CN107844437A - Control method, addressing method, robot controller and control system - Google Patents
Control method, addressing method, robot controller and control system Download PDFInfo
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- CN107844437A CN107844437A CN201610840097.6A CN201610840097A CN107844437A CN 107844437 A CN107844437 A CN 107844437A CN 201610840097 A CN201610840097 A CN 201610840097A CN 107844437 A CN107844437 A CN 107844437A
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- 230000000875 corresponding effect Effects 0.000 claims abstract description 38
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 230000001276 controlling effect Effects 0.000 claims abstract description 5
- 230000009471 action Effects 0.000 claims description 14
- 238000012856 packing Methods 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 12
- 238000004458 analytical method Methods 0.000 claims description 3
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/10—Program control for peripheral devices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/40—Bus structure
- G06F13/4063—Device-to-bus coupling
- G06F13/4068—Electrical coupling
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Abstract
The invention discloses a control method, an addressing method, a robot controller and a control system. The control method comprises the following steps: and sending the control instruction to an input-output expansion module, wherein the input-output expansion module is used for analyzing the control instruction after receiving the control instruction to obtain instruction information, and sending the analyzed instruction information to the robot so as to control the robot to execute corresponding actions. The invention solves the technical problem of poor data transmission effect when controlling the robot in the related technology.
Description
Technical field
The present invention relates to robot control field, in particular to a kind of control method, addressing method, robot control
Device processed and control system.
Background technology
With the development of information technology, intelligent, information-based, networking turns into the trend of modern industry control.20
Since the eighties in century, open industrial-controlled general line develops rapidly, on this basis by the decentralised control of network connection and
Progressively mature, remote I/O are exactly a kind of product developed under these conditions to the control technology of embedded device, it is open and
General is its principal character.Available for the various field device digital quantities in connection industrial control system, analog input/output
Signal.
In recent years, robot control is extremely paid close attention to both at home and abroad, always search for how entering to robot rapidly and efficiently
Row control, and the method for robot addressing, but in current control method, passed for the data between controller and robot
The defeated high request that can not have met that market is controlled robot.
In view of the above-mentioned problems, not yet propose effective solution at present.
The content of the invention
The embodiments of the invention provide a kind of control method, addressing method, robot controller and control system, with least
Solves data transfer ineffective technical problem during control machine people in correlation technique.
One side according to embodiments of the present invention, there is provided a kind of control method, for control machine human action, bag
Include：Control instruction is sent to input and output enlargement module, wherein, above-mentioned input and output enlargement module be used for receive it is above-mentioned
After control instruction, above-mentioned control instruction is parsed, obtains command information, and the command information parsed is sent to machine
People, to control above-mentioned robot to perform corresponding act.
Further, control instruction is sent into input and output enlargement module includes：By high-speed industrial industry ethernet,
Above-mentioned control instruction is sent to above-mentioned input and output enlargement module.
Another aspect according to embodiments of the present invention, a kind of addressing method is additionally provided, for being addressed to robot,
Including：The control instruction that robot controller is sent is received, wherein, above-mentioned control instruction is used for corresponding to control machine people execution
Action；The control instruction received is parsed, obtains command information；The command information parsed is sent to target machine
People, to control above-mentioned target robot to perform corresponding act.
Further, before the command information parsed is sent into target robot, the above method also includes：Docking
The control instruction received is parsed, and obtains the address information of above-mentioned target robot, wherein, obtaining above-mentioned target robot
Address information after, the command information parsed is sent to above-mentioned target robot according to address above mentioned information.
Further, the command information parsed is being sent to target robot, to control above-mentioned target robot to hold
After being acted corresponding to row, the above method also includes：Receive the running state information of above-mentioned target robot feedback；By above-mentioned fortune
Row status information carries out packing processing；Running state information after packing is sent to above-mentioned robot controller.
Another aspect according to embodiments of the present invention, additionally provides a kind of robot controller, and for control machine, people moves
Make, including：Transmitting element, for control instruction to be sent into input and output enlargement module, wherein, above-mentioned input and output expanded mode
Block is used for after above-mentioned control instruction is received, and above-mentioned control instruction is parsed, obtain command information, and will parse
Command information is sent to robot, to control above-mentioned robot to perform corresponding act.
