CN109732597A - A kind of remote debugging method based on robot, device and controller - Google Patents
A kind of remote debugging method based on robot, device and controller Download PDFInfo
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Abstract
The present invention relates to wireless communication technology field more particularly to a kind of remote debugging methods based on robot, device and controller.Remote debugging method based on robot, device and controller provided in this embodiment are instructed by the request remote debugging sent according to robot, establish remote control communication with the robot；Based on the remote control communication, control instruction is sent to the robot；The control instruction is acted for controlling the robot, and generates tuning parameter corresponding with the movement；Obtain the tuning parameter；Based on the tuning parameter, debugging result is generated.The embodiment of the present invention with the robot by establishing after remote control communication, according to corresponding control instruction is sent robot is acted accordingly, generate corresponding tuning parameter, and then it debugs and generates debugging result, realize remote debugging robot, the human cost expenditure of field adjustable is avoided, while also improving debugging efficiency.
Description
Technical Field
The invention relates to the technical field of wireless communication, in particular to a remote debugging method and device based on a robot and a controller.
Background
Robots, which include mechanical devices that simulate human behavior or thought and other creatures, are of various types and models, and for example, robots classified by function include: a collaboration robot, a mobile robot, an information robot, and the like.
Although the manufacturing technology of the existing robot is mature, the robot is inevitably broken due to damage or other objective factors. Aiming at the failure solving mode, the traditional solving mode is that a manufacturer directly calls or goes to the field to solve the failure, and with the increase of products, more manpower for after-sale control is needed, which causes great loss to the cost of the merchant.
Disclosure of Invention
The embodiment of the invention provides a remote debugging method, a remote debugging device and a controller based on a robot, which are used for remotely debugging the robot, so that the expenditure of labor cost for field debugging is avoided.
In a first aspect, an embodiment of the present invention provides a remote debugging method based on a robot, which is applied to a controller, and the method includes:
establishing remote control communication with the robot according to a remote debugging request instruction sent by the robot;
sending a control instruction to the robot based on the remote control communication; the control instruction is used for controlling the robot to act and generating debugging parameters corresponding to the action;
acquiring the debugging parameters;
and generating a debugging result based on the debugging parameters.
Optionally, after the remote control communication is established with the robot according to the remote debugging command requested by the robot and based on the remote control communication, sending a control command to the robot, the method further includes:
uploading an operation code of the robot;
and generating a corresponding control instruction according to the operation code.
Optionally, after the remote control communication is established with the robot according to the remote debugging command requested by the robot and based on the remote control communication, sending a control command to the robot, the method further includes:
acquiring model parameters of the robot;
and confirming the control instruction corresponding to the model parameter based on a preset corresponding relation.
Optionally, before the remote debugging instruction according to the request sent by the robot establishes remote control communication with the robot, the method further includes:
and acquiring a remote debugging request instruction sent by the robot.
Optionally, the generating a debugging result based on the debugging parameter includes:
generating three-dimensional information according to the debugging parameters;
and inputting the three-dimensional information into a pre-established three-dimensional model, and displaying a debugging result.
In a second aspect, an embodiment of the present invention provides a robot-based remote debugging apparatus, which is applied to a controller, and includes:
the communication module is used for establishing remote control communication with the robot according to a remote debugging request instruction sent by the robot;
a control module for sending a control instruction to the robot based on the remote control communication; the control instruction is used for controlling the robot to act and generating debugging parameters corresponding to the action;
the acquisition module is used for acquiring the debugging parameters;
and the first processing module is used for generating a debugging result based on the debugging parameters.
Optionally, the apparatus further comprises:
the uploading module is used for uploading the running codes of the robot;
and the second processing module is used for generating a corresponding control instruction according to the running code.
Optionally, the determining module includes:
a first acquisition unit for acquiring a model parameter of the robot;
and the confirming unit is used for confirming the control instruction corresponding to the model parameter based on the preset corresponding relation.
Optionally, the first processing module includes:
the conversion unit is used for generating three-dimensional information according to the debugging parameters;
the display unit is used for inputting the three-dimensional information into a pre-established three-dimensional model and displaying a debugging result;
the device further comprises:
and the second acquisition module is used for acquiring a remote debugging request instruction sent by the robot.
