CN109514555A - Command interaction method, robot demonstrator, robot controller and storage medium - Google Patents
Command interaction method, robot demonstrator, robot controller and storage medium Download PDFInfo
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- CN109514555A CN109514555A CN201811454789.2A CN201811454789A CN109514555A CN 109514555 A CN109514555 A CN 109514555A CN 201811454789 A CN201811454789 A CN 201811454789A CN 109514555 A CN109514555 A CN 109514555A
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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
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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
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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
Abstract
The embodiment of the invention provides a kind of command interaction method, robot demonstrator, robot controller and storage mediums, applied to the command interaction between robot demonstrator and robot controller, the command interaction method includes: to send robot controller by the first communications protocol for real-time command collection according to predetermined period, and the first feedback information of the robot controller is received by first communications protocol；In the non real-time order for receiving input, the robot controller is sent by the second communications protocol by the non real-time order, and the second feedback information of the robot controller is received by second communications protocol.The embodiment of the present invention is by being divided into real-time command and non real-time order by function and performance for robot data, and real-time command is sent by the first communications protocol, non real-time order is sent by the second communications protocol, it ensure that the high efficiency communication of real-time command and non real-time order.
Description
Technical field
The present embodiments relate to robot fields, more specifically to a kind of command interaction method, robot teaching
Device, robot controller and storage medium.
Background technique
Robot is the automatic installations for executing work, it can both run the program of preparatory layout, can also basis
The order of input carries out corresponding operating.Currently, robot is widely used to the workplace of production, building or danger.
Teaching machine is manually handle, programming, parameter configuration and the device of monitoring for carrying out robot.With machine
The development of device people's technology, the teaching machine as man-machine interactive interface undertake more and more functions, and a large amount of data need to be in teaching
Device is interacted with the controller end of robot.
Currently, being communicated between teaching machine and robot controller using single communication modes, it is difficult to realize all
Efficient, high quality the transmission and processing of data.
Summary of the invention
The embodiment of the present invention is directed between above-mentioned teaching machine and robot controller because using single communication modes to carry out
The problem of communicating, and leading to efficient, high quality the transmission for being difficult to realize all data and processing, provides a kind of command interaction side
Method, robot demonstrator, robot controller and storage medium.
The technical solution that the embodiment of the present invention solves above-mentioned technical problem is to provide a kind of command interaction method, for real
The now command interaction between robot controller characterized by comprising
Robot controller is sent by the first communications protocol by real-time command collection according to predetermined period, and by described
First communications protocol receives the first feedback information of the robot controller；
In the non real-time order for receiving input, send the non real-time order to by the second communications protocol described in
Robot controller, and receive by second communications protocol the second feedback information of the robot controller.
Preferably, the real-time command collection includes a plurality of real-time command, and the real-time command is robotary reading
Order, the robotary include: emergency stop state, enabled state, mode, operating status, present speed, currently select coordinate
System, currently selects user coordinate system at currently used tool；
The non real-time order includes one or more below: the tool of the motion command of each axis of robot, robot
Coordinate system parameters read write command, the zero point parameter reading and writing order of robot, robot input/output state monitor command.
Preferably, first communications protocol, the second communications protocol are belonging respectively to TCP/IP protocol suite；
It is described that robot controller is sent by the first communications protocol by real-time command collection according to predetermined period, comprising:
The real-time command collection is encapsulated into first data frame, and first data frame includes communication type byte；
First feedback information is encapsulated into second data frame, and second data frame includes communication type byte,
And the communication type byte of second data frame and the first data frame is identical；
The non real-time order is read command or write order；
It is described by it is described it is non real-time order by the second communications protocol be sent to the robot controller include: will be described
Non real-time order is encapsulated into a third data frame, and the third data frame includes communication type byte；
When the non real-time order is read command, second feedback information is encapsulated into the 4th data frame, and institute
Stating the 4th data frame includes communication type byte；
When the non real-time order is write-read order, second feedback information is encapsulated into the 5th data frame, and
5th data frame includes communication type byte；
Communication type byte in the third data frame, the 4th data frame and the 5th data frame is identical.