Further, above-mentioned transmitting element, is additionally operable to：By high-speed industrial industry ethernet, above-mentioned control instruction is sent out
Give above-mentioned input and output enlargement module.
Another aspect according to embodiments of the present invention, a kind of input and output enlargement module is additionally provided, for robot
It is addressed, including：First receiving unit, for receiving the control instruction of robot controller transmission, wherein, above-mentioned control refers to
Make and perform corresponding act for control machine people；First resolution unit, for being parsed to the control instruction received, obtain
To command information；Unit is addressed, for the command information parsed to be sent into target robot, to control above-mentioned target machine
People acts corresponding to performing.
Further, above-mentioned input and output enlargement module also includes：Second resolution unit, in the instruction that will be parsed
Information is sent to before target robot, and the control instruction received is parsed, and obtains the address of above-mentioned target robot
Information, wherein, above-mentioned addressing unit, it is additionally operable to after the address information of above-mentioned target robot is obtained, the finger that will be parsed
Information is made to be sent to above-mentioned target robot according to address above mentioned information.
Further, above-mentioned input and output enlargement module also includes：Second receiving unit, in the instruction that will be parsed
Information is sent to target robot, after controlling above-mentioned target robot to perform corresponding act, receives above-mentioned target machine
The running state information of people's feedback；Processing unit, for above-mentioned running state information to be carried out into packing processing；Transmitting element, use
Running state information after by packing is sent to above-mentioned robot controller.
Another aspect according to embodiments of the present invention, a kind of robot control system is additionally provided, including：Robot；On
The robot controller stated, for sending control instruction, wherein, above-mentioned control instruction is used to control above-mentioned robot to perform correspondence
Action；Above-mentioned input and output enlargement module, for after above-mentioned control instruction is received, being solved to above-mentioned control instruction
Analysis, obtains command information, and the command information parsed is sent into above-mentioned robot, to control above-mentioned robot to perform correspondence
Action.
In embodiments of the present invention, using a kind of control method, for control machine human action, including：By control instruction
Input and output enlargement module is sent to, wherein, input and output enlargement module is used for after control instruction is received, to control instruction
Parsed, obtain command information, and the command information parsed is sent to robot, with corresponding to control machine people execution
Action, optimize data transfer, and the purpose of robot addressing when having reached control machine people, it is achieved thereby that rapidly and efficiently
The technique effect of control machine people, and then the ineffective technology of data transfer is asked when solving control machine people in correlation technique
Topic.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, forms the part of the application, this hair
Bright schematic description and description is used to explain the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is a kind of flow chart of optional control method according to embodiments of the present invention；
Fig. 2 is a kind of flow chart of optional addressing method according to embodiments of the present invention；
Fig. 3 is a kind of schematic diagram of optional robot control system according to embodiments of the present invention；
Fig. 4 is a kind of schematic diagram of optional robot controller according to embodiments of the present invention；
Fig. 5 is a kind of schematic diagram of optional input and output enlargement module according to embodiments of the present invention.
Embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, it should all belong to the model that the present invention protects
Enclose.
It should be noted that term " first " in description and claims of this specification and above-mentioned accompanying drawing, "
Two " etc. be for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so use
Data can exchange in the appropriate case, so as to embodiments of the invention described herein can with except illustrating herein or
Order beyond those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, be not necessarily limited to for example, containing the process of series of steps or unit, method, system, product or equipment
Those steps or unit clearly listed, but may include not list clearly or for these processes, method, product
Or the intrinsic other steps of equipment or unit.
Embodiment 1
According to embodiments of the present invention, there is provided a kind of control method embodiment is, it is necessary to illustrate, in the flow chart of accompanying drawing
The step of showing can perform in the computer system of such as one group computer executable instructions, although also, in flow chart
In show logical order, but in some cases, can be to perform shown or described step different from order herein
Suddenly.
Fig. 1 is a kind of flow chart of optional control method according to embodiments of the present invention, as shown in figure 1, this method bag
Include following steps：
Step S102, control instruction is sent to input and output enlargement module, wherein, input and output enlargement module is used for
After receiving control instruction, control instruction is parsed, obtains command information, and the command information parsed is sent to machine
Device people, corresponding act is performed with control machine people.
