CN109032095A - A kind of method and system of multiple industrial robot group work compounds off the net - Google Patents
A kind of method and system of multiple industrial robot group work compounds off the net Download PDFInfo
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- CN109032095A CN109032095A CN201810969364.9A CN201810969364A CN109032095A CN 109032095 A CN109032095 A CN 109032095A CN 201810969364 A CN201810969364 A CN 201810969364A CN 109032095 A CN109032095 A CN 109032095A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32015—Optimize, process management, optimize production line
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a kind of method and system of multiple industrial robot group work compounds off the net, its method includes: when parsing the user operation instruction is the instruction of unidirectional work compound, the corresponding IP address of unidirectional collaboration instruction is obtained based on facility information list, and unidirectional work compound instruction is sent to the second corresponding industrial robot using set port and IP address；When parsing user operation instruction is the instruction of multidirectional work compound, the multidirectional work compound instruction is generated into the udp broadcast packet that WiFi technology can be broadcasted, and the udp broadcast packet is sent to the industrial robot of multiple required cooperation industry based on WiFi mould group corresponding to the first industrial robot.It is based on molding group of net state of an industrial robot through the embodiment of the present invention, related various work compound information can be broadcasted into all group members or some group member, enriches the diversity of industrial robot manipulation.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of side of multiple industrial robot group work compounds off the net
Method and system.
Background technique
With the continuous development of robot technology, more and more robots start to substitute the various tasks of mankind's execution.Machine
Device people is to automatically control being commonly called as machine (Robot), and automatically controlling machine includes all simulation human behaviors or thought and simulation
The machinery (such as robot dog, Doraemon etc.) of other biological.Have in the narrow sense to the definition of robot there are also many classification and dispute
A little computer programs or even also referred to as robot.In contemporary industry, robot refers to the man-made machine dress that can execute task automatically
It sets, to replace or assist human work.Highly emulated robot in ideal is advanced integral traffic control opinion, mechano-electronic, calculating
Machine and artificial intelligence, materialogy and bionic product, scientific circles research and develop to this direction at present, but robot is remote
Process control is still not perfect, and the application of big data is universal not yet, and also in off-line state, robot is deep for the data acquisition of robot
Degree study is also from the storage of native data.
Industrial robot is multi-joint manipulator or multivariant installations towards industrial circle, it can hold automatically
Row work is a kind of machine that various functions are realized by self power and control ability.It can receive mankind commander, can also
To run according to the program of preparatory layout, modern industrial robot can also be according to the principle program of artificial intelligence technology formulation
Action.
Industrial robot is widely used in large automatic workshop, whole controls of related industrial robot at present
System can be completed by a microcomputer.Another kind is distributing control, i.e., the control of robot is shared using more microcomputers
System, such as when completing the control of robot jointly using upper and lower two-level microcomputer, host be usually used in the management of responsible system, communication,
Kinematics and dynamics calculation, and command information is sent to junior's microcomputer；As junior's slave, each joint respectively corresponds one
CPU carries out interpolation operation and SERVO CONTROL processing, realizes given movement, and to host feedback information.It is wanted according to job task
The difference asked, the control mode of robot can be divided into point position control, continuous path control and power control etc. again.
It is that cannot achieve networking between multirobot due to being limited by logical operation mode under multiplexing industry Machinery model
Communication, require it is unidirectional could be completed by the unidirectionally controlled of main control device, how one kind is realized between multirobot
Networking and the operation behavior for deeply meeting existing user terminal, realize a network the following group network control system, need more under platform
It just may be implemented on industrial robot using corresponding technology.
Summary of the invention
The present invention provides a kind of method and system for controlling industrial robot work compound, are based on multiple industrial robots
It is formed under networking technology, realizes role's Collaborative Control, ensure the Pipeline control under multirobot mode.
The present invention provides a kind of methods of multiple industrial robot group work compounds off the net, and the method includes following steps
It is rapid:
First industrial robot receives the user operation instruction that the first user terminal is sent, first user terminal and the
One industrial robot realizes data communication using bluetooth low energy consumption BLE technology, and the user operation instruction is by the first user terminal
User based on APP customer interface generate；
First industrial robot parses user operation instruction, parses the instruction type of the user operation instruction；
When parsing the user operation instruction is that unidirectional work compound instructs, unidirectional association is obtained based on facility information list
With the corresponding IP address of instruction, and it is unidirectional to corresponding the second industrial robot transmission using set port and IP address
Work compound instruction；
When parsing user operation instruction is the instruction of multidirectional work compound, the multidirectional work compound instruction is generated
The udp broadcast packet that WiFi technology can be broadcasted, and by the udp broadcast packet based on WiFi mould corresponding to the first industrial robot
Group is sent to the industrial robot of multiple required cooperation industry.
The user operation instruction is packaged with: industrial robot ID and work compound instruction.
It is characterized in that, the method also includes:
After first industrial robot receives the facility information list of the UDP unicast or broadcast of Wi-Fi hotspot transmission, first
Industrial robot caches the facility information list；Or
First industrial robot receives the facility information list for the UDP unicast or broadcast that Wi-Fi hotspot is sent next time
Afterwards, the first industrial robot refreshes the facility information list.