In a third aspect, an embodiment of the present invention provides a controller, where the controller includes:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method as previously described.
In a fourth aspect, an embodiment of the present application provides a storage medium, where the storage medium stores executable instructions, and when the executable instructions are executed by a smart terminal, the smart terminal is caused to execute the robot-based remote debugging method described above.
In a fifth aspect, the present application further provides a program product, where the program product includes a program stored on a storage medium, where the program includes program instructions, and when the program instructions are executed by a smart terminal, the smart terminal is caused to execute the robot-based remote debugging method described above.
The embodiment of the invention has the beneficial effects that: according to the remote debugging method, the remote debugging device and the controller based on the robot, remote control communication is established with the robot through a remote debugging request instruction sent by the robot; sending a control instruction to the robot based on the remote control communication; the control instruction is used for controlling the robot to act and generating debugging parameters corresponding to the action; acquiring the debugging parameters; and generating a debugging result based on the debugging parameters. According to the embodiment of the invention, after the remote control communication is established with the robot, the robot is enabled to perform corresponding actions according to the sent corresponding control instructions, corresponding debugging parameters are generated, and then a debugging result is generated through debugging, so that the remote debugging of the robot is realized, the labor cost expenditure for on-site debugging is avoided, and meanwhile, the debugging efficiency is also improved.
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One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic diagram of an application environment of a robot-based remote debugging method according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a robot-based remote debugging method according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a robot-based remote debugging method according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of a robot-based remote debugging method according to an embodiment of the present invention;
fig. 5 is a schematic flowchart of a robot-based remote debugging method according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a robot-based remote debugging method and apparatus according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a robot-based remote debugging apparatus according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a robot-based remote debugging apparatus according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a robot-based remote debugging apparatus according to an embodiment of the present invention;
fig. 10 is a schematic diagram of a hardware structure of a controller according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the 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.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. The terms "first", "second", "third", and the like used in the present invention do not limit data and execution order, but distinguish the same items or similar items having substantially the same function and action.
Fig. 1 is a schematic diagram of one application environment of a robot-based remote debugging method according to an embodiment of the present application. Wherein, the application environment comprises: a robot 3 and a controller 1 connected to the robot 3 via a network 2.
The robot 3 is a collaboratable robot, a mobile robot, an information robot, or the like. The controller 1 is a hardware device or a hardware component for providing calculation control and signal transmission and reception.
The robot 3 is typically a robot that mimics certain activities of a human. Generally, the walking and production tool operation actions can be realized, and the walking and production tool operation actions can be used for replacing people to work in an environment which cannot be adapted by people. Modern robots are equipped with electronic computers, which, through programming, can have a certain degree of artificial intelligence, such as recognizing languages and images, and making appropriate responses. Meanwhile, the robot is also a machine device that automatically performs work. The robot can accept human command, execute a prearranged program, and perform an action according to a principle schema established by an artificial intelligence technology. Robots perform tasks that replace or assist human tasks, such as manufacturing, construction, or hazardous tasks. Robots are divided into a number of types, and different types of robots can be used for different applications, for example, a collaborative robot can be used for delivering laboratory tools in a chemical laboratory or for mechanical operations in some production lines.
However, since the robot is a product of advanced integrated control theory, mechano-electronics, computer, material and bionics, when the robot cannot work normally due to a program error or other customer factors, a robot manufacturer usually allocates a technician to the site to debug the robot.
Based on this, the embodiment of the application provides a remote debugging method, device and controller based on a robot, which can establish remote control communication between the controller 1 and the robot 3 based on the network 2, and realize remote debugging of the robot 3 by the controller 1, thereby avoiding the expenditure of human cost for field debugging and improving the debugging efficiency.
Specifically, the robot-based remote debugging method applied to the controller provided by the embodiment of the application is a method capable of avoiding the expenditure of human cost for field debugging and improving the debugging efficiency, and specifically comprises the following steps: establishing remote control communication with the robot by remote debugging instructions according to a request sent by the robot; sending a control instruction to the robot based on the remote control communication; the control instruction is used for controlling the robot to act and generating debugging parameters corresponding to the action; acquiring the debugging parameters; and generating a debugging result based on the debugging parameters. According to the embodiment of the invention, after the remote control communication is established with the robot, the robot is enabled to perform corresponding actions according to the sent corresponding control instructions, corresponding debugging parameters are generated, and then a debugging result is generated through debugging, so that the remote debugging of the robot is realized, the labor cost expenditure for on-site debugging is avoided, and meanwhile, the debugging efficiency is also improved.