Preferably, which comprises
The robot demonstrator passes through third communications protocol when receiving multiframe type order, by the multiframe type order
It is sent to robot controller, and the robot controller third feedback information is received by the third communications protocol, and
The multiframe type order includes the order of craft type reading and writing data, robot program's read write command.
Preferably, the third communications protocol, the second communications protocol are belonging respectively to TCP/IP protocol suite, the multiframe type life
Enable is read command or write order；
It is described that send robot controller by third communications protocol for the multiframe type order include: by the multiframe
Type order is encapsulated into multiple 6th data frames, and the 6th data frame includes communication type byte；
When the multiframe type order is read command, the third feedback information is encapsulated into multiple 7th data frames, and institute
Stating the 7th data frame includes communication type byte；
When the multiframe type order is write-read order, the third feedback information is encapsulated into the 8th data frame, and
8th data frame includes communication type byte；
Communication type byte in 6th data frame, the 7th data frame and the 8th data frame is identical.
The embodiment of the present invention also provides a kind of robot demonstrator, including memory and processor, deposits in the memory
The computer program that can be executed in the processor is contained, and realizes institute as above when the processor execution computer program
The step of stating method.
The embodiment of the present invention also provides a kind of computer readable storage medium, stores on the computer readable storage medium
There is computer program, when the computer program is executed by processor, the step of realizing method as described above.
The embodiment of the present invention also provides a kind of command interaction method, hands over for realizing the order between robot demonstrator
Mutually, comprising:
The real-time command collection that the robot demonstrator is sent is received by the first communications protocol, executes the real-time command
The a plurality of real-time command concentrated, and the first feedback information of the implementing result comprising a plurality of real-time command is passed through described the
One communications protocol is sent to the robot demonstrator；
The non real-time order that the robot demonstrator is sent is received by the second communications protocol, executes the non real-time life
It enables, and institute is sent by second communications protocol by the second feedback information of the implementing result comprising the non real-time order
State robot demonstrator.
Preferably, first communications protocol, the second communications protocol are belonging respectively to TCP/IP protocol suite；
The real-time command collection is encapsulated into first data frame, and first data frame includes communication type byte；Institute
It states and institute is sent by first communications protocol by the first feedback information of the implementing result comprising a plurality of real-time command
State robot demonstrator, comprising: first feedback information is encapsulated into second data frame, second data frame includes
Communication type byte, and the communication type byte of second data frame and the first data frame is identical；
The non real-time command set is encapsulated into a third data frame, and the third data frame includes communication type byte；
Second feedback information by the implementing result comprising the non real-time order is sent to institute by second communications protocol
State robot demonstrator, comprising:
When the non real-time order is read command, second feedback information is encapsulated into the 4th data frame, and
4th data frame includes communication type byte；
When the non real-time order is write-read order, second feedback information is encapsulated into the 5th data frame,
And the 5th data frame includes communication type byte；
Communication type byte in the third data frame, the 4th data frame and the 5th data frame is identical.
Preferably, which comprises the multiframe type that the robot demonstrator is sent is received by third communications protocol
Order, executes the multiframe type order, and the third feedback information of the implementing result comprising the multiframe type order is passed through institute
It states third communications protocol and is sent to the robot demonstrator.
Preferably, the third communications protocol belongs to TCP/IP protocol suite；The multiframe type order is encapsulated into multiple six
Data frame, the 6th data frame includes communication type byte；It is described by of the implementing result comprising the multiframe type order
Three feedback informations are sent to the robot demonstrator by the third communications protocol, comprising:
When the multiframe type order is read command, the third feedback information is encapsulated into multiple 7th data frames, and
7th data frame includes communication type byte；
When the multiframe type order is write-read order, the third feedback information is encapsulated into the 8th data frame,
And the 8th data frame includes communication type byte；
Communication type byte in 6th data frame, the 7th data frame and the 8th data frame is identical.
The embodiment of the present invention also provides a kind of robot controller, including memory and processor, deposits in the memory
The computer program that can be executed in the processor is contained, and realizes institute as above when the processor execution computer program
The step of stating method.
The embodiment of the present invention also provides a kind of computer readable storage medium, stores on the computer readable storage medium
There is computer program, when the computer program is executed by processor, the step of realizing method as described above.