The facility information list includes: all industrial robot ID being connected under the Wi-Fi hotspot, is connected to institute
State the industrial robot IP address under Wi-Fi hotspot.
It is described when parsing the user operation instruction is that unidirectional work compound instructs, obtained based on facility information list single
The IP address corresponding to collaboration instruction, and sent using set port and IP address to the second corresponding industrial robot
Unidirectional work compound, which instructs, includes:
When it is that unidirectional work compound instructs that the first industrial robot, which parses the user operation instruction, the use is parsed
Corresponding the second industrial robot communicated of industrial robot ID in the operational order of family, and based on searching the in facility information list
The IP address of two industrial robots, and unidirectional work compound is sent to the second industrial robot using set port and IP address
Refer to.
Correspondingly, the invention also provides a kind of system of multiple industrial robot group work compounds off the net, feature exists
In the system executes the process described above.
Unidirectional cooperative job instruction, the instruction of multidirectional work compound may be implemented under user's controlled action in the present invention,
In order to realize the demand of these work compounds instruction, need to construct a kind of UDP packet of special instruction, as a certain user (such as the
One user) want to realize that multiple industrial robots complete work compound or individual machine people completes work compound process, lead to
User operation instruction is sent to industrial robot by the BLE for crossing user terminal, and industrial robot end passes through after receiving the instruction
WiFi technology is sent to the industrial robot equipment with WiFi connection, when a certain industrial robot receives the WiFi information
Complete corresponding work compound process.Before the first industrial robot and the second industrial robot start work compound, initiator
(the first user) can first start the WiFi on the first industrial robot, and it is allowed to start an AP hot spot, and at the same time, second uses
Family can then allow the WiFi on the second industrial robot to be connected in the Wi-Fi hotspot of the first industrial robot as STA, connect into
After function, the first industrial robot can be carried out wireless communication by WiFi technology and the second industrial robot.User needs to be based on
First industrial robot, which cooperates the second industrial robot, carries out work compound, at this point, the WiFi mould on the first industrial robot
Group can be by way of the equipment of all connections under udp broadcast packet broadcast to the AP hot spot or unidirectional protocol be sent by the WiFi
Information.After the WiFi of second industrial robot receives the udp broadcast packet, data are analyzed, are found in need in data packet
The content of work compound completes corresponding work compound process, and the data packet is sent to second user by way of BLE
Terminal, second user terminal according to the packet information carry out the APP page on display, so far, the first user just succeed ground
Multiple industrial robot work compound processes are realized in the first industrial robot.
Near-field communication is realized based on BLE technology between industrial robot and user terminal, is then based on user terminal generation
User operation instruction generates corresponding WiFi data packet broadcast by industrial robot and goes out, to realize mobile terminal and industry
Interaction between robot, and it is based on molding group of net state of an industrial robot, it can be related various collaborations
Job information is broadcasted into all group members or some group member, and the diversity of industrial robot manipulation is enriched,
It meets the good interaction embodiment of industrial robot and controllability, the user terminal where also can satisfy each industrial robot is real-time
Control parameter and the operation data etc. of each industrial robot.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the system structure diagram of multiple industrial machine human world group-net communication in the embodiment of the present invention；
Fig. 2 is the method flow diagram that Wi-Fi hotspot is set up in more industrial robot networkings in the embodiment of the present invention；
Fig. 3 is the method flow diagram of more industrial robot networkings addition Wi-Fi hotspot in the embodiment of the present invention；
Fig. 4 is the method flow diagram of multiple industrial robot group work compounds off the net in the embodiment of the present invention；
Fig. 5 is the method flow diagram that more industrial robot groups user information off the net in the embodiment of the present invention updates.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 shows the system structure signal of multiple industrial machine human world group-net communication involved in the embodiment of the present invention
Figure, may include several user terminals and industrial robot, user terminal and the industry of the communication that is connected with user terminal
The machine human world is communicated using BLE technology.Specifically, the first industrial robot and the first user terminal, first user
Terminal and the first industrial machine human world are using bluetooth low energy consumption BLE technology realization data communication；Second industrial robot and
Two user terminals, the second user terminal and the second industrial machine human world realize that data are logical using bluetooth low energy consumption BLE technology
Letter；……；N industrial robot and N user terminal.
There is BLE module, WiFi mould group and processor, which can specifically be fixed on industry on each industrial robot
On the robotic arm or pedestal of robot, user terminal sends various instructions to industrial robot using APP client mode, so
Processor in postindustrial robot carries out dissection process to various instructions, is then completed to realize various controls according to various instructions
Process, for example triggering WiFi mould group realization group network process, information interactive process (including industrial robot is realized based on group-network construction
Between data communication, need work compound data communication, each industrial robot operating process parameter information), control industry
Adition process etc. is grouped between robotic user.In information interactive process, need to be completed by means of WiFi technology corresponding
Information interactive process.Various instructions, the then processing in industrial robot are sent to industrial robot using APP client mode
Device carries out dissection process to various instructions, is then completed to realize various control processes, such as triggering WiFi mould according to various instructions
Group realizes the group network process of multiple industrial robots, information interactive process (including the industrial machine human world is realized based on group-network construction
Data communication, the data communication during work compound), be grouped adition process etc. between control industrial robot user.?