The robot-based remote debugging device running on the controller provided by the embodiment of the application is a virtual device which is composed of software programs and can realize the application to the controller provided by the embodiment of the application, and the robot-based remote debugging device and the robot-based remote debugging method applied to the controller provided by the embodiment of the application are based on the same inventive concept and have the same technical characteristics and beneficial effects.
The controller provided by the embodiment of the present application can execute the remote debugging method based on the robot provided by the embodiment of the present application, or run the remote debugging device based on the robot provided by the embodiment of the present application.
It should be noted that the device configuration method provided in the embodiment of the present application may be further extended to other suitable application environments, and is not limited to the application environment shown in fig. 1. In practical applications, the application environment may also include more or fewer client terminal devices.
Fig. 2 is a flowchart of an embodiment of a robot-based remote commissioning method according to an embodiment of the present invention, which may be executed by the controller 1 in fig. 1. As shown in fig. 2, the robot-based remote debugging method includes:
s210: establishing remote control communication with the robot according to a remote debugging request instruction sent by the robot;
in this embodiment, a user sends a remote debugging request to the controller 1 through a teach pendant of the robot 3, and after receiving the remote debugging request from the robot 3, the controller 1 inputs preset password characters and establishes remote control communication with the robot 3. It should be noted that, a controlled-end VNC server is installed at one end of the robot 3 in advance, and a main control-end VNC viewer is installed at the end of the controller 1, and the VNC server and the VNC viewer are applicable to a plurality of operating systems, such as windows, Linux, MacOS, Unix, and the like. The remote control communication is that an IP address of a controller 1 end is configured through a VNCserver end in a robot 3 end demonstrator, communication is established after the controller 1 end passes verification, and desktop information of the demonstrator at the robot 3 end can be sent to the controller 1 through a VNC communication protocol, so that the controller 1 can remotely operate the demonstrator in the robot 3, and remote control of the robot 3 is realized. The teach pendant of the robot 1 is a core component of a robot control system, and is a device for registering and storing mechanical movement or processing memory, which is executed by an electronic system or a computer system.
Specifically, before the remote debugging instruction is used to establish remote control communication with the robot according to a request sent by the robot, the method further includes:
and acquiring a remote debugging request instruction sent by the robot.
Specifically, after receiving a remote debugging request instruction sent by the robot, the controller 3 needs to successfully establish verification information of remote control communication through presetting. For example, before the robot 3 leaves the factory, authentication information for establishing remote control communication is set in the robot 3 in advance, and the authentication information may be password characters, fingerprint information of a dedicated commissioning person, or the like. The primary purpose of setting the verification information is to avoid the occurrence of program confusion of the robot due to misoperation of other non-technical personnel and improve the safety of the robot 3.
S220: sending a control instruction to the robot based on the remote control communication; the control instruction is used for controlling the robot to act and generating debugging parameters corresponding to the action;
in the present embodiment, after establishing remote control communication with the robot 3, the controller 1 may directly check the robot through the control command generated by operating the teach pendant, for example, by controlling the teach pendant to perform log, configuration and check of corresponding waveforms, and find the cause of the fault generated by the robot 3.
In some embodiments, after the controller 1 establishes remote control communication with the robot 3, the controller 1 may acquire control information, such as all codes, of all executed actions stored in the demonstrator, upload the control information and analyze the information to generate a corresponding control instruction to control the robot 3 to execute all actions, acquire debugging information generated when the robot 3 executes all actions by using a sensor preset at an important information recording part such as each joint of the robot 3, and acquire the problem of the robot 3 by analyzing the debugging information. The debugging information comprises mechanical debugging information and software debugging information. The machine debugging information includes angles, speeds, accelerations, torque parameters and the like of information recording parts such as joints of the robot 3 body, and the software debugging information includes fault codes, error codes and the like.
