CN109168145B - Wireless pairing method and device for manual operator and mobile robot and manual operator - Google Patents
Wireless pairing method and device for manual operator and mobile robot and manual operator Download PDFInfo
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- CN109168145B CN109168145B CN201811333939.4A CN201811333939A CN109168145B CN 109168145 B CN109168145 B CN 109168145B CN 201811333939 A CN201811333939 A CN 201811333939A CN 109168145 B CN109168145 B CN 109168145B
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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
- H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
- H04W76/11—Allocation or use of connection identifiers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
- H04W76/14—Direct-mode setup
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W8/00—Network data management
- H04W8/005—Discovery of network devices, e.g. terminals
Abstract
The invention discloses a wireless pairing method and a wireless pairing device for a manual operator and a mobile robot, which are applied to the manual operator and comprise the steps of broadcasting query messages and monitoring query feedback messages returned by controllers of all the mobile robots; inquiring the characteristic information and the identification information of a controller which sends the message in the feedback message; displaying identification information contained in all monitored query feedback messages; after receiving an input selection instruction, setting the characteristics of the controller as characteristic information of the controller corresponding to the selection instruction; and after the setting is finished, sending a connection request message to a controller corresponding to the selection instruction, if a returned connection feedback message is received, the pairing is successful, and otherwise, the pairing is failed. The invention does not limit the range of the mobile robot matched by the manual operator, and has high reliability; and the codes in the manual operator do not need to be adjusted according to the increase and decrease of the mobile robot, so that the programming work is simplified. The invention also discloses a manual operator and a mobile robot system based on the method.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a wireless pairing method and a wireless pairing device for a manual operator and a mobile robot. The invention also relates to a hand operator and a mobile robot system.
Background
The manual operator of the mobile robot is wireless operation equipment used for wirelessly controlling the movement of the mobile robot, and the manual operator is communicated with the controller through wireless signals (zigbee such as 433MHz, 868MHz and the like, 2.4GHz wifi and the like) to control the operation of the mobile robot in real time. Since there are often a plurality of robots in the mobile robot application site, there are a plurality of mobile robots with frequency bands and a plurality of addresses, and the manual operator can only control one mobile robot at a time, so the manual operator needs to be paired with the controller of the mobile robot to establish a communication channel between the manual operator and the mobile robot, and then data transmission is performed between the manual operator and the mobile robot through the communication channel.
In the current pairing mode, information of one or more controllers of the mobile robots is stored in a manual operator in advance, and an operator can only select the mobile robots to pair by selecting the information stored in the manual operator. However, when the mobile robots corresponding to the information pre-stored in the manual operator are damaged, the manual operator is not available, and thus the reliability is low. And the number of the field robots cannot be guaranteed, and when one mobile robot is added, the manipulator code needs to be rewritten, the information of the newly added mobile robot is written, and the operation is complex.
Therefore, how to provide a wireless pairing method of a handheld device and a mobile robot with high reliability is a problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a wireless pairing method and a wireless pairing device for a hand operator and a mobile robot, which do not limit the range of the mobile robot selected and paired by the hand operator, thereby improving the reliability of the hand operator and a mobile robot system to which the hand operator belongs; the codes in the manual operator do not need to be adjusted according to the increase and decrease of the mobile robot, so that the programming work is simplified; the invention further aims to provide a hand operator and a mobile robot system based on the method.
In order to solve the above technical problem, the present invention provides a wireless pairing method for a manual operator and a mobile robot, which is applied to the manual operator, and comprises:
broadcasting an inquiry message, and monitoring inquiry feedback messages returned by controllers of all mobile robots with the same channel; the query feedback message carries characteristic information and identification information of a controller sending the message;
displaying identification information contained in all monitored query feedback messages;
after receiving an input selection instruction, setting the characteristics of the controller as characteristic information of the controller corresponding to the selection instruction;
after the setting is finished, sending a connection request message to a controller corresponding to the selection instruction; and if a connection feedback message returned by the controller corresponding to the selection instruction is received, the pairing is successful, otherwise, the pairing is failed.
Preferably, the characteristic information includes an address and a channel of the controller.
Preferably, the identification information is a number; after receiving the input selection instruction, the process of setting the characteristics of the controller as the characteristic information of the controller corresponding to the selection instruction specifically comprises the following steps:
after receiving an input selection instruction, inquiring the address and the channel of the controller corresponding to the number carried in the selection instruction from all the monitored inquiry feedback messages;
and setting the self address and the channel as the address and the channel of the inquired controller.