In information interactive process, need to be completed corresponding information interactive process by means of WiFi technology.
Specifically, the first industrial robot is used to receive the networking instruction of the first user terminal initiation, the networking instruction
It is generated by the user of the first user terminal based on APP customer interface, the networking instruction includes first network title and the first net
Network password；And for identification go out networking commands after, start the first industrial robot on the first WiFi mould group establish first
Wi-Fi hotspot, the first network title in the entitled networking instruction of first Wi-Fi hotspot, Wi-Fi hotspot password refer to for networking
First network password in order；First user terminal is used to provide the generation that APP customer interface completes networking instruction for user, and
Networking instruction is sent to the first industrial robot.
Specifically, instruction is added in the Wi-Fi hotspot that the second industrial robot is used to receive the transmission of second user terminal, it is described
WiFi is added instruction and is generated by the user of second user terminal based on APP customer interface, and it includes second that instruction, which is added, in the WiFi
Network name and the second network cipher；And the 2nd WiFi on instruction the second industrial robot of starting is added based on the WiFi
Mould group carries out Wi-Fi hotspot search；The 2nd WiFi mould group Wi-Fi hotspot corresponding based on the search of the second network name, and be based on
Second network cipher is added；Second user terminal refers to for providing APP customer interface for user's completion Wi-Fi hotspot addition
The generation of order, and instruction is added in the Wi-Fi hotspot and is sent to the second industrial robot.
Fig. 2 shows the method flows that Wi-Fi hotspot is set up in more industrial robots networking involved in the embodiment of the present invention
Figure, specifically comprises the following steps:
S201, user generate networking instruction based on the APP client on the first user terminal；
Networking instruction is sent to the first industrial robot using BLE technology by S202, the first user terminal；
After S203, the first industrial robot identify networking commands, start the first WiFi mould on the first industrial robot
Group establishes Wi-Fi hotspot；
S204, after the first industrial robot establishes Wi-Fi hotspot, based on BLE technology to the first user terminal feed back WiFi
Hot spot success message.
System architecture based on more industrial robot networkings, it is necessary first to based on one networking of completion between more industrial robots
Process realizes the data transmit-receive etc. between more industrial robots to realize the covering of Wi-Fi hotspot.
It, in the specific implementation process, can be with since a specific Wi-Fi hotspot can be set in the first industrial robot
According to scene needs, to the title of Wi-Fi hotspot perhaps password be modified the modification of this title or password substantially by with
Family is based on APP client and operates completion on the first user terminal, and the first user terminal is renamed hot spot based on BLE technology later
Instruction is sent to the first industrial robot, and the first industrial robot receives the hot spot that the first user terminal is initiated and renames instruction, this
Hot spot is renamed to instruct and be generated by the user of the first user terminal based on APP customer interface, and hot spot renames instruction including modifying network
Title and/or modification network cipher；After first industrial robot identifies hot spot more positive order, start on the first game terminal
WiFi mould group carries out renaming for Wi-Fi hotspot；After the renaming successfully of Wi-Fi hotspot, based on the first Wi-Fi hotspot after renaming
Overseas broadcast WiFi signal.
In specific implementation process, the hot spot closing that the first industrial robot can also receive the initiation of the first user terminal refers to
It enables, which is generated by the user of the first user terminal based on APP customer interface；First industrial robot identifies
After hot spot out code, the WiFi mould group started on the first game terminal closes Wi-Fi hotspot.
Fig. 3 shows the method flow that Wi-Fi hotspot is added in more industrial robot networkings involved in the embodiment of the present invention
Figure, specifically comprises the following steps:
S301, user generate Wi-Fi hotspot based on the APP client in second user terminal and instruction are added；
Wi-Fi hotspot is added instruction using BLE technology and is sent to the second industrial robot by S302, second user terminal；
S303, the second industrial robot are carried out based on the WiFi WiFi mould group being added on instruction the second industrial robot of starting
Wi-Fi hotspot search；
WiFi mould group on S304, the second industrial robot searches for corresponding Wi-Fi hotspot, and base based on network name
It is added in network cipher.
In specific implementation process, the WiFi mould group of the second industrial robot is sentenced during carrying out Wi-Fi hotspot search
Whether disconnected first network title and the second network name are identical, if judging the first network title and the second network name phase
Together, then judge the first Wi-Fi hotspot that the first industrial robot is initiated for the Wi-Fi hotspot of required addition；Judging first
After the first Wi-Fi hotspot that industrial robot is initiated is the Wi-Fi hotspot of required addition, added based on second network cipher
Enter the first Wi-Fi hotspot.
