CN108284452A - A kind of control method of robot, device and system - Google Patents
A kind of control method of robot, device and system Download PDFInfo
- Publication number
- CN108284452A CN108284452A CN201810142724.8A CN201810142724A CN108284452A CN 108284452 A CN108284452 A CN 108284452A CN 201810142724 A CN201810142724 A CN 201810142724A CN 108284452 A CN108284452 A CN 108284452A
- Authority
- CN
- China
- Prior art keywords
- controller
- robot
- control
- network connection
- user terminal
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of control method of robot, apparatus and system, this method includes：In response to the setting operation of network connection machine people, obtain the lower IP address set of the setting operation and port, and in the case where the user terminal and controller are in the same network segment, using the IP address and port, the wireless network connection between the controller is established；It is encoded according to control input by user and generates control instruction, and sent to the controller by the wireless network connection；It receives the robotary information that the controller is sent by the wireless network connection and presents.It can be seen that, even if operating personnel are not in the same space, not on the side of robot with robot, also robot can be controlled, to which not only operating personnel can easily and flexibly control robot, but also it is avoided that robot collides with operating personnel and damaged to the two.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of control method of robot, device and system.
Background technology
With the development of robot technology, being used in for robot is more and more extensive in every field.Currently, operating personnel
It is usually necessary to use teaching machines to control robot.Specifically, existing robot control system generally includes robot, teaching
Device and switch board.Wherein, teaching machine connects switch board by cable respectively with robot.Operating personnel input machine on teaching machine
The control instruction of device people's motion state.The control instruction that operating personnel input is transferred to switch board by teaching machine.Switch board is to control
System instruction is parsed and generates the control instruction of each driver of robot and send to robot, so that robot executes behaviour
The motion state wanted as personnel.But under this control system, operating personnel need when controlling robot in robot
Side operate teaching machine, therefore, not only operating personnel cannot easily and flexibly control robot, and operating personnel with
Both robots are in the same space, and robot is likely to collide operating personnel, and this collision is likely to hurt behaviour
Make personnel, while being also likely to that robot itself can be damaged.
Invention content
The technical problem to be solved by the invention is to provide a kind of control method of robot, device and system, so that
Operating personnel can remote control robot, even if so that operating personnel are not in the same space, not in machine with robot
The side of people can also control robot, to which not only operating personnel can easily and flexibly control robot
System, and it is avoided that robot collides with operating personnel and damaged to the two.Main advantage is to facilitate technology
Personnel debug, and when using teaching machine, the location information of memory needs that each joint or driving machinery arm is called to record manually
Its position can directly input location information using script-editor, and change text is also more convenient.
In a first aspect, the present invention provides a kind of control method of robot, it is applied to user terminal, this method includes：
In response to the setting operation of network connection machine people, the lower IP address set of the setting operation and port are obtained,
And in the case where the user terminal and controller be in the same network segment, using the IP address and port, foundation with it is described
Wireless network connection between controller；Wherein, the controller is connected to the robot by cable；
It is encoded according to control input by user and generates control instruction, and by the wireless network connection to the controller
It sends, so that the controller controls the robot according to the control instruction；
It receives the robotary information that the controller is sent by the wireless network connection and presents.
Optionally, described encoded according to control input by user generates control instruction, including：
In response to the selection operation to preset language, the preset language selected under the selection operation is presented on control and is compiled
Code input area；
In response to the input operation of control coding, the lower control coding inputted of the input operation is presented on the control
Coding input area；
In response to the confirmation operation of control coding, control instruction is generated based on the content in the control coding input area.
Optionally, the preset language includes variable, control stream language and/or function.
Optionally, the control coding is using the logic and language definition under Lua language.
Optionally, the control instruction and the robotary information are assisted in the wireless network connection using communication
The mode of view or data packet is transmitted.
Optionally, username and password is also set under setting operation；
It is described in the case where the user terminal and controller are in the same network segment, using the IP address and port,
The wireless network connection between the controller is established, including：
In the case where the user terminal and controller are in the same network segment, using the IP address and port to described
Controller sends the connection request for carrying the user name and the password；
The controller is received in the case that the successful connection sent of the user name and the password authentification to confirm
Information establishes the wireless network connection between the controller.
