CN109150926A - A kind of data communications method and man-machine interactive system - Google Patents
A kind of data communications method and man-machine interactive system Download PDFInfo
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- CN109150926A CN109150926A CN201811371590.3A CN201811371590A CN109150926A CN 109150926 A CN109150926 A CN 109150926A CN 201811371590 A CN201811371590 A CN 201811371590A CN 109150926 A CN109150926 A CN 109150926A
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- data
- intelligent terminal
- control device
- main control
- robot
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/14—Session management
- H04L67/141—Setup of application sessions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/06—Notations for structuring of protocol data, e.g. abstract syntax notation one [ASN.1]
Abstract
The invention discloses a kind of man-machine interactive system and its data communications methods.The man-machine interactive system includes: intelligent terminal, and the intelligent terminal with user for interacting；Robot main control device, the robot main control device are used to control the operation of one or more robot, are connect with the intelligent terminal by USB；The robot main control device is converted to main equipment end under AOA mode, and the intelligent terminal, which is converted to, forms two-way data transmission path from equipment end；Upstream data from the intelligent terminal and the downlink data from the robot main control device are encapsulated with preset protocol format and are transmitted on the data transmission path.It can enable what user can be convenient to interact using intelligent mobile terminal to AGV, and control is intuitive as it can be seen that be easy to use, and have a good application prospect.
Description
Technical field
The present invention relates to AGV control technology field more particularly to a kind of data communications method and man-machine interactive systems.
Background technique
In recent years, with the continuous development of automatic technology, AGV(Auto Guided Vehicle homing guidance transport
Vehicle) application field it is more and more extensive, very important effect is played in the fields such as logistics, storage.Outstanding AGV system
Working efficiency can be greatly improved, tool has very great significance and has received widespread attention.
But the man-machine interactive interface of traditional AGV is using remote-control handle or control button, for a user
Visual is poor, it is not easy to control and use, operation control experience is bad.Moreover, the limit being arranged by USB mode and interface
System, does not support bidirectional data transfers between AGV main control device and intelligent terminal, enables user can not be by more convenient and fast intelligence
It can control of the terminal device realization to AGV.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of data communications methods and man-machine
Interactive system, it is intended to solve the inconvenience of AGV human-computer interaction in the prior art, control not intuitive enough problem.
In order to achieve the above object, this invention takes following technical schemes:
A kind of man-machine interactive system, wherein the system includes: intelligent terminal, and the intelligent terminal is used for and user
Interaction；Robot main control device, the robot main control device are used to control the operation of one or more robot, and described
Intelligent terminal passes through USB connection；
The robot main control device is converted to main equipment end under AOA mode, and the intelligent terminal is converted to from equipment
End, forms two-way data transmission path；AOA(Android Open Accessory) mode is for realizing Android device
The agreement of usb communication between peripheral equipment.
Upstream data from the intelligent terminal and the downlink data from the robot main control device are with pre-
If protocol format encapsulate and transmitted on the data transmission path
A kind of data communications method is applied to robot main control device.Wherein, this method comprises: being built with intelligent terminal
When vertical USB connection, USB state is switched to AOA mode；Acquire the status information of robot；With the encapsulation of preset protocol format
The status information is to form corresponding upstream data；By AOA data path, it is whole to the intelligence to send the upstream data
End equipment.
The data communications method, wherein the method also includes: receive the downlink from the intelligent terminal
Data；According to the preset protocol format, the downlink data is parsed；It executes corresponding with the parsing result of the downlink data
Operation.
The data communications method, wherein it is described when establishing USB with intelligent terminal and connecting, USB state is cut
It is changed to AOA mode, comprising: after the starting of robot main control device, poll simultaneously refreshes USB state；Whether judge the USB state
For AOA mode；If it is not, being then switched to AOA mode.
The data communications method, wherein the status information of the acquisition robot specifically includes: monitoring the machine
Whether device people occurs operating status variation: if so, obtaining corresponding status information.
A kind of data communications method is applied to intelligent terminal.Wherein, which comprises obtain behaviour to be sent
Make information；The operation information to be sent is encapsulated with preset protocol format, forms downlink data；By AOA data path,
The downlink data is sent by the robot main control device that USB is connect to the intelligent terminal.