In specific implementation process, if the second network cipher is identical as first network password, the second industrial robot
WiFi mould group obtains Wi-Fi hotspot and success message is added, and the addition success message is based on BLE technology and is fed back to the second use
On APP where the terminal of family；WiFi mould if the second network cipher is different from first network password, on the second industrial robot
Group obtains Wi-Fi hotspot and failed message is added, and addition failed message is based on BLE technology and is fed back to where second user terminal
APP on.
Based on system shown in FIG. 1, when there is multiple industrial robot equipment to need to carry out networking (such as Cooperative Mode or
More industrial robots are needed to participate under person's shared model), promoter (it is assumed that user on the first user terminal) is logical first
The APP crossed on user terminal carries out " network creation ", and network creation usually requires to indicate " title " of the network and " password ".With
It is authenticated when other industrial robots are added to the network.Should " network creation " instruction and the network " title " and
" password " can be transferred on the corresponding industrial robot of the promoter by way of BLE.WiFi mould on the industrial robot
Group is after receiving the instruction, using " title " received, starting one and the consistent Wi-Fi hotspot of the title.WiFi heat simultaneously
The password of point is " password " value received.After creating successfully, WiFi mould group can feed back to the APP of founder by BLE.APP is received
After successfully prompting to creation AP hot spot, which can tell the " title " and " close of the network of other users oneself creation
Code " facilitates other people to be added.When the user in other users terminal wants to be added to the network, user directly passes through the interface APP
Network " title " and " password " that founder informs are inputted, and clicks " addition " button.It is right that the instruction can be transferred to its by BLE
The industrial robot answered, the WiFi mould group of industrial robot can open Wi-Fi hotspot scanning, using receiving after receiving the instruction
Network " title " and " password " retrieval around existing for Wi-Fi hotspot, if there is the same Wi-Fi hotspot of title, then with should
" password " is attempted to be added.After being added successfully, then corresponding APP is fed back to by BLE, shows that network success is added.
After multiple industrial robots are based on Wi-Fi hotspot one group-net communication of formation, subscriber terminal equipment can be set up
The communication between communication process and industrial robot equipment and industrial robot equipment between subscriber terminal equipment
Journey can also broadcast each work so as to realize the sharing of user information, industrial robot information under same networking model in time
Industry robot is based on the operation data on each industrial robot collected by processor, on each user terminal in group
Family reference, so that convenient user's operation, provides corresponding decision-making foundation for subsequent cooperative mode.
It is whole based on user above as can be seen that being based on BLE technology in industrial robot and user terminal realizes near-field communication
The control to WiFi mould group on industrial robot is realized at end, starts Wi-Fi hotspot, to realize more industrial machines in certain area
The group network process of people, the interconnecting for each industrial machine human world under WiFi can be made to cover realize a kind of possibility, ensure
The subsequent networking based on WiFi technology, the addition of new equipment and each industrial machine human world, which are based on WiFi technology, realizes letter
Breath interaction.
BLE, Bluetooth Low Technology are a kind of bluetooth technology with low power consumption developed by conventional Bluetooth,
Since its connection speed is fast, transmission/reception is low in energy consumption, transmitted data amount is small, communication distance is moderate, plus on smart phone
It is extensive universal, make a kind of more common short-range communication mode.
BLE equipment is commonly divided into central equipment (Center) and peripheral equipment (Peripheral), and wherein the former is setting
The role of host is served as in standby connection procedure, the usual role is the subscriber terminal equipments such as mobile terminal；The latter is in equipment
The role of slave is served as in connection procedure, the usual role is the BLE equipment with certain specific functions, such as BLE bracelet,
BLE sensor etc..
The data communication mode of BLE is divided into two classes, is communication based on connection and based on disconnected communication respectively, the former
The scene of generation is when BLE main equipment and after from equipment establish connection, they are namely based on connection at mutual communication
Communication；The scene that the latter occurs is that BLE from equipment is actively sent out broadcast message, is usually carried in these broadcast messages
The additional information of equipment, such as the name or the customized some data structures of developer of equipment.
It is communicatively coupled by the way of BLE between user terminal and industrial robot, it is logical that user terminal initiates group
When the work compound of letter or more equipment rooms, it is transferred to industrial robot by way of BLE, industrial robot is by user terminal
The instruction issued is based on WiFi technology and broadcasts or point-to-point send.BLE as a kind of short distance (within 20m),
Low rate, low-power consumption communication mode, meet very much wireless control requirement, thus, industrial robot end be added BLE device,
It is communicated for the user terminal with user, allows users to realize that control physical device carries out industry by BLE equipment
Interbehavior between robot device, such as the more new information that the work information of each industrial robot, each equipment are added.Work as presence
First user and second user, the first user control the first industrial robot by the first user terminal, and second user passes through the
Two user terminals control the second industrial robot.Wherein, led to by the way of BLE between user terminal and industrial robot
Letter (user terminal as BLE main equipment, equipment end is as BLE from equipment).When the first user wants to know about each industrial robot
When equipment state, user sends state by the human-computer interaction at the interface APP of the first user terminal and obtains information, which passes through
BLE radios to the first industrial robot.After first industrial robot receives the instruction from BLE, be encoded into for
WIFI information is sent.If the WIFI mould group of the second industrial robot receives the WiFI that the first industrial robot is issued
Information, the second industrial robot extracted valid data from WiFi information, and second user terminal is sent to by BLE, second
It after user terminal receives the valid data, can be shown, be reminded or special efficacy on APP.Such a process makes first
For the first industrial robot of user after sending information to the second industrial robot of second user, second user can be intuitively
Data information onto the first industrial machine.