Second aspect, the present invention also provides a kind of control devices of robot, are configured at user terminal, including：
Acquiring unit obtains the lower setting of setting operation for the setting operation in response to network connection machine people
IP address and port；
Unit is established, is used in the case where the user terminal and controller are in the same network segment, using the IP
The wireless network connection between the controller is established in location and port；Wherein, the controller is connected to described by cable
Robot；
Generation unit generates control instruction for being encoded according to control input by user；
Transmission unit, for being sent to the controller by the wireless network connection, so as to the controller according to
The control instruction controls the robot；
Receiving unit, the robotary information sent by the wireless network connection for receiving the controller；
Display unit, for rendering the robotary information.
Optionally, the generation unit, is specifically used for：
In response to the selection operation to preset language, the preset language selected under the selection operation is presented on control and is compiled
Code input area；
In response to the input operation of control coding, the lower control coding inputted of the input operation is presented on the control
Coding input area；
In response to the confirmation operation of control coding, control instruction is generated based on the content in the control coding input area.
Optionally, the preset language includes variable, control stream language and/or function.
Optionally, the control coding is using the logic and language definition under Lua language.
Optionally, the control instruction and the robotary information are assisted in the wireless network connection using communication
The mode of view or data packet is transmitted.
Optionally, username and password is also set under setting operation；
It is described to establish unit, it is specifically used for：
In the case where the user terminal and controller are in the same network segment, using the IP address and port to described
Controller sends the connection request for carrying the user name and the password；
The controller is received in the case that the successful connection sent of the user name and the password authentification to confirm
Information establishes the wireless network connection between the controller.
The third aspect, the present invention also provides a kind of control system of robot, including robot, controller and user are whole
End, the controller are connected to the robot by cable；
Script-editor is configured on the user terminal, the script-editor is appointed for executing in aforementioned first aspect
The control method of robot described in a kind of embodiment of anticipating.
Optionally, the robot is specially mechanical arm.
Optionally, the controller is embedded in the robot interior, or, the controller is independently of the robot
Except switch board.
Compared with prior art, the present invention has the following advantages：
In embodiments of the present invention, operating personnel can pass through user terminal remote control robot.Specifically, operator
Member triggers the setting operation of network connection machine people on the subscriber terminal.User terminal is with obtaining the lower IP set of setting operation
Location and port, the IP address and port indicate the controller for connecting and be used to control robot by cable with robot.
In the case that user terminal is in the same network segment with controller, user terminal can be established and the control using the IP address and port
Wireless network connection between device processed.In this way, input control encodes operating personnel on the subscriber terminal, user terminal can give birth to
It is sent to the controller at corresponding control instruction and by established wireless network connection, so that the controller is according to control
Instruction controls robot.In addition, the status information of robot can also be passed through established wireless network by the controller
Network connect to user terminal send, so as to user terminal to operating personnel present robot status information.
It can be seen that due to operating personnel can remote control robot, even if operating personnel are not in same with robot
One space, not on the side of robot, robot can also be controlled, so that not only operating personnel can be easily and flexibly
Robot is controlled, and is avoided that robot collides with operating personnel and damaged to the two.
Description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments described in application, for those of ordinary skill in the art, without creative efforts,
Other drawings may also be obtained based on these drawings.
Fig. 1 is the Sample Scenario figure of the present invention in practical applications；
Fig. 2 is a kind of robot control method flow chart provided in an embodiment of the present invention；
Fig. 3 provides script-editor schematic diagram for the embodiment of the present invention；
Fig. 4 is a kind of robot controller structure chart that present example provides；
Fig. 5 is a kind of robot control system architecture figure provided in an embodiment of the present invention；
Fig. 6 is that a kind of controller provided in an embodiment of the present invention is schemed with robot architecture；
Fig. 7 is that another controller provided in an embodiment of the present invention is schemed with robot architecture.
Specific implementation mode
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, technical solutions in the embodiments of the present application are clearly and completely described, it is clear that described embodiment is only this
Apply for a part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist
The every other embodiment obtained under the premise of creative work is not made, shall fall in the protection scope of this application.
Inventor has found that under normal conditions, operating personnel need when controlling robot beside robot
Teaching machine is operated, is worked accordingly with this to control the completion of robot, not only operating personnel cannot be easily and flexibly right in this way
Robot is controlled, and when operating personnel need with robot cooperated completion work, both operating personnel and robot
In the same space, robot is likely to collide operating personnel, and this collision is likely to hurt operating personnel, simultaneously
It is also likely to that robot itself can be damaged.
