CN109434808A - A kind of cloud remote service Study of Intelligent Robot Control network system realization - Google Patents
A kind of cloud remote service Study of Intelligent Robot Control network system realization Download PDFInfo
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- CN109434808A CN109434808A CN201811520385.9A CN201811520385A CN109434808A CN 109434808 A CN109434808 A CN 109434808A CN 201811520385 A CN201811520385 A CN 201811520385A CN 109434808 A CN109434808 A CN 109434808A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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Abstract
The invention discloses a kind of cloud remote service Study of Intelligent Robot Control network system realizations, the following steps are included: Remote Terminals for Weather Servics part, the Remote Terminals for Weather Servics part includes offline in-circuit emulation module, Virtual Demonstration module, Remote Uploading module, processor, terminal communications interface, remote communication interface and fault detection module, the terminal communications interface is interacted based on wired or wireless Model Establishment Remote Terminals for Weather Servics part with the communication between motion planning and robot control part, robot control instruction, which is obtained, from Remote Terminals for Weather Servics part passes to motion planning and robot control part.Whole device of the present invention is cleverly used to combine advanced movement control technology with telecommunication and is applied in automatic control, realize the control system that real-time is good, ease for use is good, motion planning and robot control, telecommunication are combined together, what is solved is that existing robot control system real-time is bad, the problem that technological service is inconvenient and service cost is high.
Description
Technical field
The present invention relates to a kind of cloud remote service Study of Intelligent Robot Control systems, are especially practically applicable to intelligence manufacture industry,
Specifically a kind of control system, robot for realizing the functions such as long-range cloud non-real-time data access, equipment running status monitoring
System.
Background technique
With the arrival in intelligence epoch, it is many more numerous that industrial robot is replacing the mankind to be engaged in welding, spraying, carrying etc.
The labour of weight, not only increases labor productivity and the quality of production, also reduces production cost.Industrial robot application is
The production and life style for increasingly changing the mankind, become the industry paid close attention to by countries in the world.
Brain of the robot controller system as component part, the status of research: PC mode, although having man-machine friendship
The abundant function such as mutually, but just seem resource excess to the simple industrial system of some functional requirements, and excessive function and interface
The cost of system is increased again.Meanwhile the quasi-controller is based primarily upon Microsoft's Windows general-purpose operating system, and Windows is not
It is the system that designs towards Industry Control, is unable to satisfy the stabilization of control system, real-time control requires: while Windows
Operating system is the commercialization operating system that code is not increased income, therefore can not carry out real-time reconstruction to it.
Embedded plus real time operating system, maximum feature can be run independently of PC or IPC.Industrial environment exists very much
Limitation, such as spatial volume, and there are various electromagnetic interferences.By embedded technology, motion controller is minimized and increased
Its strong anti-interference ability, is applied in industrial production, not only solves stability problem, but also reduce the cost of control system.
It is based on PC or embedded Common Controller with continuously emerging in the market, but their design is only focusing only on control
On function itself is realized, ease for use and cost of serving are remained high, and real-time is also undesirable.Therefore development system real-time it is high and
The good control system of ease for use has great industry meaning and extensive use value.
Summary of the invention
Technical problems based on background technology, the invention proposes a kind of cloud remote service Study of Intelligent Robot Control
Network system realization.
