CN109991967A - Robot motion control method and system and terminal equipment - Google Patents
Robot motion control method and system and terminal equipment Download PDFInfo
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- CN109991967A CN109991967A CN201711482681.XA CN201711482681A CN109991967A CN 109991967 A CN109991967 A CN 109991967A CN 201711482681 A CN201711482681 A CN 201711482681A CN 109991967 A CN109991967 A CN 109991967A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 58
- 238000000034 method Methods 0.000 title claims abstract description 46
- 230000005540 biological transmission Effects 0.000 claims abstract description 52
- 238000001514 detection method Methods 0.000 claims abstract description 52
- 230000002123 temporal effect Effects 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 19
- 238000011022 operating instruction Methods 0.000 claims description 12
- 230000002035 prolonged effect Effects 0.000 claims 1
- 238000009825 accumulation Methods 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002045 lasting effect Effects 0.000 description 2
- 230000002085 persistent effect Effects 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
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- 238000004886 process control Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The application is suitable for the technical field of intelligent control, and provides a robot motion control method, a system and terminal equipment, which comprise: acquiring network delay time according to the received detection packet; receiving a control packet with a first timestamp; if the control packet is a common control packet, acquiring the transmission delay time of the received control packet according to the first timestamp; if the transmission delay time length is less than the preset time length, executing an operation instruction in the control packet; otherwise, the control packet is abandoned, and the client is instructed to adjust the sending quantity or frequency of the general control packet according to the network delay time. In the process, the robot can give up invalid general control packets in time, and the packet sending frequency of the general control packets is set in a self-adaptive mode according to network delay, so that the accumulation of the general control packets is reduced, the smoothness and the real-time performance of remote control over the robot through a network are improved, and the user experience is improved.
Description
Technical field
The application belongs to field of intelligent control technology more particularly to a kind of control method of robot motion, system and end
End equipment.
Background technique
Currently, robot is seen everywhere in people's lives；User often passes through network pair when using robot
The movement of robot is remotely controlled, but when network is poor this long-range control method often due to the shake of network or
Delay, causes the real-time to motion planning and robot control poor, can not preferably control robot motion.For example, typically passing through
Intelligent terminal when controlling robot, if network jitter is larger, often will appear such feelings such as smart phone or remote controler
Condition: due to network delay, user's previous moment control robot is moved eastwards, and current time sends instruction control, and it is westwards transported
It is dynamic, but arrived subsequent time robot and be still not carried out the instruction at the current time but also moved eastwards, lead to user couple
The real-time of motion planning and robot control is poor, and user experience is bad.
Summary of the invention
In view of this, the embodiment of the present application provides the control method, system and terminal device of a kind of robot motion, with
When solution in the prior art remotely controls the movement of robot, the poor problem of the real-time of robot motion.
The first aspect of the embodiment of the present invention provides the control method of robot motion a kind of, the robot motion's
Control method includes:
Robot receives the detection packet that client is sent, and calculates concurrent SCN Space Cable Network according to detection packet and is deferred to client
End；
Control packet of the robot reception with stamp at the first time, wherein the control packet is including crucial control packet and generally
Control packet, the time point that the first time stamp record has the control packet to issue；
If the control packet is general control packet, the biography for receiving the control packet is obtained according to first time stamp
Defeated delay duration；
If the transmission delay duration is less than preset duration, the operating instruction in the control packet is executed；
If the transmission delay duration is not less than the preset duration, give up the control packet, and indicate the client
End adjusts the quantity or frequency that general control packet is sent according to the network-induced delay.
The second aspect of the embodiment of the present invention provides the control system of robot motion a kind of, the robot motion's
Control system includes:
Receiving unit calculates concurrent SCN Space Cable Network according to detection packet and postpones for receiving the detection packet of client transmission
To client；It is also used to control packet of the reception with stamp at the first time, wherein the control packet is including crucial control packet and generally
Control packet, the time point that the first time stamp record has the control packet to issue；
Transmission delay duration acquiring unit is used for when control packet is general control packet, according to the first time
Stamp obtains the transmission delay duration for receiving the control packet；
Execution unit, for when the transmission delay duration is less than preset duration, executing the operation in the control packet
Instruction；It is also used to when the transmission delay duration is not less than the preset duration, gives up the control packet, and indicate the visitor
Family end adjusts the quantity or frequency that general control packet is sent according to the network-induced delay.