That is, in order to realize the control to robot, control instruction is sent first to input and output enlargement module, wherein,
The input and output enlargement module can parse to control instruction, obtain command information, and can send command information
To robot.
By embodiment, using a kind of control method, for control machine human action, including：Control instruction is sent
To input and output enlargement module, wherein, input and output enlargement module is used for after control instruction is received, and control instruction is carried out
Parsing, obtains command information, and the command information parsed is sent into robot, to be moved corresponding to control machine people execution
Make, optimize data transfer, and the purpose of robot addressing when having reached control machine people, it is achieved thereby that control rapidly and efficiently
The technique effect of robot processed, and then the ineffective technology of data transfer is asked when solving control machine people in correlation technique
Topic.
Alternatively, control instruction is sent into input and output enlargement module includes：, will by high-speed industrial industry ethernet
Control instruction is sent to input and output enlargement module.Because open industrial-controlled general line is that high-speed industrial industry ethernet is rapid
Development, it can be realized by high-speed industrial industry ethernet and control instruction is accurately sent to input and output expanded mode at a high speed
Block, the effect of control is realized to reach high speed transmission data to robot.
Another aspect according to embodiments of the present invention, a kind of addressing method is additionally provided, for being addressed to robot,
Fig. 2 is a kind of flow chart of optional addressing method according to embodiments of the present invention, as shown in Fig. 2 comprising the following steps：
Step S202, the control instruction that robot controller is sent is received, wherein, control instruction is held for control machine people
Acted corresponding to row；
Step S204, the control instruction received is parsed, obtains command information；
Step S206, target robot is sent to by the command information parsed, and correspondence is performed with control targe robot
Action.
That is, the control instruction that corresponding action is performed for control machine people is received first, further according to the control of reception
Instruction is parsed, and obtains command information, command information finally is sent into target robot.
By embodiment, industrial automation control system is can apply to, available in connection industrial control system
Various field device digital quantities, analog input/output signal, also, be especially suitable for the product line of multibus, applied to
During different bus type, only corresponding bus communication adapter need to be changed.In addition, by embodiment, control is reached
Optimize data transfer during robot processed, and the purpose of robot addressing, it is achieved thereby that control machine people rapidly and efficiently
Technique effect, and then data transfer ineffective technical problem when solving control machine people in correlation technique.
Alternatively, before the command information parsed is sent into target robot, method also includes：To what is received
Control instruction is parsed, and obtains the address information of target robot, wherein, obtain target robot address information it
Afterwards, the command information parsed is sent to target robot according to address information.
In order to reach the purpose of addressing, when being parsed to control instruction, it is necessary to parse to obtain the ground of target robot
Location information, address information is being sent to target robot, is finally realizing the addressing of target robot.
Alternatively, the command information parsed is being sent to target robot, correspondence is performed with control targe robot
Action after, method also includes：Receive the running state information of target robot feedback；Running state information is packed
Processing；Running state information after packing is sent to robot controller.
Wherein, the running state information of target robot feedback can include the run time of target robot, operation speed
Other parameters such as degree, after the running state information of target robot feedback is received, the running state information can be packed
Controller is sent to, robot is more fully controlled with realizing.