A kind of cloud remote service Study of Intelligent Robot Control network system realization proposed by the present invention, comprising the following steps:
S1: Remote Terminals for Weather Servics part, the Remote Terminals for Weather Servics part include offline in-circuit emulation module, Virtual Demonstration mould
Block, Remote Uploading module, processor, terminal communications interface, remote communication interface and fault detection module, the terminal called connect
Mouth is interacted based on wired or wireless Model Establishment Remote Terminals for Weather Servics part with the communication between motion planning and robot control part,
Robot control instruction is obtained from Remote Terminals for Weather Servics part and passes to motion planning and robot control part, from motion planning and robot control
Each joint parameter, state parameter and the error code that part obtains current machine human body pass to Remote Terminals for Weather Servics part and are used for
Display and manipulation；
S2: control system is upper to be communicated with control system bottom using TCP/IP, passes through api interface tune as the upper end Client
With function, control system slave computer Q87 embedded main board installation QNX real time operating system and patch, real-time core are operated in real time
It is operated in QNX system in operating system with the server of upper communication, passes through component between Runtime real-time core and QNX
Form carries out data interaction, and wherein the Codesys component inside real-time core makees the end Client, and host computer not tape operation system is led to
It goes to read user program file after in news, user program is parsed using Lua, and user sends operation by human-computer interaction interface and refers to
It enables, using worker thread converts the operational order to the identifiable instruction of interpreter and instruction is passed to by network and explain
Device, the fault detection module obtain the position in each joint of current machine human body, speed, acceleration, torque parameter progress
It resolves, and is showed by the virtual display that offline in-circuit emulation module carries out two dimension or three-dimensional；It obtains and uses from Virtual Demonstration module
Family operational order passes to remote control module and is compiled into robot control instruction, then is sent to machine by remote communication interface
Device people's motion controller part, is sent to machine by remote communication interface for the instruction repertorie that Remote Uploading module summarizes
Device people's motion controller part；
S3: motion planning and robot control part, the motion planning and robot control part include Q87 embedded main board, QNX, Runtime
Real-time core, Codesys component, remote communication interface, teaching machine interface, remote download interface TCP/IP, Runtime real-time core and
Motion planning and robot control submodule.
Preferably, in the S3, control system bottom real-time is beaten real-time patch using QNX real-time system again and is guaranteed.
Preferably, in the S1, offline in-circuit emulation module obtains current robot sheet from state and fault detection module
Angle, speed, acceleration, the torque parameter in each joint of body, are shown by the mode of virtual reality, so that remote service is whole
Each joint states and ambient condition of robot body shown by end part and the state consistency of robot body, it is described each
The parameter in joint includes but is not limited to each joint angles, speed, acceleration and torque, and robot control instruction is that one end instructs generation
Code executes corresponding motion action for order robot body.
Preferably, in the S1, fault detection module obtains each joint of current machine human body by terminal communications interface
Position, speed, acceleration, torque parameter, the error code of current machine human body's failure and the error code of controller system,
The error code includes but is not limited to robot body error code, each motor driven error code, controller failure code.
Preferably, in the S1, remote communication interface is received based on wired or wireless mode from Remote Terminals for Weather Servics portion
It separately wins and takes robot control instruction, and send each joint parameter, the shape of current machine human body in real time by Runtime real-time core
State parameter and error code, the teaching machine interface, the robot control instruction that will acquire are compiled into robot body movement control
The executable action command of system, is used for robot body Motion trajectory, and the Runtime real-time core obtains current machine
Angle, speed, acceleration, torque parameter and the error code in each joint of human body pass to long-range clothes by remote communication interface
Business terminal part.
Preferably, in the S1, Remote Terminals for Weather Servics part is an independent controller, or to be embedded into existing tool
There is the program module of the computer-internal of communication interface.
Preferably, in the S3, the robot control instruction that teaching machine interface will acquire is compiled into robot body movement
The executable action command of control, is used for robot body Motion trajectory；The remote download interface passes through telecommunication
The robot operation program that the Remote Uploading module that interface obtains Remote Terminals for Weather Servics part is uploaded, the mode as file save
For executing in the memory space of motion planning and robot control part；The motion planning and robot control submodule receives robot
Control instruction, angle, the speed, acceleration, torque in each joint of real-time control machine human body.