S230: acquiring the debugging parameters;
in this embodiment, the robot 3 uploads various debugging parameters generated by executing actions according to the control command sent by the controller 1 to the controller 1 in real time, and the controller 1 acquires the debugging parameters sent by the robot 3 and performs corresponding processing.
S240: and generating a debugging result based on the debugging parameters.
In this embodiment, the controller 1 is preset with a comparison debugging parameter, where the comparison debugging parameter is a debugging parameter generated by the controller 1 in response to the model execution control instruction of the robot, in other words, the comparison debugging parameter is a debugging parameter generated when the normal robot executes the control instruction, but the comparison debugging parameter is obtained through the model established in the controller 1 and the corresponding control instruction. For example, the controller 1 sends a first control command to the robot 3, the robot 3 performs a 30-degree hand waving motion, if the robot is normal, a debugging parameter corresponding to the 30-degree hand waving motion can be obtained, the parameter is a comparison debugging parameter, and when the elbow joint of the robot fails and cannot wave, a debugging parameter corresponding to the 0-degree hand waving motion is obtained, and the fault location of the robot is known by comparing the two debugging parameters.
According to the remote debugging method based on the robot, remote control communication is established with the robot through a remote debugging request instruction sent by the robot; sending a control instruction to the robot based on the remote control communication; the control instruction is used for controlling the robot to act and generating debugging parameters corresponding to the action; acquiring the debugging parameters; and generating a debugging result based on the debugging parameters. According to the embodiment of the invention, after the remote control communication is established with the robot, the robot is enabled to perform corresponding actions according to the sent corresponding control instructions, corresponding debugging parameters are generated, and then a debugging result is generated through debugging, so that the remote debugging of the robot is realized, the labor cost expenditure for on-site debugging is avoided, and meanwhile, the debugging efficiency is also improved.
In another embodiment of the present application, a robot-based remote debugging method is provided, as shown in fig. 3, which may be executed by the controller 1 in fig. 1.
After establishing remote control communication with the robot according to the requested remote commissioning instruction sent by the robot and based on the remote control communication, sending a control instruction to the robot, the method further comprising:
s310: uploading an operation code of the robot;
in the present embodiment, after the controller 1 establishes remote control communication with the robot 3, the controller 1 may upload the execution codes of all the actions stored in the teach pendant of the robot 3. After the controller 1 uploads all the running codes in the demonstrator, the configuration information of the robot can be acquired through the demonstrator, whether a preset running code exists in the controller 1 or not is verified according to the configuration information of the robot, if the running code corresponding to the configuration information exists in the controller 1, the uploaded running code is compared with the running code, whether the running code of the robot has an error or not is verified according to a comparison result, and the running code of the robot is verified.
S320: and generating a corresponding control instruction according to the operation code.
In this embodiment, according to the operation code, all execution actions of the robot can be known, and based on all execution actions of the robot, categories corresponding to all control instructions of the robot can be generated. Specifically, the controller 1 generates a plurality of control instruction categories according to the operation code, and each control instruction category includes a plurality of control instructions with similar actions. For example, the hand motion is classified into a control command category, and the control command corresponding to the next level of the hand motion category is a control command for a motion such as a handshake, a pick-up, or a waving motion. Meanwhile, the plurality of categories of control instructions are presented on the desktop of the controller 1. For example, when the user can click the category control instruction, display the control instructions of the plurality of actions at the next level of the category, and click the control instructions of the plurality of actions, the control instruction is sent to the robot, and the robot executes the action corresponding to the control instruction.
According to the remote debugging method based on the robot, remote control communication is established with the robot through a remote debugging request instruction sent by the robot; sending a control instruction to the robot based on the remote control communication; the control instruction is used for controlling the robot to act and generating debugging parameters corresponding to the action; acquiring the debugging parameters; and generating a debugging result based on the debugging parameters. According to the embodiment of the invention, after the remote control communication is established with the robot, the robot is enabled to perform corresponding actions according to the sent corresponding control instructions, corresponding debugging parameters are generated, and then a debugging result is generated through debugging, so that the remote debugging of the robot is realized, the labor cost expenditure for on-site debugging is avoided, and meanwhile, the debugging efficiency is also improved.
In another embodiment of the present application, a robot-based remote debugging method is provided, as shown in fig. 4, which may be executed by the controller 1 in fig. 1.