Based on this, in embodiments of the present invention, a kind of control method of robot, apparatus and system, operator are provided
Member can be by user terminal remote control robot, specifically, and operating personnel trigger network connection machine on the subscriber terminal
The setting of people operates；User terminal obtains the lower IP address set of setting operation and port, the IP address and port indicate
It connect and is used to control the controller of robot by cable with robot；It is in the same network segment in user terminal and controller
In the case of, user terminal can establish the wireless network connection between the controller using the IP address and port；Operator
Input control encodes member on the subscriber terminal, and user terminal can generate corresponding control instruction and by established wireless
Network connection is sent to the controller, so that the controller controls robot according to control instruction.In addition, the controller
Can also by the status information of robot by established wireless network connection to user terminal send, so as to user terminal to
The status information of robot is presented in operating personnel.
As it can be seen that the technical solution provided through the embodiment of the present invention, operating personnel can remote control robot, operator
Even if member be in the same space with robot, can not control robot the side of robot yet, thus not only
Operating personnel can easily and flexibly control robot, and be avoided that robot and operating personnel collide and
The two is damaged.
For example, one of the scene of the embodiment of the present invention, can be applied in Sample Scenario as shown in Figure 1.
Under the scene, including user terminal 101, controller 102.Wherein, user terminal 101 and controller 102 are connected by wireless network
The mode connect is communicated.
Robot control method provided by the invention is applied in user terminal 101, and for hardware realization, the user is whole
End 101 can be computer, laptop can with data processing function equipment；For software realization, the present invention carries
The robot control method of confession can be configured in user terminal 101 in a manner of software program, and the user terminal 101 operation should
Software program is to realize corresponding function.
In practical application, the setting that operating personnel can trigger network connection machine people by user terminal 101 operates,
User terminal 101 obtains the lower IP address set of setting operation and port, and utilizes the IP address and port and controller 102
Wireless network connection is established, operating personnel's input control on user terminal 101 encodes, and user terminal 101 generates corresponding control
System instructs and is sent to controller 102 by wireless network, so that controller 102 controls robot according to control instruction
System；Meanwhile controller 102 can be sent the status information of robot by wireless network to user terminal 101, so as to user
The status information of robot is presented to operating personnel for terminal 101.
It is understood that above-mentioned scene is only a Sample Scenario provided in an embodiment of the present invention, the embodiment of the present invention
It is not limited to this scene.
Below in conjunction with the accompanying drawings, by embodiment come in the present invention will be described in detail embodiment the control method of robot it is specific
Realization method.
Illustrative methods
Referring to Fig. 2, it illustrates the control method flow chart of robot provided in this embodiment, this method is applied to user
Terminal includes the following steps：
S201：In response to the setting operation of network connection machine people, obtain the lower IP address set of the setting operation and
Port, and in the case where the user terminal and controller be in the same network segment, using the IP address and port, establish and
Wireless network connection between the controller；Wherein, the controller is connected to the robot by cable.
When specific implementation, operating personnel can trigger the setting operation of network connection machine people on the subscriber terminal.User
Terminal can in response to the trigger action of operating personnel, obtain for communication IP address and port, for ensure user terminal with
Controller normal communication, user terminal and controller need to be in the same network segment.Then, user terminal can utilize the IP got
Wireless network connection is established in address and port with controller, so that user terminal and control can be led to by wireless network
Letter transmits information.Wherein, controller can be connected with robot by cable, alternatively, can be between user terminal and controller
It is to be communicated by wireless network, alternatively, controller can be communicated with robot by cable network.
In practical applications, the permission of control robot can also be set, to ensure there was only the operating personnel of user right
Robot can be controlled by user terminal, be based on this, this implementation provides a kind of possible realization method, specially：
Username and password is also set under setting operation；It is described to be in same in the user terminal and controller
In the case of one network segment, using the IP address and port, the wireless network connection between the controller is established, including：
In the case where the user terminal and controller are in the same network segment, sent out to the controller using the IP address and port
Send the connection request for carrying the user name and the password；The controller is received to test in the user name and the password
The successful situation of card establishes the wireless network connection between the controller in the connection confirmation message of transmission.
In specific implementation, operating personnel are when user terminal triggers the setting operation of network connection machine people, Ke Yitong
The form for crossing input username and password logs in personal account, and the IP address that is obtained using user terminal and port are to controller
The connection request for carrying username and password is sent, so that whether controller verification username and password is correct, to ensure this
There is operating personnel permission to control robot by controller.Controller can be in the case where being proved to be successful, to user terminal
Connection confirmation message is sent, to realize the wireless network connection between user terminal and controller.