Preferably, in the S1, processor obtains each joint of current machine human body from state and fault detection module
Position, speed, acceleration, torque parameter are resolved, and carry out two dimension or three-dimensional virtual by offline in-circuit emulation module
Display shows；From Virtual Demonstration module obtain user operation commands, pass to remote control module be compiled into robot control refer to
It enables, then Robot Motion Controller part is sent to by terminal communications interface, the finger that Remote Uploading module is summarized
Program is enabled to be sent to Robot Motion Controller part by terminal communications interface.
Having the beneficial effect that in the present invention
1, motion planning and robot control, telecommunication are combined together by the present invention, and the manufacturing enterprise for solving to lack technical staff is difficult
The problem of to carry out robot site programming, operation and maintenance.
2, tele-robotic motion controller system in cloud according to the present invention makes robot technology attendant can
Remotely to complete the downloading that diagnosis, teaching and the robot to robot run program, robot site technical staff only needs
Shirtsleeve operation can complete the use of robot, greatly reduce the technical requirements of site operation personnel.Structure of the invention
It is simple and convenient to operate to have and is widely popularized meaning.
Detailed description of the invention
Fig. 1 is a kind of composition signal of cloud remote service Study of Intelligent Robot Control network system realization proposed by the present invention
Figure；
Fig. 2 is a kind of Remote Terminals for Weather Servics of cloud remote service Study of Intelligent Robot Control network system realization proposed by the present invention
Part composition schematic diagram；
Fig. 3 is a kind of robot motion's control of cloud remote service Study of Intelligent Robot Control network system realization proposed by the present invention
Part composition schematic diagram processed；
Fig. 4 is a kind of robot motion's control of cloud remote service Study of Intelligent Robot Control network system realization proposed by the present invention
System module diagram；
Fig. 5 is a kind of robot motion's control of cloud remote service Study of Intelligent Robot Control network system realization proposed by the present invention
Part flow diagram processed；
Fig. 6 is a kind of the long-range based on user of cloud remote service Study of Intelligent Robot Control network system realization proposed by the present invention
Communication interface schematic diagram.
In figure: 1 robot body, 2 motion planning and robot control parts, 3 Remote Terminals for Weather Servics parts, 4 Virtual Demonstration modules,
5 Remote Uploading modules, 6 fault detection modules, 7 offline in-circuit emulation modules, 10 terminal communications interfaces, 11 teaching machine interfaces, 12
Runtime real-time core, 13 Codesys components, 14 remote communication interfaces, 15 QNX.
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.
Referring to Fig.1-6, a kind of cloud remote service Study of Intelligent Robot Control network system realization, comprising the following steps:
S1: Remote Terminals for Weather Servics part 3, Remote Terminals for Weather Servics part 3 include offline in-circuit emulation module 7, Virtual Demonstration module
4, Remote Uploading module 5, processor, terminal communications interface 10, remote communication interface 14 and fault detection module 6, terminal called
Interface 10 is based on logical between wired or wireless Model Establishment Remote Terminals for Weather Servics part 3 and motion planning and robot control part 2
News interaction obtains robot control instruction from Remote Terminals for Weather Servics part 3 and passes to motion planning and robot control part 2, from machine
Each joint parameter, state parameter and the error code that people's motion control portion 2 obtains current machine human body 1 pass to remote service
Terminal part 3 is for showing and manipulating；
S2: control system is upper to be communicated with control system bottom using TCP/IP, passes through api interface tune as the upper end Client
With function, control system slave computer Q87 embedded main board installation QNX15 real time operating system and patch, real-time core operate in reality
When operating system on and the server of upper communication operate in QNX15 system, lead between Runtime real-time core 12 and QNX15
The form for crossing component carries out data interaction, and wherein the Codesys component 13 inside real-time core makees the end Client, host computer not ribbon gymnastics
Make system, goes to read user program file later in communication, user program is parsed using Lua, and user passes through human-computer interaction interface
Operational order is sent, convert the identifiable instruction of interpreter for operational order using worker thread and finger is passed to by network
Enable interpreter, fault detection module 6 obtain the position in each joint of current machine human body 1, speed, acceleration, torque parameter into
Row resolves, and is showed by the virtual display that offline in-circuit emulation module 7 carries out two dimension or three-dimensional；It is obtained from Virtual Demonstration module 4
User operation commands are taken, remote control module is passed to and is compiled into robot control instruction, then sent out by remote communication interface 14
Robot Motion Controller part is given, the instruction repertorie that Remote Uploading module 5 summarizes is passed through into remote communication interface
14 are sent to Robot Motion Controller part；
S3: motion planning and robot control part 2, motion planning and robot control part 2 include Q87 embedded main board, QNX15, Runtime
Real-time core 12, Codesys component 13, remote communication interface 14, teaching machine interface 11, remote download interface TCP/IP, Runtime
Real-time core 12 and motion planning and robot control submodule.