Preferably, the broadcasting of the query message further includes:
receiving an input broadcast mode command;
and setting the self address and the channel as the broadcast address and the channel according to the broadcast mode instruction.
Preferably, the message between the hand operator and the controller of the mobile robot includes: a data frame start bit, a data packet type bit, a length bit, a data bit, a checksum bit, and a data frame stop bit.
Preferably, after displaying the identifier information of the controller corresponding to all the monitored query feedback messages and before receiving the input selection instruction, the method further includes:
receiving an input configuration instruction, and controlling to enter a configuration mode;
correspondingly, after the pairing is successful, the method further comprises the following steps:
and receiving an input exit instruction, controlling to exit the configuration mode and entering a communication control mode.
In order to solve the above technical problem, the present invention further provides a wireless pairing device for a manual operator and a mobile robot, which is applied to the manual operator, and comprises:
the broadcast monitoring module is used for broadcasting the query message and monitoring the query feedback messages returned by the controllers of all the mobile robots with the same channel; the query feedback message carries characteristic information and identification information of a controller sending the message;
the display module is used for displaying the identification information contained in all the monitored query feedback messages;
the identification setting module is used for setting the characteristics of the identification setting module as the characteristic information of the controller corresponding to the selection instruction after receiving the input selection instruction;
the pairing module is used for sending a connection request message to the controller corresponding to the selection instruction after the setting is finished; and if a connection feedback message returned by the controller corresponding to the selection instruction is received, the pairing is successful, otherwise, the pairing is failed.
In order to solve the above technical problem, the present invention further provides a manual operator, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the wireless pairing method as claimed in any one of the above when executing the computer program.
In order to solve the technical problem, the invention further provides a mobile robot system, which comprises a plurality of mobile robots and the manual operator.
Preferably, the mobile robot and the manual operator communicate through wifi or low-speed wireless connection.
The invention provides a wireless pairing method and a wireless pairing device for a hand operator and a mobile robot. In this way, the invention does not limit the range of the mobile robot matched by the hand operator, even if partial mobile robots are in failure, the hand operator can also select other mobile robots to be matched without the condition that the hand operator cannot be used, and the reliability of the hand operator and the reliability of the mobile robot system to which the hand operator belongs are improved. In addition, the information of the mobile robots does not need to be stored in advance in the manual operator, so that the codes of the manual operator do not need to be rewritten when the number of the mobile robots is increased or decreased, and the operation of workers is simplified. The invention also provides a manual operator based on the method and a mobile robot system comprising the manual operator, which are not described herein again.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a flowchart illustrating a process of a method for wireless pairing of a hand-held device and a mobile robot according to the present invention;
fig. 2 is a schematic structural diagram of a wireless pairing device for a hand operator and a mobile robot according to the present invention.
Detailed Description
The core of the invention is to provide a wireless pairing method and a wireless pairing device for a hand operator and a mobile robot, which do not limit the range of the mobile robot selected and paired by the hand operator, thereby improving the reliability of the hand operator and a mobile robot system to which the hand operator belongs; the codes in the manual operator do not need to be adjusted according to the increase and decrease of the mobile robot, so that the programming work is simplified; the other core of the invention is to provide a hand operator and a mobile robot system based on the method.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a wireless pairing method of a hand operator and a mobile robot, which is applied to the hand operator and comprises the following steps of:
step s 1: broadcasting an inquiry message, and monitoring inquiry feedback messages returned by controllers of all mobile robots with the same channel; inquiring the characteristic information and the identification information of a controller which sends the message in the feedback message;
it can be understood that after the manual operator is powered on, when the manual operator is in a broadcast mode, the manual operator broadcasts an inquiry message to the surroundings, the inquiry message carries a channel and an address of the manual operator, if the controllers of the surrounding mobile robots are in the same channel as the manual operator and in a certain range around the manual operator, the controllers of the mobile robots can receive the inquiry message, and then the controllers of the mobile robots receiving the inquiry message send an inquiry feedback message carrying characteristic information and identification information of the controllers to the manual operator according to the channel and the address of the manual operator. The hand operator can receive the characteristic information and the identification information fed back by all the mobile robots which are within a certain range and in the same channel with the hand operator, so that the hand operator can select the mobile robots matched with the hand operator from the mobile robots corresponding to the received feedback information, the selection range of the hand operator is wider, the situation that the mobile robots which can be selected by the hand operator are damaged basically does not occur, and the reliability is higher.
Step s 2: displaying identification information contained in all monitored query feedback messages;
since which mobile robot is specifically selected for control needs to be selected by the worker, identification information included in all the monitored query feedback messages needs to be displayed to inform the worker that the manual operator receives the feedback information of the mobile robots, so that the worker can conveniently select the mobile robots. In addition, the purpose of displaying all the inquiry feedback messages is to expand the range of the manual operator for selecting pairing.