Wherein, controller can pre-save the username and password information of operating personnel, when controller receives user
Terminal send the connection request for carrying username and password when, by connection request username and password with pre-save
Username and password be compared, the two is identical, then is proved to be successful, then controller to user terminal send connection confirmation letter
Breath；Otherwise, authentication failed, controller can send connection failure information without any operation, or to user terminal, and lead to
Cross the information that user terminal shows user name or password mistake to operating personnel.
S202：It is encoded according to control input by user and generates control instruction, and by the wireless network connection to described
Controller is sent, so that the controller controls the robot according to the control instruction.
When specific implementation, user terminal can encode according to control input by user and generate corresponding control instruction, and can
To send control instruction to control by wireless network connection, phase is completed to realize that controller controls robot according to control instruction
It should operate.
Wherein, user can be encoded by script-editor editor control, and after editor completes, script-editor can be by
It is encoded according to control input by user and generates control instruction and send control instruction to controller.To ensure the control instruction generated
Correctness, script-editor can before generating control instruction debugging control code, so that script-editor can generate just
True control instruction is simultaneously sent to controller.
In order to make it easy to understand, may refer to Fig. 3, it illustrates a kind of script-editor schematic diagrames, as shown in figure 3, the foot
This editing machine can provide：File pull down menu may include creating, opening, preserving, saving as, closing, exiting under the menu
Etc. function；Edit pull-down menu, may include under the menu take a step back, take a step forward, shearing, replicating, pasting, deleting,
Lookup etc. function；Option drop down menu, the menu include system configuration, server configuration, custom function, language switching etc.
Etc. functions；Window drop-down menu includes output window, toolbar, status bar, artificial window etc. function under the menu；It helps
Drop-down menu etc..Wherein, toolbar can provide various control buttons and control；It is defeated that input window can carry out function statement
Enter；Output window is displayed for program state information.
In specific application, user can encode in the input window input control of script-editor, after the completion of input, use
Family can carry out artificial debugging by clicking the debugging button in script-editor toolbar to control routine, to verify user
Whether the control routine of editor can complete specified operation, and verification result can be checked by output window, if verification
Success, then script-editor can generate control instruction according to control routine input by user, and be sent out by wireless network connection
Give controller；If authentication failed, script-editor can prompt user to change control routine in input window, until adjusting
Examination is correct.
In the present embodiment, the control coding that user inputs on the subscriber terminal, either user-defined control
Coding, can also be that user directly invokes the control routine that user terminal pre-saves.Based on this, in some embodiments,
Described encoded according to control input by user generates control instruction, can specifically include：
In response to the selection operation to preset language, the preset language selected under the selection operation is presented on control and is compiled
Code input area；In response to the input operation of control coding, the lower control coding inputted of the input operation is presented on the control
Code input area processed；In response to the confirmation operation of control coding, control is generated based on the content in the control coding input area
Instruction.Wherein, preset language may include variable, control stream language and/or function.
In specific implementation, user can be in the preset variable of user terminal selecting, control stream language, function etc., user
The variable that user selects, control stream language, function are presented on control coding input area by terminal.Also, user can control
Coding input area carries out the operations such as setting of parameter in the modification of variable, function, is controlled accordingly with will pass through aforesaid operations
Code processed.User terminal can generate control instruction in response to user to the confirmation operation of control coding based on control coding.
Under which, user can complete the input of control coding by selecting preset language, save the time, improve working efficiency.
In specific implementation, user can also complete input operation directly in control coding input area input control coding
Afterwards, the control code verification that user terminal can be triggered in response to user operates, and control instruction is generated based on control coding.It should
Under mode, user can encode according to the self-defined control of actual demand, and specified work is completed so as to control robot.
In the present embodiment, logic and language definition under Lua language may be used in control routine.Wherein Lua language is
A kind of script is write by standard C, can be compiled in many operating systems and platform, and operation designs mesh
Be to provide flexible extension and customization function to be embedded in application program for application program.