Embodiment 2
Another aspect according to embodiments of the present invention, additionally provides a kind of robot control system, and Fig. 3 is according to the present invention
A kind of schematic diagram of optional robot control system of embodiment, as shown in figure 3, including：Robot 302；Robot controls
Device 304, for sending control instruction, wherein, control instruction is used for control machine people and performs corresponding act；Input and output extend
Module 306, for after control instruction is received, being parsed to control instruction, obtain command information, and the finger that will be parsed
Make information be sent to robot, corresponding action is performed with control machine people, wherein, robot controller, for control machine
Human action, including：Transmitting element, for control instruction to be sent into input and output enlargement module, wherein, input and output expanded mode
Block is used for after control instruction is received, and control instruction is parsed, obtains command information, and the command information that will be parsed
Robot is sent to, corresponding action is performed with control machine people, further, transmitting element, is additionally operable to：Pass through high-speed industrial
Industry ethernet, control instruction is sent to input and output enlargement module.Input and output enlargement module, for being carried out to robot
Addressing, including：First receiving unit, for receiving the control instruction of robot controller transmission, wherein, control instruction is used to control
Robot processed acts corresponding to performing；First resolution unit, for being parsed to the control instruction received, obtain instruction letter
Breath；Unit is addressed, for the command information parsed to be sent into target robot, with corresponding to the execution of control targe robot
Action.Alternatively, input and output enlargement module also includes：Second resolution unit, for being sent by the command information parsed
Before target robot, the control instruction received is parsed, obtains the address information of target robot, wherein, seek
Location unit, is additionally operable to after the address information of target robot is obtained, and the command information parsed is sent out according to address information
Give target robot.Alternatively, input and output enlargement module also includes：Second receiving unit, in the finger that will be parsed
Make information be sent to target robot, after performing corresponding act with control targe robot, receive target robot feedback
Running state information；Processing unit, for running state information to be carried out into packing processing；Transmitting element, for it will pack after
Running state information be sent to robot controller.
By embodiment, optimize data transfer, and the purpose of robot addressing when having reached control machine people, so as to
Data transfer when realizing the technique effect of control machine people rapidly and efficiently, and then solving control machine people in correlation technique
Ineffective technical problem.
It should be noted that the embodiment of each device part and the implementation of each method part in embodiment 1 in embodiment 2
Mode is corresponding, describes the introduction for seeing embodiment 1 in detail, will not be repeated here.
Embodiment 3
Another aspect according to embodiments of the present invention, additionally provides a kind of robot controller, and for control machine, people moves
Making, Fig. 4 is a kind of schematic diagram of optional robot controller according to embodiments of the present invention, as shown in figure 4, including：Send
Unit, for control instruction to be sent into input and output enlargement module, wherein, input and output enlargement module is used to receive control
After system instruction, control instruction is parsed, obtains command information, and the command information parsed is sent to robot, with
Control machine people acts corresponding to performing.
Alternatively, transmitting element, it is additionally operable to：By high-speed industrial industry ethernet, it is defeated that control instruction is sent to input
Go out expansion module.
Another aspect according to embodiments of the present invention, a kind of input and output enlargement module is additionally provided, for robot
It is addressed, Fig. 5 is a kind of schematic diagram of optional input and output enlargement module according to embodiments of the present invention, as shown in figure 5,
Including：First receiving unit 502, for receiving the control instruction of robot controller transmission, wherein, control instruction is used to control
Robot acts corresponding to performing；First resolution unit 504, for being parsed to the control instruction received, instructed
Information；Unit 506 is addressed, for the command information parsed to be sent into target robot, is performed with control targe robot
Corresponding action.
By embodiment, the input and output enlargement module can apply to industrial automation control system, available for even
Connect various field device digital quantities, the analog input/output signal in industrial control system.Input and output enlargement module is very
It is adapted to the product line of multibus, when applied to different bus types, without changing whole module, need to only changes corresponding
Bus communication adapter.In addition, by embodiment, optimize data transfer, and machine when having reached control machine people
The purpose of people's addressing, it is achieved thereby that the technique effect of control machine people rapidly and efficiently, and then solve in correlation technique and control
Data transfer ineffective technical problem during robot processed.
Alternatively, input and output enlargement module also includes：Second resolution unit, for being sent out by the command information parsed
Before giving target robot, the control instruction received is parsed, obtains the address information of target robot, wherein,
Unit is addressed, is additionally operable to after the address information of target robot is obtained, by the command information parsed according to address information
It is sent to target robot.
Alternatively, input and output enlargement module also includes：Second receiving unit, for being sent out by the command information parsed
Target robot is given, after performing corresponding act with control targe robot, receives the operation shape of target robot feedback
State information；Processing unit, for running state information to be carried out into packing processing；Transmitting element, for by the operation shape after packing
State information is sent to robot controller.
It should be noted that each embodiment of device part and each implementation of method part in embodiment 1 in embodiment 3
Mode is corresponding, describes the introduction for seeing embodiment 1 in detail, will not be repeated here.
Sequence number of the embodiment of the present invention is for illustration only, does not represent the quality of embodiment.