The third aspect of the embodiment of the present invention provides a kind of terminal device, including memory, processor and is stored in
In the memory and the computer program that can run on the processor, when the processor executes the computer program
It realizes such as the step of any one of the control method of robot motion the method.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, and the controlling party such as the robot motion is realized when the computer program is executed by processor
The step of any one of method the method.
When robot obtains the network delay at current time according to the detection packet received in embodiment provided by the present application
Between, when receiving with the control packet of stamp at the first time, if control packet is general control packet, when according to described first
Between stab, calculate the transmission delay duration for receiving the general control packet；When the transmission delay duration is less than preset duration,
Execute the operating instruction for including in the general control packet；It, directly will be described when transmission delay duration is not less than preset duration
General control packet is given up, and indicates that client adjusts the quantity forwarded or frequency of general control packet.Due to machine during this
People can stab the first time according to entrained by general control packet, calculate the transmission delay duration for receiving the general control packet；And
When determining that the general control is invalid according to the transmission delay duration, give up the general control packet in time；Meanwhile according to network
Give out a contract for a project frequency or the quantity rate of delay time adaptive setting general control packet reduce the accumulation of general control packet, improve logical
The fluency and real-time for crossing network remote control robot motion, improve user experience.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the flow chart of the control method for the robot motion that the embodiment of the present invention one provides；
Fig. 2 is the flow chart of the control method of robot motion provided by Embodiment 2 of the present invention；
Fig. 3 is the schematic diagram of the control system for the robot motion that the embodiment of the present invention three provides；
Fig. 4 is the schematic diagram for the terminal device that the embodiment of the present invention four provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
When robot obtains the network delay at current time according to the detection packet received in embodiment provided by the present application
Between, when receiving with the control packet of stamp at the first time, if control packet is general control packet, when according to described first
Between stab, calculate the transmission delay duration for receiving the general control packet；When the transmission delay duration is less than preset duration,
Execute the operating instruction for including in the general control packet；It, directly will be described when transmission delay duration is not less than preset duration
General control packet is given up, and indicates that client adjusts the quantity forwarded or frequency of general control packet.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Embodiment one:
Fig. 1 shows a kind of implementation process signal of the control method of robot motion of the offer of the embodiment of the present application one
Figure, details are as follows:
Step S11, robot receive the detection packet that client is sent, and calculate concurrent SCN Space Cable Network according to detection packet and postpone
Time is to client；
In embodiment provided by the present application, when client needs to control the movement of robot, detection packet is sent to robot,
After robot receives the detection packet, the network-induced delay at current time is obtained according to the detection packet.Wherein, the visitor
Family end includes the intelligent terminals such as smart phone, remote controler.
Further, when client sends detection packet by network, primary detection is sent every prefixed time interval
Packet so that robot timely receives detection packet, and then obtains the network-induced delay of different moments；Ensure robot in net
Network is shaken in the biggish situation of larger or network delay, also available correct network-induced delay.Wherein, the network packet
Include but be not limited to the latticed forms such as wifi, bluetooth, 2/3/4G, DVB-T, cable network.
The detection packet is for calculating current network-induced delay；After robot calculates the network-induced delay,
The network-induced delay is sent back into client.Such as client is sent to robot when detecting packet, monitors returning for robot
Multiple packet obtains current network-induced delay according to the content for replying packet.
Step S12, robot receive the control packet with stamp at the first time, wherein the control packet includes crucial control
Packet and general control packet, the time point that the first time stamp record has the control packet to issue；
In the step, robot continues to the control packet of client transmission.The control packet is for controlling robot
Movement, wherein including the control information for controlling robot motion, for example, indicating robot setting in motion, travelling forward one section
Time or turn left turns right or the information such as stop motion.The control packet includes general control packet and crucial control packet.