In specific implementation, the control instruction based on Lua language generations may include that control robot carries out every movement
Instruction, such as：Move initialization directive, linear motion instruction, joint motions instruction, track movement instruction, coordinate system setting
Instruction, acceleration setting and acquisition instruction, normal solution computations, inverse solution computations etc..Wherein, normal solution computations refer to
Position and the posture of robot are obtained according to joint angle；Inverse solution computations refer to being closed according to the position and posture of robot
Save angle；Can also include the instruction to program state setting, acquisition and monitoring, such as：Robot controller is logged on or off to refer to
It enables, robot switching on and shutting down instruction, setting robot collides grade instruction and collision restores instruction, obtains current waypoint information
Instruction, acquisition joint states information command etc..
Wherein, it refers to the threshold value to be collided according to robot that setting robot, which collides grade instruction, according to the collision threshold
Value judges whether robot collides with other objects, for example pre-set collision threshold is X, when robot is in practical behaviour
When making, the crashworthness detected is Y, if Y is more than X, then it is assumed that robot collides；If Y is less than X, then it is assumed that machine
People does not collide；It refers to when robot collides that collision, which restores instruction, and control robot takes appropriate measures, and has
Body is, if collision is opened by control robot restores function, when robot collides, robot stop motion；If
Collision is not opened and restores function, then when robot collides, robot will not take any measure, work on.
S203：It receives the robotary information that the controller is sent by the wireless network connection and presents.
In the present embodiment, control instruction and robotary information use communications protocol or number in wireless network connection
It is transmitted according to the mode of packet.For example, user terminal and controller can transmit control instruction and robot by ICP/IP protocol
Status information.
In specific implementation, controller can control robot according to control instruction and work, meanwhile, controller can be with
The status informations such as robot job schedule, movement velocity, position are obtained, and are sent the status information by wireless network connection
To user terminal, so that user terminal can be to user's display status information.
It is understood that using robot control method provided in this embodiment, remote control robot may be implemented,
Specially input control encodes operating personnel on the subscriber terminal, and user terminal can generate corresponding control instruction and pass through
Established wireless network connection is sent to the controller, so that the controller controls robot according to control instruction.
In addition, the controller can also be sent the status information of robot by established wireless network connection to user terminal,
So as to user terminal to operating personnel present robot status information.
It can be seen that due to operating personnel can remote control robot, even if operating personnel are not in same with robot
One space, not on the side of robot, robot can also be controlled, so that not only operating personnel can be easily and flexibly
Robot is controlled, and is avoided that robot collides with operating personnel and damaged to the two.
Exemplary means
The control method of robot based on the embodiment of the present invention, the present invention also provides a kind of controls of robot to fill
It sets, the control device is introduced below in conjunction with attached drawing.
Referring to Fig. 4, it illustrates a kind of control device schematic diagram of robot provided in an embodiment of the present invention, which matches
It sets and user terminal, including：
Acquiring unit 401 establishes unit 402, generation unit 403, transmission unit 404, receiving unit 405 and display unit
406。
Acquiring unit 401 is operated for the setting in response to network connection machine people, obtains the lower setting of the setting operation
IP address and port.
Unit 402 is established, in the case where the user terminal and controller are in the same network segment, utilizing the IP
The wireless network connection between the controller is established in address and port；Wherein, the controller is connected to institute by cable
State robot.
Optionally, username and password is also set under the setting operation；The unit 402 of establishing is specifically used for：
In the case where the user terminal and controller are in the same network segment, using the IP address and port to described
Controller sends the connection request for carrying the user name and the password；
The controller is received in the case that the successful connection sent of the user name and the password authentification to confirm
Information establishes the wireless network connection between the controller.
Generation unit 403 generates control instruction for being encoded according to control input by user.
Optionally, the generation unit 403, is specifically used for：In response to the selection operation to preset language, by the selection
The lower selected preset language of operation is presented on control coding input area；In response to the input operation of control coding, by the input
The lower control coding inputted of operation is presented on the control coding input area；In response to the confirmation operation of control coding, it is based on institute
The content stated in control coding input area generates control instruction.
Optionally, the preset language includes variable, control stream language and/or function.
Optionally, the control coding is using the logic and language definition under Lua language.
Transmission unit 404, for being sent to the controller by the wireless network connection, so as to the controller root
The robot is controlled according to the control instruction.
Receiving unit 405 is believed for receiving the controller by the robotary that the wireless network connection is sent
Breath.
Optionally, the control instruction and the robotary information are assisted in the wireless network connection using communication
The mode of view or data packet is transmitted.
Display unit 406, for rendering the robotary information.