The data communications method, wherein the method also includes: it receives from the upper of the robot main control device
Row data；According to the preset protocol format, the upstream data is parsed；Execute the parsing result pair with the upstream data
The behavior answered.
The data communications method, wherein described to execute behavior corresponding with the parsing result of the upstream data, tool
Body includes: to update user interface according to the parsing result of the upstream data.
The data communications method, wherein it is described to obtain operation information to be sent, it specifically includes: by extraneous number
According to acquisition device, task list is obtained；The task list includes several operation informations for being directed toward the robot.
The data communications method, wherein the preset protocol format defines data packet by data header and data
Content composition；The data head includes three type of current data packet, length and check code fields, and the data content is used
In the true data information of encapsulation.
The utility model has the advantages that data communications method provided by the invention and man-machine interactive system, pass through conversion to AOA Model Establishment
Bidirectional data transfers access between intelligent mobile terminal and main control device, and combine preset protocol format upstream data under
Row data are packaged, and the use intelligent mobile terminal for enabling user can be convenient interacts AGV, and control is intuitive as it can be seen that holding
It easily uses, has a good application prospect.
Detailed description of the invention
Fig. 1 is the schematic diagram of man-machine interactive system provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of protocol format provided in an embodiment of the present invention；
Fig. 3 is the method flow diagram of data communications method provided in an embodiment of the present invention.
Specific embodiment
The present invention provides a kind of data communications method and man-machine interactive systems.To make the purpose of the present invention, technical solution
And effect is clearer, clear, the present invention is described in more detail as follows in conjunction with drawings and embodiments.It should be appreciated that this
Place is described, and specific examples are only used to explain the present invention, is not intended to limit the present invention.
Fig. 1 is the schematic diagram of man-machine interactive system provided in an embodiment of the present invention.The man-machine interactive system can be applied to
In interaction scenarios between AGV and intelligent mobile terminal.As shown in Figure 1, the man-machine interactive system may include: that intelligent terminal is set
Standby 10 and robot main control device 20.Pass through USB between the intelligent terminal 10 and the robot main control device 20
Connection.
Wherein, the intelligent terminal 10 can be any kind of intelligent and portable for interacting with user
Formula equipment, including but not limited to smart phone, tablet computer, PDA or laptop computer.These smart portable devices can transport
Row has corresponding operation system, has input-output apparatus very rich, such as touch screen etc. can provide non-for user
Often intuitive interactive interface and interactive mode, user-interaction experience is preferable, in Fig. 1 by taking tablet computer as an example.
The robot main control device is the control core of AGV, is responsible for carrying out logical operation and equipment control, for controlling
The operation of one or more automatic transportation equipment.In the present embodiment, AGV is indicated with term as " automatic transportation equipment "
Perhaps have with AGV similar functions for realizing the automation equipment or robot of cargo transport.The robot can use
Any suitable walking mechanism, such as bionical foot or wheel can automatically transport loads to destination.
When using usual USB connection, intelligent terminal uses Android system, as main equipment end (i.e. the end Host),
Only OTG(On-The-Go) interface.Correspondingly, robot main control device is from equipment end (i.e. the end Device).In this way existing
Usb protocol in do not support robot main control device to send data to tablet computer, intelligent terminal can not also identify machine
People's main control device.
It in the present embodiment, can be by robot master by the drive module being additionally arranged in robot main control device
The USB state of control equipment is switched to AOA mode.The robot main control device is converted into main equipment end, the intelligence as a result,
Terminal device is converted to from equipment end, realizes a two-way data transmission path.
Based on the AOA data transmission channel, to the upstream data from the intelligent terminal and from described
After the downlink data of robot main control device is all packaged using identical protocol format, number between the two can be realized
According to communication.
Fig. 2 is the schematic diagram of protocol format provided in an embodiment of the present invention.As shown in Fig. 2, it is fixed to state preset protocol format
Adopted data packet is made of data head 31 and data content 32.
Wherein, the consistent length of the data head, type, length and three words of check code including current data packet
Section.The data content indicates the real load of data packet for encapsulating true data information.Its length can be according in data
Hold and change accordingly, such as transmits some image data or character string.