The identification information may be understood as the name of the controller of the mobile robot, and since there may be many received query feedback messages, if the characteristic information included in each query feedback message is displayed, the content is very large, which is not convenient for the staff to select. Therefore, only the identification information can be selected. The identification information uniquely corresponds to a controller of the mobile robot and is used for representing the identity of the mobile robot. Of course, in other embodiments, the feature information may be displayed simultaneously. The invention is not limited in this regard.
Step s 3: after receiving an input selection instruction, setting the characteristics of the controller as characteristic information of the controller corresponding to the selection instruction;
it will be appreciated that a hand operator wants to pair with a mobile robot. It is necessary to keep the characteristic information of the hand operator in agreement with the characteristic information of the controller of the mobile robot. Therefore, after the mobile robot that wants to be paired is selected, the characteristic information of the hand operator needs to be modified to be the same as the characteristic information of the controller of the selected mobile robot.
Step s 4: after the setting is finished, sending a connection request message to a controller corresponding to the selection instruction; and if a connection feedback message returned by the controller corresponding to the selection instruction is received, the pairing is successful, otherwise, the pairing is failed.
It can be understood that, the invention does not store the information of the mobile robot in the manual operator in advance, that is, does not adopt the mode of binding the manual operator with the mobile robot in advance, but broadcasts the query message when wireless pairing with the mobile robot is required, then monitors the query feedback messages returned by the controllers of all mobile robots with the same channel, displays the identifier information of the controllers corresponding to all the monitored query feedback messages for the selection of the staff, and then, after receiving the input selection instruction, performs wireless pairing with the mobile robot corresponding to the selection instruction according to the characteristic information of the controller selected by the selection instruction. In this way, the invention does not limit the range of the mobile robot matched by the hand operator, even if partial mobile robots are in failure, the hand operator can also select other mobile robots to be matched without the condition that the hand operator cannot be used, and the reliability of the hand operator and the reliability of the mobile robot system to which the hand operator belongs are improved. In addition, the information of the mobile robot is not required to be stored in advance in the manual operator, but the information is directly obtained by inquiring the feedback message, so that when the number of the mobile robots is increased or decreased, the codes of the manual operator are not required to be rewritten, and the operation of workers is simplified.
In step s3, the selection instruction may be generated in the following two ways: one may be identification information of the mobile robot controller that directly receives input from a worker. In this case, when the manual operator displays the identification information of the controller, an input window may be set on the display interface, the operator inputs the selected identification information of the controller in the input window, and the manual operator may generate a corresponding selection instruction after receiving the identification information input by the operator. The other is a trigger instruction generated after receiving corresponding identification information on a display screen of the manual operator triggered by a worker, under the condition, when the manual operator displays the identification information, the identification information can be provided with a rear-end link, and after receiving a trigger instruction generated by clicking one identification information by a user, the rear-end link corresponding to the trigger instruction can correspondingly generate a selection instruction containing the corresponding identification information, wherein the worker can input or click the identification information through a rocker and a key arranged on the manual operator. Of course, the present invention is not limited to the manner of setting the backend link. In addition, the above are only two specific implementation manners, and the invention does not limit the generation manner of the selection instruction and the setting manner of the display interface of the identification information on the hand operator.
In addition, after receiving the input selection instruction, the manual operator can automatically control to modify the characteristic information of the manual operator into the characteristic information of the controller after searching the characteristic information of the corresponding controller according to the selection instruction, or can display the characteristic information after searching the characteristic information of the corresponding controller, and then receive a characteristic information modification instruction input by a worker to modify the characteristic information of the manual operator. The characteristic information modification instruction contains the characteristic information to be modified, namely the characteristic information of the corresponding controller searched before. The above characteristic information modification mode is specifically adopted, and the present invention is not particularly limited.
In a preferred embodiment, the characteristic information includes an address and a channel of the controller.
It can be understood that the purpose of wireless pairing of the hand operator and the mobile robot is to send instructions to the mobile robot for control, that is, the hand operator is to perform one-to-one data communication with the mobile robot in the established wireless channel. Therefore, it is necessary to ensure that the controllers of the hand operator and the mobile robot have the same communication address and wireless communication channel, so as to ensure that data between the hand operator and the mobile robot is not transmitted to other mobile robots. Therefore, the characteristic information here needs to contain the address and channel of the controller. Of course, the characteristic information may include other information besides the address and the channel, and the present invention is not limited thereto.