It should be noted that the specific implementation of each function module of above-mentioned apparatus 400 may refer to side shown in figure 2 above
The realization of method embodiment, details are not described herein again.
The control device provided through the embodiment of the present invention realizes remote control robot, and specially acquiring unit is rung
The setting for the network connection machine people that should be triggered with user operates, and obtains the IP address under setting operation and port；And by building
Vertical unit establishes the wireless network connection between controller by above-mentioned IP address and port；Generation unit is inputted according to user
Control coding generate control instruction；Control instruction is sent to by controller by wireless network connection by transmission unit, so as to
Controller controls robot according to control instruction, in addition, receiving unit can also receive the robot of controller transmission
Status information has display unit to show the status information of robot.
As it can be seen that even if user is not in a space together with robot, robot can also be controlled, to not only
Facilitate user to control robot, robot can also be avoided to collide with user, the two is damaged.
Exemplary system
The control method and control device of robot based on the embodiment of the present invention, the present invention also provides a kind of machines
The control system of people, describes in detail below in conjunction with attached drawing.
Referring to Fig. 5, it illustrates the control system schematic diagram of robot provided in an embodiment of the present invention, the present embodiment provides
Robot control system, including：User terminal 501, controller 502 and robot 503.Wherein, controller 502 passes through line
Cable is connected to robot 503.
Script-editor is configured on user terminal 501, the script-editor is for executing in embodiment shown in Fig. 2
Control method described in any one embodiment.
Controller 502 can be embedded in inside the robot 503, or, controller 502 be machine-independent people 503 it
Outer switch board.
In order to make it easy to understand, as shown in fig. 6, controller is embedded in robot interior, one as robot of controller
Point, controller, by wireless network connection, realizes communication with user terminal.User terminal will be controlled by wireless network connection mode
System instruction is sent to controller, and controller controls robot according to control instruction so that robot completes operation.Control
The robotary information got can also be sent to user terminal by device by wireless network connection, so as to user terminal to
User's display status information.
As shown in fig. 7, except the machine-independent people of controller, it is specifically as follows switch board, switch board and robot can be with
By cable connection, switch board and user terminal by wireless network connection, communication is realized.User terminal is connected by wireless network
It connects method and control instruction is sent to switch board, switch board controls robot according to control instruction so that robot is complete
At operation.The robotary information for obtaining collocation can also be sent to user terminal by switch board by wireless network connection,
So that user terminal is to user's display status information.
Robot 503 is specifically as follows mechanical arm, then controller controls mechanical arm according to control instruction so that machine
Tool arm completes specified operation.
The control system of the robot provided through the embodiment of the present invention, user can realize long-range control by user terminal
Robot processed, specifically, user terminal obtain the lower IP address set of setting operation and port, in user terminal and controller
In the case of the same network segment, user terminal can establish the wireless network between the controller using the IP address and port
Network connects；User terminal is encoded according to control input by user to be generated control instruction and is sent out by established wireless network connection
Controller is given, so that controller controls robot according to control instruction.In addition, controller can also be by robot
Status information is sent by established wireless network connection to user terminal, so that machine is presented to operating personnel in user terminal
The status information of people.
As it can be seen that the control system provided through the embodiment of the present invention, even if user is not in the same space, no with robot
On the side of robot, robot can also be controlled, to which not only operating personnel can be easily and flexibly to robot
It is controlled, and is avoided that robot collides with operating personnel and damaged to the two.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.The terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment including a series of elements includes not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including institute
State in the process, method, article or equipment of element that there is also other identical elements.
For device embodiments, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.System embodiment described above is only schematical, wherein described be used as separating component
The unit of explanation may or may not be physically separated, and the component shown as unit can be or can also
It is not physical unit, you can be located at a place, or may be distributed over multiple network units.It can be according to actual
It needs that some or all of module therein is selected to achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not
In the case of making the creative labor, you can to understand and implement.
The above is only the specific implementation mode of the application, it is noted that for the ordinary skill people of the art
For member, under the premise of not departing from the application principle, several improvements and modifications can also be made, these improvements and modifications are also answered
It is considered as the protection domain of the application.