After establishing remote control communication with the robot according to the requested remote commissioning instruction sent by the robot and based on the remote control communication, sending a control instruction to the robot, the method further comprising:
s410: acquiring model parameters of the robot;
s420: and confirming the control instruction corresponding to the model parameter based on a preset corresponding relation.
In this embodiment, when the robot 3 leaves the factory, the control instruction is uploaded to the controller 1 in advance, and the model parameter of the robot is used as the corresponding relationship to search for the corresponding control instruction. Or, when the controller 1 debugs the robot 3 remotely, the controller 1 stores a control instruction corresponding to the robot, and searches the control instruction by using the model parameter as a corresponding relation. The control instruction corresponding to the model parameter can be confirmed by acquiring the model parameter of the robot and according to the preset corresponding relation.
According to the remote debugging method based on the robot, remote control communication is established with the robot through a remote debugging request instruction sent by the robot; sending a control instruction to the robot based on the remote control communication; the control instruction is used for controlling the robot to act and generating debugging parameters corresponding to the action; acquiring the debugging parameters; and generating a debugging result based on the debugging parameters. According to the embodiment of the invention, after the remote control communication is established with the robot, the robot is enabled to perform corresponding actions according to the sent corresponding control instructions, corresponding debugging parameters are generated, and then a debugging result is generated through debugging, so that the remote debugging of the robot is realized, the labor cost expenditure for on-site debugging is avoided, and meanwhile, the debugging efficiency is also improved.
In another embodiment of the present application, a robot-based remote debugging method is provided, as shown in fig. 5, which may be executed by the controller 1 in fig. 1.
Generating a debugging result based on the debugging parameters, including:
s510: generating three-dimensional information according to the debugging parameters;
s520: and inputting the three-dimensional information into a pre-established three-dimensional model, and displaying a debugging result.
In this embodiment, a three-dimensional model corresponding to the robot 3 is set in the controller 1, the three-dimensional model is set in the controller 1 in advance, a three-dimensional message is generated according to the debugging parameters, and the position of the model corresponding to the debugging parameters can be obtained through the control instruction corresponding to the debugging parameters. And inputting the three-dimensional information into a pre-established three-dimensional model, finding out a corresponding position in the model by the three-dimensional information, and displaying the three-dimensional mode according to a debugging result corresponding to the debugging parameter. For example, if the debugging parameter is a debugging parameter corresponding to the neck of the robot, and the debugging result obtained by the operation of the controller 1 is that the neck cannot be twisted, the debugging parameter corresponds to a red dot displayed as a flash on the neck of the three-dimensional model, so as to indicate that the neck is faulty.
According to the remote debugging method based on the robot, remote control communication is established with the robot through a remote debugging request instruction sent by the robot; sending a control instruction to the robot based on the remote control communication; the control instruction is used for controlling the robot to act and generating debugging parameters corresponding to the action; acquiring the debugging parameters; and generating a debugging result based on the debugging parameters. According to the embodiment of the invention, after the remote control communication is established with the robot, the robot is enabled to perform corresponding actions according to the sent corresponding control instructions, corresponding debugging parameters are generated, and then a debugging result is generated through debugging, so that the remote debugging of the robot is realized, the labor cost expenditure for on-site debugging is avoided, and meanwhile, the debugging efficiency is also improved.
Correspondingly, as shown in fig. 6, an embodiment of the present invention further provides a robot-based remote commissioning apparatus, where the robot-based remote commissioning apparatus 6 is used in the controller 1 shown in fig. 1, and as shown in fig. 6, the apparatus includes:
the communication module 61 is used for establishing remote control communication with the robot according to a remote debugging request instruction sent by the robot;
a control module 62 for sending control instructions to the robot based on the remote control communication; the control instruction is used for controlling the robot to act and generating debugging parameters corresponding to the action;
a first obtaining module 63, configured to obtain the debugging parameter;
the first processing module 64 is configured to generate a debugging result based on the debugging parameter.
Specifically, as shown in fig. 7, the apparatus 7 further includes:
an upload module 71, configured to upload an operation code of the robot;
and the second processing module 72 is configured to generate a corresponding control instruction according to the operation code.