For general control packet, the control duration of single general control packet is shorter, to pass through the control of general control packet
Robot persistent movement processed then needs to send multiple general sports bags of duration in a period of time.
Further, client sends the control packet added with stamp at the first time to robot, institute when sending control packet
When stating the record of first time stamp has client to send control packet, the time point of robot system controls the time point that packet issues.
Preferably, the system time of the robot is consistent with the system time of the client.
Step S13 is obtained according to first time stamp if control packet is general control packet and is received the control
Make the transmission delay duration of packet；
In the step, if the control packet that robot receives is general control packet, is stabbed and obtained according to the first time
Client sends the time point of stamp at the first time and itself receives the time point of the control packet；Due to client and machine
The system time of device people is consistent, then can be received according to robot and be remembered in the time point and first time stamp of control packet
The time point of record calculates the transmission delay duration that robot receives the control packet.
Step S14 executes the operating instruction in the control packet if the transmission delay duration is less than preset duration；
Specifically, the transmission delay duration that robot receives the general control packet is compared with preset duration,
Judge whether the transmission delay duration is less than preset duration；If being less than, illustrate that the general control packet is effective general control
System packet then executes corresponding operating instruction according to the control information control robot for including in the general control packet.
Further, when the robot executes different movements, the preset duration can be different.
Step S15 gives up the control and wraps if the transmission delay duration is not less than the preset duration, and according to
The network-induced delay indicates that the client adjusts quantity or frequency that general control packet is sent.
In the step, if judging that the propagation delay time is long is greater than or equal to preset duration, illustrate the general control
Packet reception delay overlength processed, then given up and no longer execute control instruction therein.Then, according to acquired network delay
Time sends instructions to client, so that client adjusts the quantity or frequency for sending general control packet to robot.
When controlling the movement of machine user tripod head, typical crucial control packet include control holder mode SET_MODE packet with
Control the STOP packet stopped；General control packet includes MOVE packet (tri- axis of major parameter X, Y, Z rotation for controlling holder three-axis moving
Rotary speed, run duration), Move packet control movement time be lesser value, therefore, it is necessary to lasting transmission Move packet so that
The lasting movement of robot (for example, it is more than 5Hz that machine user tripod head persistent movement, which requires the reception frequency of Move packet).At this point, if
It was found that the transmission delay duration that robot receives general control packet is more than corresponding preset duration, then it can issue and feed back to client
Information, so that client reduces the frequency that general control packet is sent.
When robot obtains the network delay at current time according to the detection packet received in embodiment provided by the present application
Between, when receiving with the control packet of stamp at the first time, if control packet is general control packet, when according to described first
Between stab, calculate the transmission delay duration for receiving the general control packet；When the transmission delay duration is less than preset duration,
Execute the operating instruction for including in the general control packet；It, directly will be described when transmission delay duration is not less than preset duration
General control packet is given up, and indicates that client adjusts the quantity forwarded of general control packet.Since robot can be with during this
It is stabbed according to first time entrained by general control packet, calculates the transmission delay duration for receiving the general control packet；And in basis
When the transmission delay duration determines that the general control is invalid, give up the general control packet in time；Meanwhile when according to network delay
Between adaptive setting general control packet give out a contract for a project frequency or quantity rate, reduce the accumulation of general control packet, improve remote by network
The fluency and real-time of process control robot motion improves user experience.
Optionally, if control packet is crucial control packet, the operating instruction in the control packet is directly executed.
Specifically, if when robot judges that its received control packet is crucial control packet, no longer progress network delay
Between judgement, corresponding movement is directly executed according to the control information for including in the crucial control packet.Such as the control packet
When being wrapped for the crucial control of control robot stop motion, after controlling Packet analyzing to key, directly controls robot and stop fortune
It is dynamic.