The check code is used to verify the accuracy of data packet transmission, and the reliability of information transmission can be improved.Some
In embodiment, data packet can be verified using following method of calibration: seek the sum of the value of all fields first, then
Packet data accuracy is verified to the transmitting-receiving both ends in data packet using the value of low byte as identifying code.
In this way, user is needing to interact with AGV, such as when setting detailed list of goods, can use
Tablet computer or similar intelligent terminal are operated on the interactive interface that the intelligent terminal provides, need
After the manifest data to be sorted is packaged by a preset protocol format encapsulation, it is handed down to robot main control device.
After robot main control device receives the data packet issued, after being parsed using identical protocol format,
Robot is controlled according to parsing result or AGV is moved to corresponding counter and completes picking.
Fig. 3 is the data communication process of man-machine interactive system shown in FIG. 1, respectively can in robot main control device and
Intelligent terminal both ends are described.
As shown in figure 3, the data communications method may include steps of when being in robot main control device one end:
S20, when establishing USB with intelligent terminal and connecting, USB state is switched to AOA mode.
Specifically, as shown in figure 3, the step S20 can specifically include following steps:
S201, robot main control device starting after, invocation pattern switch driver.
S202, poll and the USB state for refreshing robot main control device.
S203, judge whether the USB state is AOA mode.If it is not, thening follow the steps S42.
S204, it is switched to AOA mode.AOA(Android Open Accessory) mode set for realizing Android
The agreement of the standby usb communication between peripheral equipment.The agreement has expanded the function of Android device USB interface, for based on
The smart machine of android system is applied to data acquisition and equipment control field provides condition.
S21, the status information for acquiring robot.The status information refers to letter relevant to robot current motion state
Breath, such as starts to move, and during movement carries out, the different states such as arrives at the destination.
Specifically, robot main control device can keep the monitoring to the robot, judge whether that generating state changes.
And in the case where generating state variation, obtain corresponding status information.
S22, the status information is encapsulated to form corresponding upstream data with preset protocol format.
S23, pass through AOA data path, send the upstream data to the intelligent terminal.
Please continue to refer to Fig. 3, other than the processing to upstream data, in robot main control device one end, the method
Further include:
S24, the downlink data from the intelligent terminal is received.
S25, according to the preset protocol format, parse the downlink data.
S26, operation corresponding with the parsing result of the downlink data is executed.The operation specifically can be any type
, it is directed toward the instruction of robot operation, such as control robot is mobile or inquires the hardware state etc. of robot.
As shown in figure 3, the data communications method may include steps of when application intelligent terminal one end:
S11, operation information to be sent is obtained.
In some embodiments, the intelligent terminal specifically can obtain task by exogenous data acquisition device
Inventory.Operation informations of the task list comprising several direction automatic transportation equipment, such as planning robot's movement
Instruction, the sequence etc. of picking.
S12, the operation information to be sent is encapsulated with preset protocol format, form downlink data.
The intelligent terminal can run corresponding APP client, by the APP client to operation information with pre-
If protocol format be packaged.
S13, pass through AOA data path, sent to the intelligent terminal by the automatic transportation equipment that USB is connect
The downlink data.
Other than the processing to upstream data, in intelligent terminal one end, the method can also include to uplink
The processing of data.As shown in figure 3, the treatment process includes:
S14, the upstream data from the automatic transportation equipment is received.
S15, according to the preset protocol format, parse the upstream data.
S16, behavior corresponding with the parsing result of the upstream data is executed.
Specifically, the corresponding behavior can be any kind of user mutual behavior.For example, it may be updating APP
The feedback information prompting of the user interface or AGV of client or other users interbehavior.
It, can according to the technique and scheme of the present invention and this hair it is understood that for those of ordinary skills
Bright design is subject to equivalent substitution or change, and all these changes or replacement all should belong to the guarantor of appended claims of the invention
Protect range.
Claims (10)
1. a kind of man-machine interactive system characterized by comprising
Intelligent terminal, the intelligent terminal with user for interacting；
Robot main control device, the robot main control device are used to control the operation of one or more robot, and described
Intelligent terminal passes through USB connection；
The robot main control device is converted to main equipment end under AOA mode, and the intelligent terminal is converted to from equipment
End, forms two-way data transmission path；
Upstream data from the intelligent terminal and the downlink data from the robot main control device are with preset
Protocol format is encapsulated and is transmitted on the data transmission path.