Claims (10)
1. a kind of control method of robot, which is characterized in that it is applied to user terminal, including：
In response to the setting operation of network connection machine people, obtains described be arranged and operate the lower IP address set and port, and
In the case that the user terminal is in the same network segment with controller, using the IP address and port, establish and the control
Wireless network connection between device；Wherein, the controller is connected to the robot by cable；
It is encoded according to control input by user and generates control instruction, and sent out to the controller by the wireless network connection
It send, so that the controller controls the robot according to the control instruction；
It receives the robotary information that the controller is sent by the wireless network connection and presents.
2. according to the method described in claim 1, it is characterized in that, described refer to according to control input by user coding generation control
It enables, including：
In response to the selection operation to preset language, it is defeated that the preset language selected under the selection operation is presented on control coding
Enter area；
In response to the input operation of control coding, the lower control coding inputted of the input operation is presented on the control and is encoded
Input area；
In response to the confirmation operation of control coding, control instruction is generated based on the content in the control coding input area.
3. according to the method described in claim 2, it is characterized in that, the preset language include variable, control stream language and/or
Function.
4. according to the method described in claim 1, it is characterized in that, the control coding is using the logic and language under Lua language
Speech definition.
5. according to the method described in claim 1, it is characterized in that, the control instruction and the robotary information are in institute
It states in wireless network connection and is transmitted by the way of communications protocol or data packet.
6. method according to claim 1, which is characterized in that also set username and password under setting operation；
It is described to utilize the IP address and port in the case where the user terminal is in the same network segment with controller, it establishes
With the wireless network connection between the controller, including：
In the case where the user terminal and controller are in the same network segment, using the IP address and port to the control
Device sends the connection request for carrying the user name and the password；
The controller is received in the case that the successful connection confirmation message sent of the user name and the password authentification,
Establish the wireless network connection between the controller.
7. a kind of control device of robot, which is characterized in that it is configured at user terminal, including：
Acquiring unit is operated for the setting in response to network connection machine people, with obtaining the lower IP set of the setting operation
Location and port；
Establish unit, in the case where the user terminal and controller be in the same network segment, using the IP address with
The wireless network connection between the controller is established in port；Wherein, the controller is connected to the machine by cable
People；
Generation unit generates control instruction for being encoded according to control input by user；
Transmission unit, for being sent to the controller by the wireless network connection, so that the controller is according to
Control instruction controls the robot；
Receiving unit, the robotary information sent by the wireless network connection for receiving the controller；
Display unit, for rendering the robotary information.
8. a kind of control system of robot, which is characterized in that including robot, controller and user terminal, the controller
It is connected to the robot by cable；
Script-editor is configured on the user terminal, the script-editor is for executing as arbitrary in claim 1 to 6
Method described in one.
9. system according to claim 8, the robot is specially mechanical arm.
10. system according to claim 8, the controller is embedded in the robot interior, or, the controller is
Independently of the switch board except the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810142724.8A CN108284452A (en) | 2018-02-11 | 2018-02-11 | A kind of control method of robot, device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810142724.8A CN108284452A (en) | 2018-02-11 | 2018-02-11 | A kind of control method of robot, device and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108284452A true CN108284452A (en) | 2018-07-17 |
Family
ID=62832974
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810142724.8A Pending CN108284452A (en) | 2018-02-11 | 2018-02-11 | A kind of control method of robot, device and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108284452A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109359064A (en) * | 2018-10-25 | 2019-02-19 | 遨博（北京）智能科技有限公司 | Communication means and device in a kind of robot system between relevant device |
| CN110053046A (en) * | 2019-04-09 | 2019-07-26 | 江门市蚂蚁机器人有限公司 | Robot control method and its system based on customized event |