Specifically, the identification information is a serial number; after receiving the input selection instruction, the process of setting the characteristics of the controller as the characteristic information of the controller corresponding to the selection instruction specifically comprises the following steps:
after receiving an input selection instruction, inquiring the address and the channel of the controller corresponding to the number carried in the selection instruction from all the monitored inquiry feedback messages;
and setting the self address and the channel as the address and the channel of the inquired controller.
It can be understood that the numbers are used as the mark information of the mobile robot, and are concise enough and convenient for workers to check. Of course, other contents, such as letters, can be used as the identification information, and the present invention is not limited thereto. Since the numbers are displayed in the present embodiment, after the selected number is determined from within the selection instruction. The address and the channel of the corresponding controller need to be queried according to the number, so that wireless pairing with the controller of the corresponding mobile robot is realized.
In a preferred embodiment, broadcasting the query message further includes:
receiving an input broadcast mode command;
and setting the self address and the channel as the broadcast address and the channel according to the broadcast mode instruction.
It can be understood that if the hand operator is always in the broadcast mode, many other mobile robots may monitor the return useless signals, resulting in many useless information in the hand operator. In order to avoid the situation, the invention sets the address and the channel of the hand operator as the broadcast address or the channel only after receiving the input broadcast mode command, namely, the hand operator enters the broadcast mode. The exit mode of the broadcast mode can be set to automatically exit the broadcast mode after the manual operator and the mobile robot complete wireless pairing. Or the broadcast mode can be quitted after receiving the input broadcast mode quitting instruction. How to exit the broadcast mode is not particularly limited.
Specifically, the message between the manual operator and the controller of the mobile robot includes: a data frame start bit, a data packet type bit, a length bit, a data bit, a checksum bit, and a data frame stop bit.
See table 1. Table 1 is a message communication protocol schematic table between a hand operator and a controller of a mobile robot. Table 1 shows the symbols of the individual data bits that are required to be included in the message between the hand operator and the controller of the mobile robot, and the meaning of the representation thereof.
TABLE 1 message communication protocol schematic between manipulator and controller of mobile robot
| Serial number | (symbol) | Meaning of | Remarks for |
| 1 | SOI | Data frame start |
|
| 2 | ID | Indicating |
|
| 3 | LENGTH | Data length and |
|
| 4 | DATA | Data of | |
| 5 | CHKSUM | Checksum | |
| 6 | EOI | Data frame cutoff bit |
Of course, the above is only a specific implementation manner, and the present invention does not limit the content of the message between the hand operator and the controller of the mobile robot.
Preferably, after displaying the identifier information of the controller corresponding to all the monitored query feedback messages and before receiving the input selection instruction, the method further includes:
receiving an input configuration instruction, and controlling to enter a configuration mode;
correspondingly, after the pairing is successful, the method further comprises the following steps:
and receiving an input exit instruction, controlling to exit the configuration mode and entering a communication control mode.
It can be understood that, when the manual operator displays the identification information included in the query feedback message, the displayed identification information may not be provided with the input window of the backend link and the selection instruction. This arrangement is intended to avoid the situation where the operator triggers by mistake a mobile robot that is not intended to be connected to the hand-operated device. In the setting mode of the invention, after the identification information is displayed on the hand operator, the hand operator enters the configuration mode after receiving the input configuration instruction and jumps to the configuration interface. In the configuration interface, a worker can select and input a selection instruction, that is, an input window in which the selection instruction can be set is provided on the configuration interface, or identification information provided with a back-end link can be displayed on the configuration display interface, and when a trigger instruction generated after a user triggers the identification information is received, the back-end link can generate a corresponding selection instruction. The manual operator can be provided with a configuration mode button on an interface for displaying identification information or other positions of the manual operator, and a configuration instruction can be generated after the configuration mode button is triggered by a user. The trigger mode can be set as click, long press and the like. The invention is not limited in this regard. In addition, the invention also does not limit the input mode of the configuration instruction and the content of the display interface of the hand operator after entering the configuration mode.
The invention also provides a wireless pairing device of a hand operator and a mobile robot, which is applied to the hand operator, and fig. 2 shows a structural schematic diagram of the wireless pairing device of the hand operator and the mobile robot provided by the invention. The device includes:
the broadcast monitoring module 1 is used for broadcasting the query message and monitoring the query feedback messages returned by the controllers of all the mobile robots with the same channel; inquiring the characteristic information and the identification information of a controller which sends the message in the feedback message;
the display module 2 is used for displaying the identification information contained in all the monitored query feedback messages;
the identification setting module 3 is used for setting the characteristics of the identification setting module as the characteristic information of the controller corresponding to the selection instruction after receiving the input selection instruction;
the pairing module 4 is used for sending a connection request message to the controller corresponding to the selection instruction after the setting is finished; and if a connection feedback message returned by the controller corresponding to the selection instruction is received, the pairing is successful, otherwise, the pairing is failed.