Specifically, as shown in fig. 8, the apparatus 8 further includes:
a second obtaining module 81, configured to obtain a model parameter of the robot;
and the confirming module 82 is used for confirming the control instruction corresponding to the model parameter based on a preset corresponding relation.
Specifically, as shown in fig. 9, the first processing module 9 includes:
a conversion unit 91, configured to generate three-dimensional information according to the debugging parameter;
the display unit 92 is used for inputting the three-dimensional information into a pre-established three-dimensional model and displaying a debugging result;
in particular, the device 8 further comprises:
and the second acquisition module is used for acquiring a remote debugging request instruction sent by the robot.
The controller 1 firstly acquires a remote debugging request instruction sent by the robot through a second acquisition module, establishes remote control communication with the robot through the communication module, and adaptively selects an uploading module to upload an operation code of the robot based on the remote control communication; and generating a corresponding control instruction according to the running code through a second processing module. Or the model parameters of the robot are acquired through a second acquisition module, and the control instruction corresponding to the model parameters is confirmed through a confirmation module by utilizing the preset corresponding relation. After the control instruction is generated, the control instruction is sent to the robot through the control module, and then the debugging parameters generated by the robot according to the control instruction are obtained through the first obtaining module. And finally, generating a debugging result by the debugging parameters through the first processing module. Therefore, the remote debugging robot is realized, and the expenditure of labor cost for on-site debugging is avoided.
The embodiment of the invention has the beneficial effects that: the remote debugging device based on the robot provided by the embodiment establishes remote control communication with the robot through a remote debugging request instruction sent by the robot; sending a control instruction to the robot based on the remote control communication; the control instruction is used for controlling the robot to act and generating debugging parameters corresponding to the action; acquiring the debugging parameters; and generating a debugging result based on the debugging parameters. According to the embodiment of the invention, after the remote control communication is established with the robot, the robot is enabled to perform corresponding actions according to the sent corresponding control instructions, corresponding debugging parameters are generated, and then a debugging result is generated through debugging, so that the remote debugging of the robot is realized, the labor cost expenditure for on-site debugging is avoided, and meanwhile, the debugging efficiency is also improved.
The robot-based remote debugging device can execute the robot-based remote debugging method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. Technical details that are not described in detail in the embodiment of the robot-based remote debugging device can be referred to the robot-based remote debugging method provided by the embodiment of the invention.
An embodiment of the present invention further provides a controller 10, fig. 10 is a schematic diagram of a hardware structure of the controller 10 provided in the embodiment of the present invention, and as shown in fig. 10, the controller 10 includes:
at least one processor 101; and the number of the first and second groups,
a memory 102 communicatively coupled to the at least one processor 101; wherein,
the memory 102 stores instructions executable by the at least one processor 101 to enable the at least one processor 101 to perform a robot-based remote commissioning method as previously described.
Specifically, one processor 101 in fig. 10 is taken as an example. The processor 101 and the memory 102 may be connected by a bus or other means, and fig. 10 illustrates the connection by a bus as an example.
The memory 102, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the robot-based remote debugging method in the embodiment of the present invention (e.g., steps S210-S240 shown in fig. 2). The processor 101 executes various functional applications of the controller and data processing, i.e., implements the robot-based remote debugging method of the above-described method embodiment, by running the nonvolatile software program, instructions, and modules stored in the memory 102.
The memory 102 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the controller, and the like. Further, the memory 102 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 102 may optionally include memory located remotely from processor 101, which may be connected to the controller via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 102 and, when executed by the one or more processors 101, perform the robot-based remote commissioning method in any of the above-described method embodiments, e.g., performing the above-described method steps S210 to S240 in fig. 2, method steps S310 to S320 in fig. 3, method steps S410 to S420 in fig. 4, and method steps S510 to S520 in fig. 5.
The product can execute the method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiment of the present invention.
The controller provided by the embodiment establishes remote control communication with the robot through a remote debugging command according to a request sent by the robot; sending a control instruction to the robot based on the remote control communication; the control instruction is used for controlling the robot to act and generating debugging parameters corresponding to the action; acquiring the debugging parameters; and generating a debugging result based on the debugging parameters. According to the embodiment of the invention, after the remote control communication is established with the robot, the robot is enabled to perform corresponding actions according to the sent corresponding control instructions, corresponding debugging parameters are generated, and then a debugging result is generated through debugging, so that the remote debugging of the robot is realized, the labor cost expenditure for on-site debugging is avoided, and meanwhile, the debugging efficiency is also improved.