Optionally, in another embodiment provided by the present application, Fig. 2 shows the specific implementation process of above-mentioned steps S11,
As shown in Fig. 2, above-mentioned steps S11 includes:
Step S21 receives the detection packet that client is sent, and obtains the second timestamp for including in the detection packet, described
Second timestamp is used to record the time point that the detection packet issues；
In the step, robot receives the detection packet with the second timestamp first, wherein remembers in second timestamp
The time point that record has client to issue the detection packet.
Step S22 does the time point that robot receives the detection packet with the time point in second timestamp
After difference, network-induced delay is obtained；
Robot receive detection wrap and record receive detection packet time point after, analysis obtain the detection packet issue when
Between point, then will receive detection packet time point subtract detection packet issue time point, to obtain network delay time.
Step S23 sends the reply packet with the network-induced delay to client, so that the client obtains institute
State network-induced delay.
In the step, robot, which generates, replys packet, and by the addition of calculated network-induced delay in shown reply packet,
Then the reply packet with network-induced delay is sent to client, so that client knows current network-induced delay.
Optionally, in another embodiment provided by the present application, the control method of the robot motion further include:
The control method of the robot motion further include:
Parse the control information for including in the control packet；
Judge whether the control packet is general control packet according to the control information.
In the step, robot parses control information wherein included for the control packet of acquisition with determination, current control
Whether system packet is general control packet.
Optionally, in another embodiment provided by the present application, in the detection packet that the reception client is sent, according to institute
Detection is stated to wrap before obtaining network-induced delay, comprising:
Obtain the temporal information at the current time of the client and the robot；
If the temporal information of the two is inconsistent, the temporal information that both adjusts to consistent state.
Specifically, the temporal information for obtaining client and robot current time, judges the temporal information of the two,
To determine whether the two temporal information is consistent；If the temporal information of the two is inconsistent, the temporal information that both adjusts is to consistent
State.
Optionally, which can execute in robot, i.e., believed by the time that robot obtains itself and client
Breath after being judged, issues corresponding adjusting information；Similarly, it can also execute in the client；In addition, the process can also be one
It executes in a independent third party's physical server, at this point, server obtains the temporal information of client and robot, and executes
Above-mentioned judgement, adjustment process, details are not described herein.After the completion of clock synchronization, client is identical with robot reference clock.
In embodiment provided by the present application, the system time of client and robot is adjusted in advance, is made at the two
In identical system time, facilitate the meter of the subsequent transmission delay duration that control packet is received to network-induced delay and robot
It calculates.
Embodiment two:
Corresponding to the control method of robot motion described in foregoing embodiments, Fig. 3 shows offer of the embodiment of the present invention
The structural block diagram of control system of robot motion a kind of illustrate only related to the embodiment of the present invention for ease of description
Part.
Referring to Fig. 3, the control system of the robot motion include: receiving unit 31, transmission delay duration acquiring unit 32,
Execution unit 33, in which:
Receiving unit 31 calculates concurrent SCN Space Cable Network according to detection packet and prolongs for receiving the detection packet of client transmission
Late client；It is also used to receive the control packet with stamp at the first time, wherein the control packet includes crucial control packet and one
As control packet, the time point that first time stamp record has the control packet to issue；
Transmission delay duration acquiring unit 32 is used for when control packet is general control packet, when according to described first
Between stamp obtain receive it is described control packet transmission delay duration；
Execution unit 33, for when the transmission delay duration is less than preset duration, executing the fortune in the control packet
Row instruction；It is also used to give up the general control packet, and indicate when the transmission delay duration is not less than the preset duration
The client adjusts the quantity or frequency that general control packet is sent according to the network-induced delay.
Further, the execution unit 33 is also used to when control packet wraps for crucial control, directly described in execution
Operating instruction in control packet.
Further, the receiving unit 31, comprising:
Module is obtained, for obtaining the second timestamp for including in the detection packet, second timestamp is for recording
The time point that the detection packet issues；
Computing module, the time in time point and second timestamp for robot to be received to the detection packet
After point makes the difference, network-induced delay is obtained；
Sending module, for sending the reply packet for having the network-induced delay to client, so that the client
Obtain the network-induced delay.