Command interaction method, robot demonstrator, robot controller and the storage medium of the embodiment of the present invention, pass through by
Robot data is divided into real-time command and non real-time order by function and performance, and sends life in real time by the first communications protocol
It enables, non real-time order is sent by the second communications protocol, ensure that the high efficiency communication of real-time command and non real-time order.Also,
The present invention will also cross the transmission of third communications protocol progress multiframe type order, to realize the quick biography of mass file or data
It passs.
Detailed description of the invention
Fig. 1 is the flow diagram of command interaction method provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of the first data frame in command interaction method provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of the second data frame in command interaction method provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram of third data frame in command interaction method provided in an embodiment of the present invention；
Fig. 5 is the schematic diagram of the 4th data frame in command interaction method provided in an embodiment of the present invention；
Fig. 6 is the schematic diagram of the 5th data frame in command interaction method provided in an embodiment of the present invention；
Fig. 7 is the schematic diagram of the 6th data frame in command interaction method provided in an embodiment of the present invention；
Fig. 8 is the schematic diagram of the 7th data frame in command interaction method provided in an embodiment of the present invention；
Fig. 9 is the schematic diagram of the 8th data frame in command interaction method provided in an embodiment of the present invention；
Figure 10 is the schematic diagram of robot demonstrator provided in an embodiment of the present invention；
Figure 11 be another embodiment of the present invention provides command interaction method flow diagram；
Figure 12 is the schematic diagram of robot controller provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in Figure 1, being the flow diagram of command interaction method provided in an embodiment of the present invention, the command interaction method
It can be applied to the command interaction between robot demonstrator and robot controller.The command interaction method of the present embodiment is included in
The following steps executed in teaching machine:
Step S11: communication connection is established with robot controller.The communication connection establishment process can refer to existing robot
Teaching machine and robot controller establish the process of communication connection, such as pass through three-way handshake etc..
Step S12: sending robot controller by the first communications protocol for real-time command collection according to predetermined period, and
The first feedback information (i.e. the response message of real-time command collection) of robot controller is received by the first communications protocol.
Above-mentioned real-time command collection includes a plurality of real-time command, and above-mentioned real-time command be teaching machine and robot controller it
Between the order that successively communicates, specifically include the order of the crucial real time status information of read machine people, such as emergency stop shape
State, mode, operating status, present speed, currently selects coordinate system, currently used tool, current selection user to sit at enabled state
Mark system etc..The order of above-mentioned reading real time status information is automatically generated by the background thread of teaching machine, and is integrated into an entirety
In structural body.Also, background thread constantly recycles, the above-mentioned real-time command collection of periodic reading, and real by the first communications protocol
When be sent to the robot controller connecting with teaching machine.Robot controller is after receiving above-mentioned real-time command collection, parsing
Corresponding real-time command is obtained and executed, and returns to corresponding first feedback information, such as corresponding real-time status to teaching machine
Information etc..
It particularly, can be by above-mentioned reality when sending robot controller by the first communications protocol for real-time command collection
When command set be encapsulated into first data frame, and first data frame includes communication type byte.As shown in Fig. 2, above-mentioned
One data frame specifically may include frame head byte, communication type byte, command byte and real-time command collection byte, in which: frame head
First character section in byte is customized verification；Second byte is communication identifier, for distinguishing the state of teaching machine transmission
The state of read requests or controller feedback reads response；The communication type byte of first data frame is corresponding for real-time command
Mark, such as 0x01.Robot controller is after receiving above-mentioned first data frame, when parsing communication type byte is to order in real time
It after enabling corresponding mark, is immediately performed above-mentioned real-time command (i.e. inquiry real-time status), and to teaching machine returning response information.
Correspondingly, the first feedback information from robot controller is encapsulated into second data frame.As shown in figure 3,
Above-mentioned second data frame specifically may include frame head byte, communication type byte, type of error byte, error code byte, coding line
Section and real-time command collection byte, in which: the communication type byte of second data frame is also the corresponding mark of real-time command, such as
0x01.Teaching machine is when parsing above-mentioned second data frame, when the communication type byte that parsing obtains is the corresponding mark of real-time command
Know, then according to corresponding robot real-time status data in the content update teaching machine interface of the second data frame.