In the present embodiment, in S3, control system bottom real-time is beaten real-time patch using QNX15 real-time system again and is guaranteed,
In S1, offline in-circuit emulation module 7, from state and fault detection module 6 obtain each joint of current machine human body 1 angle,
Speed, acceleration, torque parameter are shown by the mode of virtual reality, so that shown by Remote Terminals for Weather Servics part 3
The state consistency of each joint states and ambient condition of robot body 1 and robot body 1, the parameter in each joint include but
It is not limited to each joint angles, speed, acceleration and torque, robot control instruction is one end instruction code, is used for order machine
Human body 1 executes corresponding motion action, and in S1, fault detection module 6 obtains current robot by terminal communications interface 10
The position in each joint of ontology 1, speed, acceleration, torque parameter, the error code and controller of 1 failure of current machine human body
The error code of system, error code include but is not limited to 1 error code of robot body, each motor driven error code, controller failure
Yard, in S1, remote communication interface 14 is received from Remote Terminals for Weather Servics part 3 based on wired or wireless mode and obtains robot control
Instruction is made, and sends each joint parameter, state parameter and event of current machine human body 1 in real time by Runtime real-time core 12
Hinder code, teaching machine interface 11, the robot control instruction that will acquire is compiled into executable dynamic of 1 motion control of robot body
It instructs, is used for 1 Motion trajectory of robot body, Runtime real-time core 12 obtains each joint of current machine human body 1
Angle, speed, acceleration, torque parameter and error code Remote Terminals for Weather Servics part is passed to by remote communication interface 14
In 3, S1,3 part of Remote Terminals for Weather Servics is an independent controller, or to be embedded into the existing calculating with communication interface
Program module inside machine, in S3, the robot control instruction that teaching machine interface 11 will acquire is compiled into the movement of robot body 1
The executable action command of control, is used for 1 Motion trajectory of robot body；Remote download interface passes through remote communication interface
The robot operation program that the Remote Uploading module 5 of 14 acquisition Remote Terminals for Weather Servics parts 3 is uploaded, the mode as file save
For executing in the memory space of motion planning and robot control part 2；Motion planning and robot control submodule receives robot control
Instruction, angle, the speed, acceleration, torque in each joint of real-time control machine human body 1, in S1, processor is from state and failure
The position in the acquisition of the detection module 6 each joint of current machine human body 1, speed, acceleration, torque parameter resolve, and pass through
Offline in-circuit emulation module 7 carries out two dimension or three-dimensional virtual display shows；User's operation life is obtained from Virtual Demonstration module 4
It enables, passes to remote control module and be compiled into robot control instruction, then robot motion is sent to by terminal communications interface
The instruction repertorie that Remote Uploading module 5 summarizes is sent to robot fortune by terminal communications interface by controller part
Movement controller part.
