and method based on cloud computing
CN105988398A (en) * 2015-03-03 2016-10-05 上海电气自动化设计研究所有限公司 PC-based industrial robot control system and method for unmanned machine room
CN105342462A (en) * 2015-11-09 2016-02-24 宁波心想科技有限公司 Control device and method of coffee machine
CN105242935A (en) * 2015-11-19 2016-01-13 长春工程学院 System and method for generating display interface executing program source codes

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