Step S13: it in the non real-time order for receiving input, sends non real-time order to by the second communications protocol
Robot controller, and receive by the second communications protocol the second feedback information (i.e. non real-time life of the robot controller
The response message of order).
Above-mentioned non real-time order is does not read always in background thread, but user is carrying out certain checking or change number
According to when the order that communicates.The parameter of the setting property of robot is all non real-time order, for example, robot each axis motion command,
The tool coordinates system parameter reading and writing order of robot, zero point parameter reading and writing order of robot etc..Furthermore certain of supervisory control of robot
A little parameters are also non real-time order, even if these data constantly refresh in some cases, for example the input of robot is defeated
Do well read write command, although the output monitoring page in teaching machine constantly refreshes these input/output states of display, background
It can't refresh in real time in thread, but refresh in real time in some cases.Therefore the read write command of this data is also classified as
Non real-time order.Robot controller executes corresponding non real-time order after receiving above-mentioned non real-time command set, and to showing
Device is taught to return to corresponding second feedback information, such as the data of reading, write-in success or failure etc..
Also, real-time command and non real-time order can have repetition, such as the speed reading order of robot, it belongs to reality
When command set in one, while be also a non real-time order.In robot background thread, the continuous read machine of teaching machine
The speed recorded in people's controller, and update the interface display of teaching machine；Simultaneously when user's operation teaching machine change robot speed
When spending, but can the form of non real-time order write.
Specifically, above-mentioned non real-time order concretely read command or write order.Above-mentioned non real-time order is being passed through the
When two communications protocol are sent to robot controller, non real-time order can be encapsulated into a third data frame.As shown in figure 4,
The third data frame may include frame head byte, communication type byte, command byte, read-write state byte and command content word
Section, in which: the communication type byte of the third data frame is the corresponding mark of non real-time order, such as 0x02.
When non real-time order in third data frame is read command, the second feedback information envelope from robot controller
It is attached to the 4th data frame.As shown in figure 5, the 4th data frame includes frame head byte, communication type byte, type of error word
Section, error code byte, command byte and command content byte, in which: the communication type byte of the 4th data frame is also non-
The corresponding mark of real-time command, such as 0x02.
When non real-time order in third data frame is write-read order, the second feedback information from robot controller
It is encapsulated into the 5th data frame.As shown in fig. 6, the 5th data frame includes frame head byte, communication type byte, type of error
Byte, error code byte, in which: the communication type byte of the 5th data frame is also the corresponding mark of non real-time order, such as
0x02。
Mentioned order exchange method by the way that robot data is divided into real-time command and non real-time order by function and performance,
And real-time command is sent by the first communications protocol and receives the first feedback information, non real-time life is sent by the second communications protocol
The second feedback information is enabled and received, ensure that the high efficiency communication of real-time command and non real-time order.
Above-mentioned real-time command collection and non real-time order, single datum content is all shorter and smaller, can be with single frame transmission.And
For biggish data (i.e. byte length be more than preset value data), such as certain craft type data or robot program etc.,
There are many data content, need to transmit by multiframe.Correspondingly, in another embodiment of the invention, it can be received in teaching machine
When multiframe type order, robot controller is sent by third communications protocol by the order of multiframe type, and communicate and assist by third
View receives the third feedback information (i.e. the response message of multiframe type order) of robot controller.Above-mentioned multiframe type order includes work
The order of skill type reading and writing data, robot program's read write command etc..
Specifically, above-mentioned multiframe type order is read command or write order.Above-mentioned multiframe type order is being communicated by third
When agreement is sent to robot controller, multiframe type order can be encapsulated into multiple 6th data frames.As shown in fig. 7, the 6th
Data frame may include frame head byte, communication type byte, command byte, total packet digital section, current Bale No. byte, current packet long word
Section, data content byte, in which: the communication type byte of the 6th data frame is the corresponding mark of multiframe type order, such as 0x03.
When the multiframe type order being encapsulated into the 6th data frame is read command, the third feedback from robot controller
Information encapsulation is to multiple 7th data frames.As shown in figure 8, the 7th data frame includes frame head byte, communication type byte, mistake
Type-byte, error code byte, command byte, total packet digital section, current Bale No. byte, current packet slab, data content word
Section, in which: the communication type byte of the 7th data frame is also the corresponding mark of multiframe type order, such as 0x03.