It is devised in remote service robot control system beyond the clouds in the present invention and remote teaching and remote diagnosis is provided
Function: Remote Terminals for Weather Servics part can carry out real-time programming, diagnosis and training.Motion planning and robot control part is by several generations
Robot control instruction code summarize and to generate robot operation program, transmitted by remotely running download function in program
To the memory space of the motion planning and robot control part of robot body, robot attendant can be complete by remote control
Pairs of robot carries out diagnosis of technique and simple operations, greatly reduces the technical requirements to field technician.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of cloud remote service Study of Intelligent Robot Control network system realization, which comprises the following steps:
S1: Remote Terminals for Weather Servics part (3), the Remote Terminals for Weather Servics part (3) include offline in-circuit emulation module (7), void
Quasi- teaching module (4), Remote Uploading module (5), processor, terminal communications interface (10), remote communication interface (14) and failure
Detection module (6), the terminal communications interface (10) based on wired or wireless Model Establishment Remote Terminals for Weather Servics part (3) with
Communication interaction between motion planning and robot control part (2), obtains robot control instruction from Remote Terminals for Weather Servics part (3) and passes
Motion planning and robot control part (2) are passed, each pass of current machine human body (1) is obtained from robot motion control portion (2)
Section parameter, state parameter and error code pass to Remote Terminals for Weather Servics part (3) for showing and manipulating；
S2: control system is upper to be communicated with control system bottom using TCP/IP, passes through api interface tune as the upper end Client
It is operated in function, control system slave computer Q87 embedded main board installation QNX(15) real time operating system and patch, real-time core
In real time operating system and the server of upper communication operates in QNX(15) in system, Runtime real-time core (12) and QNX
(15) data interaction is carried out between by way of component, wherein the Codesys component (13) inside real-time core makees the end Client,
Host computer not tape operation system, in communication after go to read user program file, user program is passed through using Lua parsing, user
Human-computer interaction interface sends operational order, converts the identifiable instruction of interpreter simultaneously for the operational order using worker thread
Instruction interpreter is passed to by network, the fault detection module (6) obtains the position in current machine human body (1) each joint
Set, speed, acceleration, torque parameter are resolved, and two dimension or three-dimensional virtual is carried out by offline in-circuit emulation module (7)
Display shows；User operation commands are obtained from Virtual Demonstration module (4), remote control module is passed to and is compiled into robot control
Instruction, then it is sent to Robot Motion Controller part by remote communication interface (14), Remote Uploading module (5) is summarized
Obtained instruction repertorie is sent to Robot Motion Controller part by remote communication interface (14)；
S3: motion planning and robot control part (2), the motion planning and robot control part (2) includes Q87 embedded main board, QNX
(15), Runtime real-time core (12), Codesys component (13), remote communication interface (14), teaching machine interface (11), it is long-range under
Carry interface (TCP/IP), Runtime real-time core (12) and motion planning and robot control submodule.
2. a kind of cloud remote service Study of Intelligent Robot Control network system realization according to claim 1, feature exist
In in the S3, control system bottom real-time is beaten real-time patch using QNX(15) real-time system again and guaranteed.
3. a kind of cloud remote service Study of Intelligent Robot Control network system realization according to claim 1, feature exist
In in the S1, offline in-circuit emulation module (7) obtains current machine human body (1) from state and fault detection module (6)
Angle, speed, acceleration, the torque parameter in each joint, are shown by the mode of virtual reality, so that Remote Terminals for Weather Servics
The partially state one of each joint states of robot body (1) and ambient condition and robot body (1) shown by (3)
It causes, the parameter in each joint includes but is not limited to each joint angles, speed, acceleration and torque, and robot control instruction is
One end instruction code executes corresponding motion action for order robot body (1).
4. a kind of cloud remote service Study of Intelligent Robot Control network system realization according to claim 1, feature exist
In in the S1, fault detection module (6) obtains current machine human body (1) each joint by terminal communications interface (10)
Position, speed, acceleration, torque parameter, the error code of current machine human body (1) failure and the failure of controller system
Code, the error code includes but is not limited to robot body (1) error code, each motor driven error code, controller failure code.