Near-field communication is realized based on BLE technology between industrial robot and user terminal, is then based on user terminal generation
Corresponding WiFi information broadcast is unidirectionally sent out, to realize the data sharing in each industrial machine human world under networking model
A possibility that propagating with information enriches the diversity of industrial robot manipulation.Effective information in these WiFi information by with
After family terminal parses, the user terminal that can also be broadcast in time where each industrial robot, to make group off the net each
Operating status, the performance parameters, user behavior of the related industries robot for the case where a user understands each user can be use
Family end provides corresponding decision and foundation.Correspondingly, constructing a kind of special instruction based on WiFi technology in embodiments of the present invention
User Datagram Protocol (User Datagram Protocol, UDP) packet, when a certain user (such as first user) want it is more
When instructing to work compound, the instruction of multidirectional work compound is sent to by communicated industrial machine by the BLE of user terminal
People, industrial robot are sent to all WiFi connections by way of WiFi technology broadcasts udp broadcast packet after receiving the instruction
Industrial robot.When a certain industrial robot (such as the second industrial robot to N industrial robot) receives the broadcast packet, i.e.,
It indicates that it receives the multidirectional work compound instruction, and corresponding controlled process is completed based on work compound instruction,
Fig. 4 shows the method flow diagram of multiple industrial robot group work compounds off the net in the embodiment of the present invention, tool
Body includes the following steps:
S401, user generate user operation instruction based on the APP client on the first user terminal；
User operation instruction is sent to the first industrial robot using BLE technology by S402, the first user terminal；
S403, the first industrial robot parse user operation instruction, parse the instruction type of the user operation instruction, and
Type generates corresponding WiFi data packet based on instruction；
In specific implementation process, when parsing the user operation instruction is that unidirectional work compound instructs, believed based on equipment
The corresponding IP address of the unidirectional collaboration instruction of list acquisition is ceased, and uses set port and IP address to the second corresponding work
Industry robot sends unidirectional work compound instruction；It, will be described when parsing user operation instruction is the instruction of multidirectional work compound
Multidirectional work compound instruction generates the udp broadcast packet that WiFi technology can be broadcasted, and the udp broadcast packet is based on the first industry
WiFi mould group corresponding to robot is sent to the industrial robot of multiple required cooperation industry.
In specific implementation process, the user operation instruction is packaged with: industrial robot ID and work compound instruction.Collaboration
Job instruction can be realized by user's operation behavior, for example multiple robot controlled users operational orders are random to complete group's evil spirit
Dance, perhaps trigger timing pile line operation process or carry out the controllable behavioral test of group etc..
In specific implementation process, the first industrial robot receive Wi-Fi hotspot transmission UDP unicast or broadcast equipment
After information list, the first industrial robot caches the facility information list；Or first industrial robot receive next time
After the facility information list for the UDP unicast or broadcast that Wi-Fi hotspot is sent, the first industrial robot refreshes the facility information
List.The facility information list includes: all industrial robot ID being connected under the Wi-Fi hotspot, is connected to the WiFi
Industrial robot IP address under hot spot.
In specific implementation process, the user operation instruction is parsed as the instruction of unidirectional work compound in the first industrial robot
When, corresponding the second industrial robot communicated of industrial robot ID in the user operation instruction is parsed, and be based on equipment
The IP address of the second industrial robot is searched in information list, and uses set port and IP address to the second industrial robot
Unidirectional work compound is sent to refer to.
S404, WiFi data packet is sent based on the WiFi mould group on the first industrial robot；
In specific implementation process, identify for multidirectional work compound instruction when, then by the user's control instruct generate
WiFi data packet is based on WiFi technology and broadcasted to the networking of Wi-Fi hotspot institute by corresponding WiFi data packet, the first industrial robot
Industrial robot on；When identifying the instruction of unidirectional work compound, using set port and IP address to corresponding the
Two industrial robots send unidirectional work compound instruction.
S405, the second industrial robot receive the first industrial robot institute based on the WiFi mould group on the second industrial robot
The WiFi data packet of generation；
Under multidirectional work compound instruction mode, other industrial robot equipment in Wi-Fi hotspot all can be by the first work
WiFi data packet caused by industry robot is received in the form of udp broadcast.
Under unidirectional work compound instruction mode, the second industrial robot uses set port and IP address with WiFi skill
Art receives WiFi data packet caused by the first industrial robot.