Further, the control system of the robot motion further include:
Analysis judgment unit, for parsing the control information for including in the control packet；Judged according to the control information
Whether the control packet is general control packet.
Further, the control system of the robot motion further include:
Clock synchronization unit, the temporal information at the current time for obtaining the client and the robot；If the two
Temporal information is inconsistent, then the temporal information both adjusted to consistent state.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
Embodiment three:
Fig. 4 is the schematic diagram for the terminal device that one embodiment of the invention provides.As shown in figure 4, the terminal of the embodiment is set
Standby 4 include: processor 40, memory 41 and are stored in the meter that can be run in the memory 41 and on the processor 40
Calculation machine program 42.The processor 40 realizes above-mentioned each motion control based on robot when executing the computer program 42
Step in embodiment of the method, such as step S11 to S14 shown in FIG. 1.Alternatively, the processor 40 executes the computer
The function of each module/unit in above-mentioned each Installation practice, such as the function of unit 31 to 33 shown in Fig. 3 are realized when program 42.
Illustratively, the computer program 42 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 41, and are executed by the processor 40, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 42 in the terminal device 4 is described.For example, the computer program 42 can be divided
It is cut into: receiving unit, transmission delay duration acquiring unit, execution unit, in which:
Receiving unit calculates concurrent SCN Space Cable Network according to detection packet and postpones for receiving the detection packet of client transmission
To client；It is also used to control packet of the reception with stamp at the first time, wherein the control packet is including crucial control packet and generally
Control packet, the time point that the first time stamp record has the control packet to issue；
Transmission delay duration acquiring unit is used for when control packet is general control packet, according to the first time
Stamp obtains the transmission delay duration for receiving the control packet；
Execution unit, for when the transmission delay duration is less than preset duration, executing the operation in the control packet
Instruction；It is also used to give up the general control packet, and indicate institute when the transmission delay duration is not less than the preset duration
It states client and the quantity or frequency that general control packet is sent is adjusted according to the network-induced delay.
Further, the execution unit is also used to directly execute the control when the control is wrapped and wrapped for crucial control
Operating instruction in system packet.
Further, the receiving unit, comprising:
Module is obtained, for obtaining the second timestamp for including in the detection packet, second timestamp is for recording
The time point that the detection packet issues；
Computing module, the time in time point and second timestamp for robot to be received to the detection packet
After point makes the difference, network-induced delay is obtained；
Sending module, for sending the reply packet for having the network-induced delay to client, so that the client
Obtain the network-induced delay.
Further, the control system of the robot motion further include:
Analysis judgment unit, for parsing the control information for including in the control packet；Judged according to the control information
Whether the control packet is general control packet.
Further, the control system of the robot motion further include:
Clock synchronization unit, the temporal information at the current time for obtaining the client and the robot；If the two
Temporal information is inconsistent, then the temporal information both adjusted to consistent state.
The terminal device 4 can be the calculating such as desktop PC, notebook, palm PC and cloud server and set
It is standby.The terminal device may include, but be not limited only to, processor 40, memory 41.It will be understood by those skilled in the art that Fig. 4
The only example of terminal device 4 does not constitute the restriction to terminal device 4, may include than illustrating more or fewer portions
Part perhaps combines certain components or different components, such as the terminal device can also include input-output equipment, net
Network access device, bus etc..