The wireless pairing device of the manual operator and the mobile robot is realized in a one-to-one correspondence manner with the wireless pairing method of the manual operator and the mobile robot.
The invention also provides a hand operator, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the wireless pairing method as any one of the above when executing a computer program.
The invention also provides a mobile robot system which comprises a plurality of mobile robots and the manual operator.
The mobile robot and the manual operator are communicated through wifi or low-speed wireless connection.
The above embodiments are only preferred embodiments of the present invention, and the above embodiments can be combined arbitrarily, and the combined embodiments are also within the scope of the present invention. It should be noted that other modifications and variations that may suggest themselves to persons skilled in the art without departing from the spirit and scope of the invention are intended to be included within the scope of the invention as defined by the appended claims.
It should also be noted that, in the present specification, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (9)
1. A wireless pairing method of a manual operator and a mobile robot is applied to the manual operator and is characterized by comprising the following steps:
broadcasting an inquiry message, and monitoring inquiry feedback messages returned by controllers of all mobile robots with the same channel; the query feedback message carries characteristic information and identification information of a controller sending the message;
displaying identification information contained in all monitored query feedback messages;
after receiving an input selection instruction, setting the characteristics of the controller as characteristic information of the controller corresponding to the selection instruction;
after the setting is finished, sending a connection request message to a controller corresponding to the selection instruction; if a connection feedback message returned by the controller corresponding to the selection instruction is received, the pairing is successful, otherwise, the pairing is failed;
wherein the characteristic information includes an address and a channel of the controller.
2. The wireless pairing method according to claim 1, wherein the identification information is a number; after receiving the input selection instruction, the process of setting the characteristics of the controller as the characteristic information of the controller corresponding to the selection instruction specifically comprises the following steps:
after receiving an input selection instruction, inquiring the address and the channel of the controller corresponding to the number carried in the selection instruction from all the monitored inquiry feedback messages;
and setting the self address and the channel as the address and the channel of the inquired controller.
3. The wireless pairing method of claim 1, wherein broadcasting the query message further comprises:
receiving an input broadcast mode command;
and setting the self address and the channel as the broadcast address and the channel according to the broadcast mode instruction.
4. The wireless pairing method of claim 1, wherein the message between the hand operator and the controller of the mobile robot comprises: a data frame start bit, a data packet type bit, a length bit, a data bit, a checksum bit, and a data frame stop bit.
5. The wireless pairing method according to claim 1, wherein after displaying the identifier information of the controller corresponding to all the monitored query feedback messages and before receiving the input selection instruction, the method further comprises:
receiving an input configuration instruction, and controlling to enter a configuration mode;
correspondingly, after the pairing is successful, the method further comprises the following steps:
and receiving an input exit instruction, controlling to exit the configuration mode and entering a communication control mode.
6. A wireless pairing device of a manual operator and a mobile robot is applied to the manual operator and is characterized by comprising:
the broadcast monitoring module is used for broadcasting the query message and monitoring the query feedback messages returned by the controllers of all the mobile robots with the same channel; the query feedback message carries characteristic information and identification information of a controller sending the message; the characteristic information comprises an address and a channel of the controller;
the display module is used for displaying the identification information contained in all the monitored query feedback messages;
the identification setting module is used for setting the characteristics of the identification setting module as the characteristic information of the controller corresponding to the selection instruction after receiving the input selection instruction;
the pairing module is used for sending a connection request message to the controller corresponding to the selection instruction after the setting is finished; and if a connection feedback message returned by the controller corresponding to the selection instruction is received, the pairing is successful, otherwise, the pairing is failed.
7. A hand-held operator, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the wireless pairing method as claimed in any one of claims 1 to 5 when executing the computer program.
8. A mobile robotic system comprising a plurality of mobile robots and the hand manipulator of claim 7.
9. The mobile robotic system as claimed in claim 8, wherein the mobile robot communicates with the hand manipulator via wifi or low speed wireless connection.
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| CN114255580A (en) * | 2021-12-09 | 2022-03-29 | 欧姆(重庆)电子技术有限公司 | Pairing method and remote control equipment |
| CN115150455B (en) * | 2022-06-30 | 2023-05-23 | 贵州电网有限责任公司 | Wireless sensor engineering field configuration device and configuration method thereof |
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