| CN111843986A (en) * | 2019-04-26 | 2020-10-30 | 发那科株式会社 | Robot teaching device |
| CN112153614A (en) * | 2020-08-19 | 2020-12-29 | 北京旷视机器人技术有限公司 | Control method and device applied to robot, robot and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040011010A (en) * | 2002-07-26 | 2004-02-05 | 모스트아이텍 주식회사 | Home secreting/home networking system by using robot and operating method thereof |
| CN101961532A (en) * | 2010-08-09 | 2011-02-02 | 孟凡滨 | Disaster-situation accompanying robot |
| CN103309353A (en) * | 2012-03-12 | 2013-09-18 | 联想(北京)有限公司 | Remote control method of robot and communication terminal |
| CN105479468A (en) * | 2015-12-29 | 2016-04-13 | 浙江瑞鹏机器人科技有限公司 | Remote robot motion controller |
| 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 |
| CN107053143A (en) * | 2017-05-31 | 2017-08-18 | 佛山华数机器人有限公司 | A kind of industrial robot teaching device and application method based on WEB controls |
-
2018
- 2018-02-11 CN CN201810142724.8A patent/CN108284452A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040011010A (en) * | 2002-07-26 | 2004-02-05 | 모스트아이텍 주식회사 | Home secreting/home networking system by using robot and operating method thereof |
| CN101961532A (en) * | 2010-08-09 | 2011-02-02 | 孟凡滨 | Disaster-situation accompanying robot |
| CN103309353A (en) * | 2012-03-12 | 2013-09-18 | 联想(北京)有限公司 | Remote control method of robot and communication terminal |
| CN105479468A (en) * | 2015-12-29 | 2016-04-13 | 浙江瑞鹏机器人科技有限公司 | Remote robot motion controller |
| 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 |
| CN107053143A (en) * | 2017-05-31 | 2017-08-18 | 佛山华数机器人有限公司 | A kind of industrial robot teaching device and application method based on WEB controls |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109359064A (en) * | 2018-10-25 | 2019-02-19 | 遨博（北京）智能科技有限公司 | Communication means and device in a kind of robot system between relevant device |
| CN109359064B (en) * | 2018-10-25 | 2021-06-01 | 遨博（北京）智能科技有限公司 | Communication method and device between related devices in robot system |
| CN110053046A (en) * | 2019-04-09 | 2019-07-26 | 江门市蚂蚁机器人有限公司 | Robot control method and its system based on customized event |
| CN110053046B (en) * | 2019-04-09 | 2022-05-03 | 江门市蚂蚁机器人有限公司 | Robot control method and system based on user-defined event |
| CN111843986A (en) * | 2019-04-26 | 2020-10-30 | 发那科株式会社 | Robot teaching device |
| CN112153614A (en) * | 2020-08-19 | 2020-12-29 | 北京旷视机器人技术有限公司 | Control method and device applied to robot, robot and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108284452A (en) | A kind of control method of robot, device and system | |
| EP1890845B1 (en) | A robot control system comprising a portable operating device with safety equipement | |
| CN107168754B (en) | System and method relating to multi-module compilation | |
| CN101194213A (en) | Flexible connection of teaching devices to programmable controllers | |
| CN110039547B (en) | Man-machine interaction terminal and method for remote operation of flexible mechanical arm | |
| CN106060058A (en) | Internet-based industrial robot remote control method | |
| Peltason et al. | Pamini: A framework for assembling mixed-initiative human-robot interaction from generic interaction patterns | |
| CN107363835B (en) | Configuration method, device, medium and the robot system of control parts of motion | |
| CN102798834A (en) | Wiring judgement control machine for wiring simulation system for verification on power transformer | |
| US20190193266A1 (en) | Driving device | |
| CN110333869A (en) | ROS robot debugging apparatus, method, computer equipment and program product | |
| CN106325218B (en) | A kind of servomechanism, servomechanism control system and its communication means | |
| Szabó et al. | Creating a programming language for the AL5 type robotic arms | |
| CN109086175A (en) | A kind of board test method and device | |
| CN106303429B (en) | Remote configuring method and device | |
| CN106227032B (en) | The method for controlling inverter | |
| JPH09261618A (en) | Remote controller | |
| CN102929159B (en) | State control method and device for simulation model | |
| CN106331183B (en) | Implementation method, Internet of things control device and the Internet of things system of Internet of Things | |
| CN106799526B (en) | The control system and spark-erosion machine tool of spark-erosion machine tool | |
| CN112192564A (en) | Remote control method, device, equipment and storage medium for robot | |
| CN114598729A (en) | Robot remote real-time control method, system, electronic device and storage medium | |
| Blech et al. | Towards a model-based toolchain for remote configuration and maintenance of space-aware systems | |
| CN113093753A (en) | Method, device, terminal and storage medium for remotely controlling multiple robots on same screen | |
| KR20180037710A (en) | The inertial navigation system for naval vessel system simulation and the method of simulating using thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: Room 407, building 5, yard 98, lianshihu West Road, Mentougou District, Beijing 102300 Applicant after: AUBO (Beijing) Intelligent Technology Co.,Ltd. Address before: 102300 Floor 3, Shilong Sunshine Building, Lianshihu West Road, Mentougou District, Beijing Applicant before: AUBO (BEIJING) ROBOTICS TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information |