S406, the work compound instruction in the WiFi data packet is parsed, and completes corresponding work compound process；
S407, work compound instruction is sent to second user terminal；
S408, second user terminal are based on APP client and parse work compound instruction, and by the feature of work compound
Parameter is shown to the user in second user terminal；
Second user is completed work compound based on the WiFi mould group on the second industrial robot by S409, second user terminal
State sent by way of udp broadcast packet.
Second user is completed work compound based on the WiFi mould group on the second industrial robot by the second industrial robot
Information is sent by way of udp broadcast packet, so that each user that Wi-Fi hotspot is covered receives second user and completes association
With the information of operation.
Therefore, it is directed to industrial robot shown in Fig. 4 unidirectional cooperative job may be implemented under user's controlled action and refer to
Enable, multidirectional work compound instruction, in order to realize these work compounds instruction demand, need to construct a kind of UDP of special instruction
Packet realizes that multiple industrial robots complete work compound or individual machine people is complete when a certain user (such as first user) wants
At work compound process, user operation instruction is sent to by industrial robot, industrial robot end by the BLE of user terminal
It receives and the industrial robot equipment with WiFi connection is sent to by WiFi technology after the instruction, when a certain industrial robot is received
Corresponding work compound process can be completed to the WiFi information.When the first industrial robot and the second industrial robot start to assist
Before operation, initiator (the first user) can first start the WiFi on the first industrial robot, and it is allowed to start an AP hot spot,
At the same time, second user can then allow the WiFi on the second industrial robot to be connected to the first industrial robot as STA
In Wi-Fi hotspot, after successful connection, the first industrial robot can be carried out wireless by WiFi technology and the second industrial robot
Communication.User, which needs to cooperate the second industrial robot based on the first industrial robot, carries out work compound, at this point, the first industry
WiFi mould group in robot can be sent out by the equipment or unidirectional protocol of all connections under udp broadcast packet broadcast to the AP hot spot
The form sent is by the WiFi information.After the WiFi of second industrial robot receives the udp broadcast packet, data are analyzed, are sent out
The content of work compound in need, completes corresponding work compound process, and the side that the data packet is passed through BLE in existing data packet
Formula is sent to second user terminal, and second user terminal carries out the display on the APP page according to the packet information, so far, the
One user just successfully realizes multiple industrial robot work compound processes based on the first industrial robot.
In specific implementation process, for the system that this method is realized, it is typically provided multiple industrial robots, such as
One user terminal and the first industrial machine human world are using bluetooth low energy consumption BLE technology realization data communication, in which: the first industrial machine
Device people be used for receives the first user terminal send user operation instruction, the user operation instruction by the first user terminal user
It is generated based on APP customer interface；And first after industrial robot user operation instruction, user operation instruction is generated corresponding to
WiFi data packet, and WiFi data packet is sent based on the WiFi mould group on the first industrial robot；First user is whole
It holds for providing APP customer interface for the generation of user's completion user operation instruction, and the user operation instruction is sent to
First industrial robot.Second industrial robot and second user terminal, the second user terminal and the second industrial robot
Between using bluetooth low energy consumption BLE technology realize data communication, in which: the second industrial robot be used for be based on the second industrial robot
On WiFi mould group receive the first industrial robot caused by WiFi data packet；And by the work compound solution in WiFi data packet
It is precipitated, the state after work compound instructs that will complete is based on BLE technology and is sent to second user terminal；Second user terminal is used for
The state and the performances such as parameter of each industrial robot after parsing work compound based on APP client, and will be controlled after the completion of
Characteristic parameter is shown to the user in second user terminal.
Near-field communication is realized based on BLE technology between industrial robot and user terminal, is then based on user terminal generation
User operation instruction generates corresponding WiFi data packet broadcast by industrial robot and goes out, to realize mobile terminal and industry
Interaction between robot, and it is based on molding group of net state of an industrial robot, it can be related various collaborations
Job information is broadcasted into all group members or some group member, and the diversity of industrial robot manipulation is enriched,
It meets the good interaction embodiment of industrial robot and controllability, the user terminal where also can satisfy each industrial robot is real-time
Control parameter and the operation data etc. of each industrial robot.
Since the group network system of industrial robot is related to the interactivity under various information, need under concrete application mode
Networking realize, Wi-Fi hotspot is completed based on an industrial robot and is set up, needs to realize each industry based on Wi-Fi hotspot
The interactivity of robot device, Fig. 5 are the method that more industrial robot groups user information off the net in the embodiment of the present invention updates
Flow chart specifically comprises the following steps:
S501, user generate Wi-Fi hotspot based on the APP client in second user terminal and instruction are added；
Wi-Fi hotspot is added instruction using BLE technology and is sent to the second industrial robot by S502, second user terminal；
S503, the second industrial robot are carried out based on the WiFi WiFi mould group being added on instruction the second industrial robot of starting
Wi-Fi hotspot search；
WiFi mould group on S504, the second industrial robot searches for corresponding Wi-Fi hotspot based on the second network name,
And it is added based on network cipher；
In specific implementation process, it includes the second network name and the second network cipher that instruction, which is added, in WiFi, based on described
The 2nd WiFi mould group that WiFi is added on instruction the second industrial robot of starting carries out Wi-Fi hotspot search, and is added to the first work
The Wi-Fi hotspot that industry robot is founded includes: base after second industrial robot receives WiFi addition instruction based on BLE technology
Wi-Fi hotspot search is carried out in stating the WiFi mould group that WiFi is added on instruction the second industrial robot of starting；2nd WiFi mould group
Based on the corresponding Wi-Fi hotspot of the second network name search, and it is added based on the second network cipher.