When the multiframe type order being encapsulated into the 6th data frame is write order, the third feedback from robot controller
Information encapsulation is to the 8th data frame.As shown in figure 9, the 8th data frame includes frame head byte, communication type byte, mistake
Type-byte, error code byte, in which: the communication type byte of the 8th data frame is also the corresponding mark of multiframe type order,
Such as 0x03.
Preferably, above-mentioned first communications protocol, the second communications protocol, third communications protocol are belonging respectively to ICP/IP protocol
Race, uses IP agreement in network layer, uses Transmission Control Protocol in transport layer, and each step has feedback and monitoring, ensure that data are transmitted
Reliability.
In addition, in above-mentioned teaching machine, for special file type, the File Transfer Protocol transmission of standard can be used, thus obtain compared with
High efficiency.
As shown in Figure 10, the embodiment of the present invention also provides a kind of robot demonstrator, which can be with machine
People's controller communication.The robot demonstrator includes memory 101 and processor 102, and being stored in memory 101 can handled
The computer program run in device 102, processor 102 run above-mentioned computer program and realize command interaction method as described above
The step of.Robot demonstrator and mentioned order exchange method in the present embodiment belong to same design, implement process
Corresponding embodiment of the method is seen in detail, and the technical characteristic in embodiment of the method is corresponding applicable in this apparatus embodiments, this
In repeat no more.
The embodiment of the present invention also provides a kind of computer readable storage medium, and computer journey is stored on the storage medium
Sequence, the and when computer program is executed by processor, the step of realizing method as described above.The computer of the embodiment of the present invention
Readable storage medium storing program for executing and command interaction method as shown in Figure 1 belong to same design, and specific implementation process is shown in corresponding in detail
Embodiment of the method, and the technical characteristic in embodiment of the method is corresponding applicable in the present embodiment, which is not described herein again.
It as shown in figure 11, is the flow diagram of command interaction method provided in an embodiment of the present invention, the command interaction side
Method is for realizing the command interaction between robot demonstrator, comprising:
Step S111: communication connection is established with robot demonstrator.The communication connection establishment process can refer to existing machine
People's teaching machine and robot controller establish the process of communication connection, such as pass through three-way handshake etc..
Step S112: receiving the real-time command collection that robot demonstrator is sent by the first communications protocol, executes life in real time
Enable concentrate a plurality of real-time command, and will comprising a plurality of real-time command (belonging to same real-time command collection) implementing result first
Feedback information is sent to the robot demonstrator by the first communications protocol.
Particularly, above-mentioned first communications protocol can belong to TCP/IP protocol suite.Above-mentioned robot demonstrator is sent real-time
Command set is encapsulated into first data frame, and first data frame includes communication type byte.First data frame it is specific
Structure can refer to Fig. 2.
The step is first anti-by first when sending robot demonstrator by the first communications protocol for the first feedback information
Feedforward information is encapsulated into second data frame, which includes communication type byte, and second data frame and first
The communication type byte of data frame is identical.The specific structure of second data frame can refer to Fig. 3.
Step S113: the non real-time order that robot demonstrator is sent is received by the second communications protocol, is executed non real-time
Order, and robot is sent by the second communications protocol by the second feedback information of the implementing result comprising non real-time order and is shown
Teach device.
Particularly, above-mentioned second communications protocol belongs to TCP/IP protocol suite.The non real-time order that robot demonstrator is sent
Collection is encapsulated into a third data frame, and the third data frame includes communication type byte.The specific structure of the third data frame
It can refer to Fig. 4.
In this step, before sending the robot demonstrator by the second communications protocol for the second feedback information
It include: that the second feedback information is encapsulated into the 4th data frame, and the 4th data frame packet when non real-time order is read command
Include communication type byte (specific structure of the 4th data frame can refer to Fig. 5)；When non real-time order is write-read order, by the
Two feedback informations are encapsulated into the 5th data frame, and the 5th data frame includes the communication type byte (tool of the 5th data frame
Body structure can refer to Fig. 6)；Communication type byte in above-mentioned third data frame, the 4th data frame and the 5th data frame is identical.