5. a kind of cloud remote service Study of Intelligent Robot Control network system realization according to claim 1, feature exist
In in the S1, remote communication interface (14) is received from Remote Terminals for Weather Servics part (3) based on wired or wireless mode and obtained
Robot control instruction, and by Runtime real-time core (12) in real time send current machine human body (1) each joint parameter,
State parameter and error code, the teaching machine interface (11), the robot control instruction that will acquire are compiled into robot body
(1) the executable action command of motion control is used for robot body (1) Motion trajectory, the Runtime real-time core
(12), angle, speed, acceleration, torque parameter and the error code for obtaining current machine human body (1) each joint pass through remotely
Communication interface (14) passes to Remote Terminals for Weather Servics part (3).
6. a kind of cloud remote service Study of Intelligent Robot Control network system realization according to claim 1, feature exist
In, in the S1, Remote Terminals for Weather Servics (3) partially be an independent controller, or for be embedded into it is existing have communication connect
The program module of the computer-internal of mouth.
7. a kind of cloud remote service Study of Intelligent Robot Control network system realization according to claim 1, feature exist
In in the S3, the robot control instruction that teaching machine interface (11) will acquire is compiled into robot body (1) motion control can
The action command of execution is used for robot body (1) Motion trajectory；The remote download interface passes through remote communication interface
(14) the robot operation program that the Remote Uploading module (5) of Remote Terminals for Weather Servics part (3) is uploaded, the mould as file are obtained
Formula is stored in the memory space of motion planning and robot control part (2) for executing；The motion planning and robot control submodule, connects
Receive robot control instruction, angle, the speed, acceleration, torque in real-time control machine human body (1) each joint.
8. a kind of cloud remote service Study of Intelligent Robot Control network system realization according to claim 1, feature exist
In in the S1, processor obtains the position in current machine human body (1) each joint, speed from state and fault detection module (6)
Degree, acceleration, torque parameter are resolved, and carry out two dimension or three-dimensional virtual display by offline in-circuit emulation module (7)
Show；From Virtual Demonstration module (4) obtain user operation commands, pass to remote control module be compiled into robot control refer to
It enables, then Robot Motion Controller part is sent to by terminal communications interface, Remote Uploading module (5) is summarized
Instruction repertorie is sent to Robot Motion Controller part by terminal communications interface.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111010054A (en) * | 2020-01-02 | 2020-04-14 | 西安贝尔罗电机系统有限公司 | Cloud computing-based remote operation motor personalized control system and method |
| CN111216123A (en) * | 2019-11-29 | 2020-06-02 | 深圳勇艺达机器人有限公司 | Humanoid robot arm control and fault diagnosis system |
| CN111761586A (en) * | 2020-07-22 | 2020-10-13 | 西安文理学院 | Remote control robot based on big data |
| CN112192564A (en) * | 2020-09-14 | 2021-01-08 | 珠海格力电器股份有限公司 | Remote control method, device, equipment and storage medium for robot |
| CN112286156A (en) * | 2020-10-30 | 2021-01-29 | 马鞍山安慧智电子科技有限公司 | Remote robot control system based on internet |
| CN112518751A (en) * | 2020-12-01 | 2021-03-19 | 上海有个机器人有限公司 | Robot steering engine remote control method and device |
| CN112643715A (en) * | 2020-12-28 | 2021-04-13 | 芜湖哈特机器人产业技术研究院有限公司 | Industrial robot remote monitoring and diagnosing system and method based on 5G |
| CN113211443A (en) * | 2021-05-18 | 2021-08-06 | 广州市香港科大霍英东研究院 | Cooperative robot compliance control method, system and device |
| CN113246144A (en) * | 2021-06-29 | 2021-08-13 | 深之蓝海洋科技股份有限公司 | Position control system and method for underwater manipulator |
| WO2024031553A1 (en) * | 2022-08-11 | 2024-02-15 | 西门子股份公司 | Real-time control method, real-time control apparatus, computing device, and storage medium |
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