Alleged processor 40 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 41 can be the internal storage unit of the terminal device 4, such as the hard disk or interior of terminal device 4
It deposits.The memory 41 is also possible to the External memory equipment of the terminal device 4, such as be equipped on the terminal device 4
Plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card dodge
Deposit card (Flash Card) etc..Further, the memory 41 can also both include the storage inside list of the terminal device 4
Member also includes External memory equipment.The memory 41 is for storing needed for the computer program and the terminal device
Other programs and data.The memory 41 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..Computer-readable Jie
Matter may include: can carry the computer program code any entity or device, recording medium, USB flash disk, mobile hard disk,
Magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as in certain jurisdictions, according to legislation and patent practice, computer-readable medium do not include be electric carrier signal and
Telecommunication signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of control method of robot motion, which is characterized in that the control method of the robot motion includes:
Robot receives the detection packet that client is sent, and calculates concurrent SCN Space Cable Network delay time to client according to detection packet
End；
Robot receives the control packet with stamp at the first time, wherein the control packet includes crucial control packet and general control
Packet, the time point that the first time stamp record has the control packet to issue；
If the control packet is general control packet, prolonged according to the transmission that first time stamp acquisition receives the control packet
Slow duration；
If the transmission delay duration is less than preset duration, the operating instruction in the control packet is executed；
If the transmission delay duration is not less than the preset duration, give up the control packet, and indicate the client root
The quantity or frequency that general control packet is sent are adjusted according to the network-induced delay.
2. the control method of robot motion as described in claim 1, which is characterized in that described wrapped according to the detection calculates
Concurrent SCN Space Cable Network is deferred to client, comprising:
Obtain it is described detection packet in include the second timestamp, second timestamp be used for record it is described detection packet issue when
Between point；
After the time point that robot receives the detection packet is made the difference with the time point in second timestamp, network is obtained
Delay time；
The reply packet with the network-induced delay is sent to client, when so that the client obtaining the network delay
Between.
3. the control method of robot motion as claimed in claim 1 or 2, which is characterized in that the control of the robot motion
Method processed further include:
Parse the control information for including in the control packet；
Judge whether the control packet is general control packet according to the control information.
4. the control method of robot motion as claimed in claim 1 or 2, which is characterized in that receive visitor in the robot
Before the detection packet that family end is sent, comprising:
Obtain the temporal information at the current time of the client and the robot；
If the temporal information of the two is inconsistent, the temporal information that both adjusts to consistent state.
5. the control method of robot motion as described in claim 1, which is characterized in that in the judgement control packet
After type, further includes:
If the control packet is crucial control packet, the operating instruction in the control packet is directly executed.
6. a kind of control system of robot motion, which is characterized in that the control system of the robot motion includes:
Receiving unit calculates concurrent SCN Space Cable Network according to detection packet and is deferred to visitor for receiving the detection packet of client transmission
Family end；It is also used to receive the control packet with stamp at the first time, wherein the control packet includes crucial control packet and general control
Packet, the time point that the first time stamp record has the control packet to issue；
Transmission delay duration acquiring unit, for being obtained according to first time stamp when control packet is general control packet
Take the transmission delay duration for receiving the control packet；
Execution unit, for when the transmission delay duration is less than preset duration, executing the operating instruction in the control packet；
It is also used to when the transmission delay duration is not less than the preset duration, gives up the control packet, and indicate the client
The quantity or frequency that general control packet is sent are adjusted according to the network-induced delay.
7. the control system of robot motion as claimed in claim 6, which is characterized in that the receiving unit, comprising:
Module is obtained, for obtaining the second timestamp for including in the detection packet, second timestamp is described for recording
The time point that detection packet issues；
Computing module, the time point for robot to be received the detection packet do with the time point in second timestamp
After difference, network-induced delay is obtained；
Sending module, for sending the reply packet for having the network-induced delay to client, so that the client obtains
The network-induced delay.
8. the control system of robot motion as claimed in claims 6 or 7, which is characterized in that the control of the robot motion
System processed further include:
Clock synchronization unit, the temporal information at the current time for obtaining the client and the robot；If the time of the two
Information is inconsistent, then the temporal information both adjusted to consistent state.
9. a kind of terminal device, including memory, processor and storage are in the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realizes such as claim 1 to 5 when executing the computer program
The step of any one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 5 of realization the method.
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| CN201711482681.XA CN109991967A (en) | 2017-12-29 | 2017-12-29 | Robot motion control method and system and terminal equipment |
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| CN201711482681.XA CN109991967A (en) | 2017-12-29 | 2017-12-29 | Robot motion control method and system and terminal equipment |
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