The above-mentioned command interaction method carried out with robot demonstrator, which may also include that, receives machine by third communications protocol
The multiframe type order that people's teaching machine is sent executes the order of multiframe type, and the third of the implementing result comprising multiframe type order is anti-
Feedforward information is sent to the robot demonstrator by third communications protocol.
Preferably, above-mentioned third communications protocol belongs to TCP/IP protocol suite；From the received multiframe type life of robot demonstrator
Order is encapsulated into multiple 6th data frames, and the 6th data frame includes communication type byte.The specific structure of 6th data frame can
With reference to Fig. 7.
The robot demonstrator is sent by third communications protocol by third feedback information in the above method, specifically
It include: that third feedback information is encapsulated into multiple 7th data frames, and the 7th data frame packet when multiframe type order is read command
Include communication type byte (specific structure of the 7th data frame can refer to Fig. 8)；When multiframe type order is write-read order, by the
Three feedback informations are encapsulated into the 8th data frame, and the 8th data frame includes the communication type byte (tool of the 8th data frame
Body structure can refer to Fig. 9)；Communication type byte in above-mentioned 6th data frame, the 7th data frame and the 8th data frame is identical.
As shown in figure 12, the embodiment of the present invention also provides a kind of robot controller, which can be with machine
The communication of people's teaching machine.The robot controller includes memory 121 and processor 122, and being stored in memory 121 can handled
The computer program run in device 122, processor 122 run above-mentioned computer program and realize command interaction method as described above
The step of.Robot controller and mentioned order exchange method in the present embodiment belong to same design, implement process
Corresponding embodiment of the method is seen in detail, and the technical characteristic in embodiment of the method is corresponding applicable in this apparatus embodiments, this
In repeat no more.
The embodiment of the present invention also provides a kind of computer readable storage medium, and computer journey is stored on the storage medium
Sequence, the and when computer program is executed by processor, the step of realizing method as described above.The computer of the embodiment of the present invention
Readable storage medium storing program for executing and command interaction method as shown in figure 11 belong to same design, and specific implementation process is shown in corresponding in detail
Embodiment of the method, and the technical characteristic in embodiment of the method is corresponding applicable in the present embodiment, which is not described herein again.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (13)
1. a kind of command interaction method, for realizing the command interaction between robot controller characterized by comprising
Robot controller is sent by the first communications protocol by real-time command collection according to predetermined period, and passes through described first
Communications protocol receives the first feedback information of the robot controller；
In the non real-time order for receiving input, the machine is sent by the second communications protocol by the non real-time order
People's controller, and receive by second communications protocol the second feedback information of the robot controller.
2. command interaction method according to claim 1, which is characterized in that the real-time command collection includes a plurality of real-time life
It enables, and the real-time command is robotary reading order, the robotary includes: emergency stop state, enabled state, mould
Formula, present speed, currently selects coordinate system, currently used tool, currently selects user coordinate system operating status；
The non real-time order includes one or more below: the tool coordinates of the motion command of each axis of robot, robot
Be parameter reading and writing order, the zero point parameter reading and writing order of robot, robot input/output state monitor command.
3. command interaction method according to claim 1, which is characterized in that first communications protocol, the second communication association
View is belonging respectively to TCP/IP protocol suite；
It is described that robot controller is sent by the first communications protocol by real-time command collection according to predetermined period, comprising: by institute
It states real-time command collection and is encapsulated into first data frame, and first data frame includes communication type byte；
First feedback information is encapsulated into second data frame, and second data frame includes communication type byte, and institute
The communication type byte for stating the second data frame and the first data frame is identical；
The non real-time order is read command or write order；It is described to send the non real-time order to by the second communications protocol
The robot controller includes:
The non real-time order is encapsulated into a third data frame, and the third data frame includes communication type byte；
When the non real-time order is read command, second feedback information is encapsulated into the 4th data frame, and described the
Four data frames include communication type byte；
When the non real-time order is write-read order, second feedback information is encapsulated into the 5th data frame, and described
5th data frame includes communication type byte；
Communication type byte in the third data frame, the 4th data frame and the 5th data frame is identical.