In an embodiment of the present invention, the description to each embodiment all emphasizes particularly on different fields, and is not described in detail in some embodiment
Part, may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed technology contents, others can be passed through
Mode is realized.Wherein, device embodiment described above is only schematical, such as the division of the unit, Ke Yiwei
A kind of division of logic function, can there is an other dividing mode when actually realizing, for example, multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling or direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, unit or module
Connect, can be electrical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On unit.Some or all of unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part to be contributed in other words to prior art or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are causing a computer
Equipment (can be personal computer, server or network equipment etc.) perform each embodiment methods described of the present invention whole or
Part steps.And foregoing storage medium includes：USB flash disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various can be with store program codes
Medium.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (11)
- A kind of 1. control method, for control machine human action, it is characterised in that including：Control instruction is sent to input and output enlargement module,Wherein, the input and output enlargement module is used for after the control instruction is received, and the control instruction is solved Analysis, obtains command information, and the command information parsed is sent into robot, is moved with controlling corresponding to the robot execution Make.
- 2. according to the method for claim 1, it is characterised in that control instruction is sent to input and output enlargement module bag Include：By high-speed industrial industry ethernet, the control instruction is sent to the input and output enlargement module.
- A kind of 3. addressing method, for being addressed to robot, it is characterised in that including：The control instruction that robot controller is sent is received, wherein, the control instruction is used for corresponding to control machine people execution Action；The control instruction received is parsed, obtains command information；The command information parsed is sent to target robot, to control the target robot to perform corresponding act.
- 4. according to the method for claim 3, it is characterised in that the command information parsed is being sent to target robot Before, methods described also includes：The control instruction received is parsed, obtains the address information of the target robot,Wherein, after the address information of the target robot is obtained, the command information parsed is believed according to the address Breath is sent to the target robot.
- 5. the method according to claim 3 or 4, it is characterised in that the command information parsed is being sent to target machine Device people, after controlling the target robot to perform corresponding act, methods described also includes：Receive the running state information of the target robot feedback；The running state information is subjected to packing processing；Running state information after packing is sent to the robot controller.
- A kind of 6. robot controller, for control machine human action, it is characterised in that including：Transmitting element, for control instruction to be sent into input and output enlargement module,Wherein, the input and output enlargement module is used for after the control instruction is received, and the control instruction is solved Analysis, obtains command information, and the command information parsed is sent into robot, is moved with controlling corresponding to the robot execution Make.
- 7. controller according to claim 6, it is characterised in that the transmitting element, be additionally operable to：By high-speed industrial industry ethernet, the control instruction is sent to the input and output enlargement module.
- A kind of 8. input and output enlargement module, for being addressed to robot, it is characterised in that including：First receiving unit, for receiving the control instruction of robot controller transmission, wherein, the control instruction is used to control Robot acts corresponding to performing；First resolution unit, for being parsed to the control instruction received, obtain command information；Unit is addressed, for the command information parsed to be sent into target robot, to control the target robot to perform Corresponding action.
- 9. input and output enlargement module according to claim 8, it is characterised in that the input and output enlargement module also wraps Include：Second resolution unit, for before the command information parsed is sent into target robot, the control to receiving Instruction is parsed, and obtains the address information of the target robot,Wherein, the addressing unit, is additionally operable to after the address information of the target robot is obtained, the instruction that will be parsed Information is sent to the target robot according to the address information.
- 10. input and output enlargement module according to claim 8 or claim 9, it is characterised in that the input and output enlargement module Also include：Second receiving unit, for the command information parsed to be sent into target robot, to control the target machine After people performs corresponding action, the running state information of the target robot feedback is received；Processing unit, for the running state information to be carried out into packing processing；Transmitting element, for the running state information after packing to be sent into the robot controller.
- A kind of 11. robot control system, it is characterised in that including：Robot；Robot controller described in claim 6 or 7, for sending control instruction, wherein, the control instruction is used to control The robot acts corresponding to performing；Input and output enlargement module any one of claim 8 to 10, it is right for after the control instruction is received The control instruction is parsed, and obtains command information, and the command information parsed is sent into the robot, with control The robot acts corresponding to performing.
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