In specific implementation process, the WiFi mould group on the second industrial robot is based on corresponding to the search of the second network name
Wi-Fi hotspot, and the WiFi mould group being added include: on the second industrial robot is carried out based on the second network cipher and is carrying out WiFi
During hot spot is searched for, judge whether the second network name identical as the network name of Wi-Fi hotspot, if judging WiFi
The network name of hot spot is identical as the second network name, then judges that the Wi-Fi hotspot that the first industrial robot is founded adds for needed for
The Wi-Fi hotspot entered；After judging the Wi-Fi hotspot that the first industrial robot is founded for the Wi-Fi hotspot of required addition,
Wi-Fi hotspot is added based on second network cipher.
In specific implementation process, if Wi-Fi hotspot should be added based on second network cipher includes: second network
Password is identical as the network cipher of the Wi-Fi hotspot, then the 2nd WiFi mould group obtains Wi-Fi hotspot and success message is added, and will
The addition success message is fed back based on BLE technology onto the APP where second user terminal；If second network cipher with
The network cipher difference of the Wi-Fi hotspot, then the 2nd WiFi mould group obtains Wi-Fi hotspot and failed message is added, and described will add
Enter failed message based in BLE technology feedback to the APP where second user terminal.
S505, the second industrial robot are established a UDP based on WiFi technology with the first industrial machine human world and are communicated；
S506, the first industrial robot will be connected under Wi-Fi hotspot based on the WiFi mould group on the first industrial robot
All devices information is sent to the second industrial robot；
For second industrial robot after being added to Wi-Fi hotspot, the first industrial robot can be with the entire multiplexing industry of reproducing
User and equipment in robot system etc., these all devices information include: to be connected to owning under the Wi-Fi hotspot
Industrial robot ID, the group's packet options being connected under the Wi-Fi hotspot, the User ID being connected under the Wi-Fi hotspot,
Industrial robot IP address, the work compound group packet options being connected under the Wi-Fi hotspot.
All devices information is based on BLE technology and is sent to second user terminal by S507, the second industrial robot；
S508, the second industrial robot receive the collaboration role instruction that second user terminal is sent；
Since the relevant information under all systems is sent to the second industrial robot, second user by the first industrial robot
Terminal can complete that role is cooperateed with to be arranged accordingly based on APP client, i.e., collaboration role instruction is by second user terminal
User is generated based on the interface APP, and the letter of all devices transmitted by the second industrial robot is presented based on the interface APP in the user
Breath, and corresponding collaboration role is selected, collaboration role includes grouping selection, collaboration type selection.
Collaboration role instruction is sent to the first industrial machine based on WiFi technology by S509, the second industrial robot
People；
After S510, the first industrial robot receive the collaboration role instruction of the second industrial robot transmission, by the association
It instructs and is updated into the facility information list safeguarded with role；
S511, notifying all industrial robots being already connected under the Wi-Fi hotspot in the form of udp broadcast,
So that user corresponding to each industrial robot completes information update.
In specific implementation process, the first industrial robot receives the collaboration role instruction of the second industrial robot transmission
Afterwards, the collaboration role is instructed and is updated into the facility information list safeguarded, and notifying to arrive in the form of udp broadcast
All industrial robots being already connected under the Wi-Fi hotspot, so that user corresponding to each industrial robot completes information more
Newly.
It should be noted that during networking is formed a team, for example the second industrial robot is added to entire Wi-Fi hotspot institute
The game system set up, the second industrial robot receive the Wi-Fi hotspot that second user terminal is sent and instruction are added, which adds
Enter instruction to be generated by the user of second user terminal based on APP customer interface, the second user terminal and the second industrial machine
People realizes data communication using bluetooth low energy consumption BLE technology；Second industrial robot receives WiFi addition based on BLE technology and refers to
After order, Wi-Fi hotspot search is carried out based on the WiFi the 2nd WiFi mould group being added on instruction the second industrial robot of starting,
And it is added to the Wi-Fi hotspot that the first industrial robot is founded；Second industrial robot is being added to the first industrial robot institute
After the Wi-Fi hotspot of foundation, second industrial robot and the first industrial machine human world are based on WiFi technology and establish a UDP
Communication；First industrial robot will be connected to all devices under Wi-Fi hotspot based on the WiFi mould group on the first industrial robot
Information is sent to the second industrial robot；All devices information is based on BLE technology and is sent to the second use by the second industrial robot
Family terminal.