Through the above description of the embodiments, those skilled in the art will clearly understand that the embodiments may be implemented by software plus a general hardware platform, and may also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes in the methods for implementing the embodiments may be implemented by hardware associated with computer program instructions, and the programs may be stored in a computer readable storage medium, and when executed, may include processes of the embodiments of the methods as described. The storage medium may be a magnetic disk, an optical disk, a Read-only Memory (ROM), a Random Access Memory (RAM), or the like.
Embodiments of the present invention provide a non-transitory computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, which are executed by one or more processors, such as one of the processors 101 in fig. 10, to enable the one or more processors to perform the robot-based remote debugging method in any of the above method embodiments, such as performing the above-described method steps S210 to S240 in fig. 2, the method steps S310 to S320 in fig. 3, the method steps S410 to S420 in fig. 4, and the method steps S510 to S520 in fig. 5; the functions of modules 61-64 in fig. 6, modules 71-72 in fig. 7, modules 81-82 in fig. 8, and units 91-92 in fig. 9 are implemented.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The product can execute the method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiment of the present invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A robot-based remote debugging method, which is applied to a controller, is characterized by comprising the following steps:
establishing remote control communication with the robot according to a remote debugging request instruction sent by the robot;
sending a control instruction to the robot based on the remote control communication; the control instruction is used for controlling the robot to act and generating corresponding debugging parameters;
acquiring the debugging parameters;
and generating a debugging result based on the debugging parameters.
2. The robot-based remote commissioning method of claim 1, wherein: after establishing remote control communication with the robot according to the requested remote commissioning instruction sent by the robot and based on the remote control communication, sending a control instruction to the robot, the method further comprising:
uploading an operation code of the robot;
and generating a corresponding control instruction according to the operation code.
3. The robot-based remote commissioning method of claim 1, wherein after said establishing remote control communication with said robot according to said requested remote commissioning instruction sent by the robot and based on said remote control communication, sending a control instruction to said robot, said method further comprising:
acquiring model parameters of the robot;
and confirming the control instruction corresponding to the model parameter based on a preset corresponding relation.
4. The robot-based remote commissioning method of claim 1, further comprising, prior to said establishing remote control communication with said robot in accordance with said requested remote commissioning instruction sent by said robot:
and acquiring a remote debugging request instruction sent by the robot.
5. The robot-based remote debugging method of any one of claims 1-4, wherein generating a debugging result based on the debugging parameters comprises:
generating three-dimensional information according to the debugging parameters;
and inputting the three-dimensional information into a pre-established three-dimensional model, and displaying a debugging result.
6. A remote debugging device based on a robot is applied to a controller, and is characterized by comprising:
the communication module is used for establishing remote control communication with the robot according to a remote debugging request instruction sent by the robot;
a control module for sending a control instruction to the robot based on the remote control communication; the control instruction is used for controlling the robot to act and generating debugging parameters corresponding to the action;
the first acquisition module is used for acquiring the debugging parameters;
and the first processing module is used for generating a debugging result based on the debugging parameters.
7. The remote debugging apparatus according to claim 6, wherein: the device further comprises:
the uploading module is used for uploading the running codes of the robot;
and the second processing module is used for generating a corresponding control instruction according to the running code.
8. The remote debugging apparatus according to claim 6, wherein: the device further comprises:
the second acquisition module is used for acquiring the model parameters of the robot;
and the confirming module is used for confirming the control instruction corresponding to the model parameter based on the preset corresponding relation.
9. The remote debugging apparatus according to any one of claims 6 to 8, wherein the first processing module comprises:
the conversion unit is used for generating three-dimensional information according to the debugging parameters;
the display unit is used for inputting the three-dimensional information into a pre-established three-dimensional model and displaying a debugging result;
the device further comprises:
and the second acquisition module is used for acquiring a remote debugging request instruction sent by the robot.
10. A controller, characterized in that the controller comprises:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
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Application publication date: 20190510 |