2. a kind of data communications method is applied to robot main control device characterized by comprising
When establishing USB with intelligent terminal and connecting, USB state is switched to AOA mode；
Acquire the status information of robot；
The status information is encapsulated with preset protocol format to form corresponding upstream data；
By AOA data path, the upstream data is sent to the intelligent terminal.
3. data communications method according to claim 2, which is characterized in that the method also includes:
Receive the downlink data from the intelligent terminal；
According to the preset protocol format, the downlink data is parsed；
Execute operation corresponding with the parsing result of the downlink data.
4. data communications method according to claim 2, which is characterized in that described to establish USB with intelligent terminal
When connection, USB state is switched to AOA mode, comprising:
After the starting of robot main control device, poll simultaneously refreshes USB state；
Judge whether the USB state is AOA mode；
If it is not, being then switched to AOA mode.
5. data communications method according to claim 2, which is characterized in that the status information of the acquisition robot, tool
Body includes:
Monitor whether the robot occurs operating status variation:
If so, obtaining corresponding status information.
6. a kind of data communications method is applied to intelligent terminal, which is characterized in that the described method includes:
Obtain operation information to be sent；
The operation information to be sent is encapsulated with preset protocol format, forms downlink data；
By AOA data path, to the intelligent terminal by the robot main control device that USB is connect send it is described under
Row data.
7. data communications method according to claim 6, which is characterized in that the method also includes:
Receive the upstream data from the robot main control device；
According to the preset protocol format, the upstream data is parsed；
Execute behavior corresponding with the parsing result of the upstream data.
8. data communications method according to claim 6, which is characterized in that the parsing of the execution and the upstream data
As a result corresponding behavior, specifically includes:
User interface is updated according to the parsing result of the upstream data.
9. data communications method according to claim 5, which is characterized in that described to obtain operation information to be sent, tool
Body includes:
By exogenous data acquisition device, task list is obtained；The task list includes several behaviour for being directed toward the robot
Make information.
10. according to any data communications method of claim 2-9, which is characterized in that the preset protocol format is fixed
Adopted data packet is made of data header and data content；
The data head includes three type of current data packet, length and check code fields, and the data content is for sealing
Fill true data information.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811371590.3A CN109150926A (en) | 2018-11-19 | 2018-11-19 | A kind of data communications method and man-machine interactive system |
| JP2020526980A JP6932852B2 (en) | 2018-11-19 | 2019-11-04 | Data communication method and human-computer interaction system |
| PCT/CN2019/115261 WO2020103680A1 (en) | 2018-11-19 | 2019-11-04 | Data communication method, and human-machine interaction system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811371590.3A CN109150926A (en) | 2018-11-19 | 2018-11-19 | A kind of data communications method and man-machine interactive system |
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| CN109150926A true CN109150926A (en) | 2019-01-04 |
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| CN201811371590.3A Pending CN109150926A (en) | 2018-11-19 | 2018-11-19 | A kind of data communications method and man-machine interactive system |
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| Country | Link |
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| JP (1) | JP6932852B2 (en) |
| CN (1) | CN109150926A (en) |
| WO (1) | WO2020103680A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020103680A1 (en) * | 2018-11-19 | 2020-05-28 | 炬星科技（深圳）有限公司 | Data communication method, and human-machine interaction system |
| CN114244821A (en) * | 2021-12-16 | 2022-03-25 | 北京百度网讯科技有限公司 | Data processing method, device, equipment, electronic equipment and storage medium |
| CN115412613A (en) * | 2021-05-26 | 2022-11-29 | 博泰车联网科技(上海)股份有限公司 | Method of managing afterloading devices of a vehicle, computer storage medium, and the like |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112463690A (en) * | 2020-12-01 | 2021-03-09 | 苏州臻迪智能科技有限公司 | Method and device for realizing data transmission |
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Also Published As
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| JP6932852B2 (en) | 2021-09-08 |
| JP2021508190A (en) | 2021-02-25 |
| WO2020103680A1 (en) | 2020-05-28 |
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Application publication date: 20190104 |