Such as after the network success of founder is added in the second industrial robot where second user, the of second user
A UDP communication connection is established between the Wi-Fi hotspot that two industrial robots can be founded with the first industrial robot immediately.It builds
After standing successfully, all devices information being had been coupled under the hot spot at present can be sent in second user by Wi-Fi hotspot
Two industrial robots.These information include:
It is connected to the ID of the equipment under the AP hot spot；
It is connected to selected group of the equipment under the AP hot spot；
It is connected to " user name " of the equipment under the AP hot spot；
It is connected to the IP address of equipment under the AP hot spot.
These information are used to identify " identity " of each industrial robot equipment communicated under local area network.Second industrial machine
The information can be issued the APP where second user after receiving the information by people by BLE, and APP is received after the information in user
The information for being added to the user of the network and grouping situation are shown on interface.At this point, APP can prompt the user whether to be added thereto
A certain group or work compound group, if user confirm be added, the group according to selected by user, generate and above equipment
The identical information of " identity " information, issue the second industrial robot, after the second industrial robot receives information, then issue first
Industrial robot, at this point, the equipment letter that the first industrial robot is safeguarded before being added to the information of the second industrial robot
It ceases in list, and notifies all industrial robots being already connected under the network in the form of udp broadcast simultaneously, carry out information
It updates.
Near-field communication is realized based on BLE technology between industrial robot and user terminal, user is realized based on Wi-Fi hotspot
It updates, has ensured under multiplexing industry robot environment, the immediate updating of industrial robot and user under the site WiFi, and be directed to
User is added behavior and can provide more collaboration group selections and corresponding work compound mode is arranged, and ensures overall coordination operation
Controllability.Since whole system is related to the interactivity under various information, needs to form a team or work compound cooperates entire flowing water
Line operation, a possibility that realizing the scalability and work compound of whole system, complete WiFi based on an industrial robot
Hot spot is set up, and needs to realize the interactivity of various equipment based on Wi-Fi hotspot, for work compound instruction and various users
Operation behavior etc. has obtained great convenience.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can store in computer readable storage medium, and storage is situated between
Matter may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access
Memory), disk or CD etc..
Be provided for the embodiments of the invention above the method and system of multiple industrial robot group work compounds off the net into
It has gone and has been discussed in detail, used herein a specific example illustrates the principle and implementation of the invention, the above implementation
The explanation of example is merely used to help understand method and its core concept of the invention；Meanwhile for the general technology people of this field
Member, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this explanation
Book content should not be construed as limiting the invention.
Claims (6)
1. a kind of method of multiple industrial robot group work compounds off the net, which is characterized in that the described method comprises the following steps:
First industrial robot receives the user operation instruction that the first user terminal is sent, first user terminal and the first work
Industry robot using bluetooth low energy consumption BLE technology realize data communication, the user operation instruction by the first user terminal use
Family is generated based on APP customer interface；
First industrial robot parses user operation instruction, parses the instruction type of the user operation instruction；
When parsing the user operation instruction is that unidirectional work compound instructs, unidirectional collaboration is obtained based on facility information list and is referred to
Corresponding IP address is enabled, and unidirectional collaboration is sent to the second corresponding industrial robot using set port and IP address
Job instruction；
When parsing user operation instruction is the instruction of multidirectional work compound, the multidirectional work compound instruction is generated into WIFI skill
The udp broadcast packet that art can be broadcasted, and the udp broadcast packet is sent based on WiFi mould group corresponding to the first industrial robot
To the industrial robot of multiple required cooperation industry.
2. the method for control industrial robot work compound as described in claim 1, which is characterized in that the user's operation refers to
Order is packaged with: industrial robot ID and work compound instruction.
3. the method for multiple industrial robot group work compounds off the net as claimed in claim 2, which is characterized in that the method
Further include:
After first industrial robot receives the facility information list of the UDP unicast or broadcast of Wi-Fi hotspot transmission, the first industry
Robot caches the facility information list；Or
After first industrial robot receives the facility information list for the UDP unicast or broadcast that Wi-Fi hotspot is sent next time, the
One industrial robot refreshes the facility information list.
4. the method for multiple industrial robot group work compounds off the net as claimed in claim 3, which is characterized in that the equipment
Information list includes: all industrial robot ID being connected under the Wi-Fi hotspot, the work being connected under the Wi-Fi hotspot
Industry robot IP address.
5. the method for multiple industrial robot group work compounds off the net as claimed in claim 4, which is characterized in that described to solve
When to analyse the user operation instruction be the instruction of unidirectional work compound, obtained corresponding to unidirectional collaboration instruction based on facility information list
IP address, and unidirectional work compound instruction is sent to the second corresponding industrial robot using set port and IP address
Include:
When it is that unidirectional work compound instructs that the first industrial robot, which parses the user operation instruction, the user behaviour is parsed
Corresponding the second industrial robot communicated of industrial robot ID in instructing, and be based on searching the second work in facility information list
The IP address of industry robot, and unidirectional work compound is sent to the second industrial robot using set port and IP address and is referred to.
6. a kind of system of multiple industrial robot group work compounds off the net, which is characterized in that the system is executed as right is wanted
Seek 1 to 5 described in any item methods.
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