4. command interaction method according to claim 1, which is characterized in that the described method includes:
The robot demonstrator is sent when receiving multiframe type order, by the multiframe type order by third communications protocol
The robot controller third feedback information is received to robot controller, and by the third communications protocol, and described
Multiframe type order includes the order of craft type reading and writing data, robot program's read write command.
5. command interaction method according to claim 4, which is characterized in that the third communications protocol, the second communication association
View is belonging respectively to TCP/IP protocol suite, and the multiframe type order is read command or write order；It is described to lead to the multiframe type order
It crosses third communications protocol and is sent to robot controller and include:
The multiframe type order is encapsulated into multiple 6th data frames, and the 6th data frame includes communication type byte；
When the multiframe type order is read command, the third feedback information is encapsulated into multiple 7th data frames, and described the
Seven data frames include communication type byte；
When the multiframe type order is write-read order, the third feedback information is encapsulated into the 8th data frame, and described
8th data frame includes communication type byte；
Communication type byte in 6th data frame, the 7th data frame and the 8th data frame is identical.
6. a kind of robot demonstrator, which is characterized in that including memory and processor, being stored in the memory can be in institute
The computer program of processor execution is stated, and is realized when the processor execution computer program as in claim 1-5
The step of any one the method.
7. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program when the computer program is executed by processor, is realized such as the step of any one of claims 1 to 5 the method.
8. a kind of command interaction method, for realizing the command interaction between robot demonstrator characterized by comprising
The real-time command collection that the robot demonstrator is sent is received by the first communications protocol, the real-time command is executed and concentrates
A plurality of real-time command, and the first feedback information of the implementing result comprising a plurality of real-time command is led to by described first
News agreement is sent to the robot demonstrator；
The non real-time order that the robot demonstrator is sent is received by the second communications protocol, executes the non real-time order,
And it sends by second communications protocol the second feedback information of the implementing result comprising the non real-time order to described
Robot demonstrator.
9. command interaction method according to claim 8, which is characterized in that first communications protocol, the second communication association
View is belonging respectively to TCP/IP protocol suite；
The real-time command collection is encapsulated into first data frame, and first data frame includes communication type byte；It is described to incite somebody to action
First feedback information of the implementing result comprising a plurality of real-time command is sent to the machine by first communications protocol
Device people's teaching machine, comprising: first feedback information is encapsulated into second data frame, second data frame includes communication
Type-byte, and the communication type byte of second data frame and the first data frame is identical；
The non real-time command set is encapsulated into a third data frame, and the third data frame includes communication type byte；It is described
The machine is sent by second communications protocol by the second feedback information of the implementing result comprising the non real-time order
Device people's teaching machine, comprising:
When the non real-time order is read command, second feedback information is encapsulated into the 4th data frame, and described
4th data frame includes communication type byte；
When the non real-time order is write-read order, second feedback information is encapsulated into the 5th data frame, and institute
Stating the 5th data frame includes communication type byte；
Communication type byte in the third data frame, the 4th data frame and the 5th data frame is identical.
10. command interaction method according to claim 8, which is characterized in that assisted the described method includes: being communicated by third
View receives the multiframe type order that the robot demonstrator is sent, and executes the multiframe type order, and will include the multiframe type
The third feedback information of the implementing result of order is sent to the robot demonstrator by the third communications protocol.
11. command interaction method according to claim 10, which is characterized in that the third communications protocol belongs to TCP/IP
Protocol suite；The multiframe type order is encapsulated into multiple 6th data frames, and the 6th data frame includes communication type byte；It is described
The machine is sent by the third communications protocol by the third feedback information of the implementing result comprising the multiframe type order
Device people's teaching machine, comprising:
When the multiframe type order is read command, the third feedback information is encapsulated into multiple 7th data frames, and described
7th data frame includes communication type byte；
When the multiframe type order is write-read order, the third feedback information is encapsulated into the 8th data frame, and institute
Stating the 8th data frame includes communication type byte；
Communication type byte in 6th data frame, the 7th data frame and the 8th data frame is identical.
12. a kind of robot controller, which is characterized in that including memory and processor, being stored in the memory can be
The computer program that the processor executes, and such as claim 8-11 is realized when the processor execution computer program
Any one of the method the step of.
13. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program when the computer program is executed by processor, is realized such as the step of any one of claim 8 to 11 the method.
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