CN110053048B

CN110053048B - Remote control method

Info

Publication number: CN110053048B
Application number: CN201910321594.9A
Authority: CN
Inventors: 李庆党; 徐龙坤; 吕晓龙
Original assignee: Qingdao University of Science and Technology
Current assignee: Qingdao University of Science and Technology
Priority date: 2019-04-22
Filing date: 2019-04-22
Publication date: 2023-06-16
Anticipated expiration: 2039-04-22
Also published as: CN110053048A

Abstract

The invention relates to a remote control method, which comprises a PC upper computer, an industrial camera, a raspberry pie, a steering engine and a mechanical arm, wherein the industrial camera is connected with the PC upper computer; the PC upper computer is connected with a raspberry pie through the Internet, the raspberry pie is respectively and electrically connected with an industrial camera and a steering engine, and the steering engine is electrically connected with a mechanical arm. The invention has reasonable design, compact structure and convenient use.

Description

Remote control method

Technical Field

The invention relates to a remote control method of a manipulator based on raspberry pie.

Background

At present, along with the continuous development of technology, the manipulator replaces a plurality of manual operations with flexible actions, and is an indispensable part in industrial production. For repeated fixed actions, a corresponding program can be written for the manipulator to complete the specified actions. For complex actions in dangerous or narrow working environments, the robot is inconvenient for people to directly operate, and the robot is difficult to automatically complete the working tasks. By using the manipulator capable of being remotely operated, the safety of personnel can be ensured, and the working efficiency is improved.

Raspberry Pi is a credit card-sized single chip computer developed by the Raspberry Pi Foundation in the United kingdom, which is inexpensive, portable, and has abundant software resources. The four-pin type mechanical arm has 40 GPIO pins for development and use, can be externally connected with a motor driving module, and controls the motor action of the mechanical arm. In addition, the system also comprises an Ethernet interface and a USB interface, and the USB camera can transmit real-time video stream to the upper computer through a network. The use of raspberry group as the control core herein reduces the use of peripherals. The manipulator is connected with the PC and the raspberry pie through the network, so that people can remotely operate without distance limitation, and can acquire real-time states through the camera, thereby completing complex operation.

At present, the existing mechanical arm still uses a singlechip as a controller, the function is single, the expansion is inconvenient, and an additional communication module is also required to be added for communication with a remote PC. Because the raspberry group contains an Ethernet communication module, the raspberry group can communicate with computers in a network. In addition, the Linux operating system is operated, so that secondary development is convenient, and the invention is designed.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a remote control system and a remote control method for a manipulator based on raspberry pie; the technical problems to be solved in detail and the advantages to be achieved are described in detail below and in conjunction with the detailed description. In order to meet the demands of people on controlling and monitoring the remote manipulator, a manipulator remote control system based on raspberry pie is designed. The system takes Raspberry Pi 3B as a core, controls a six-axis manipulator in an upper computer through a network, and simultaneously shoots a video by means of a USB camera and displays the video in the upper computer. Practice shows that the system can reliably transmit control commands and monitoring pictures, and control the manipulator to complete complex operation tasks.

In order to solve the problems, the invention adopts the following technical scheme:

a remote control system of a manipulator based on raspberry pie comprises a PC upper computer, an industrial camera, the raspberry pie, a steering engine and a manipulator;

the PC upper computer is connected with a raspberry pie through the Internet, the raspberry pie is respectively and electrically connected with an industrial camera and a steering engine, and the steering engine is electrically connected with a mechanical arm.

As a further improvement of the above technical scheme:

a laser head is arranged at the clamping hand end of the mechanical arm, and a laser receiving space target corresponding to the laser head is arranged in the space where the mechanical arm is positioned;

the laser receiving space target is electrically connected with the raspberry pie, and the laser head space vector direction is sent to the raspberry pie; the raspberry group controls the industrial camera to the vector direction or industrial camera start in the vector direction.

The industrial camera comprises a coordinate base, a six-axis manipulator arranged on the coordinate base, a mechanical head arranged at the moving end part of the six-axis manipulator, a rotating extension arm arranged on the mechanical head in a rotating way, an extension arm arranged at the end part of the rotating extension arm and controlled to swing by a motor with the axial direction perpendicular to the rotating extension arm, a camera lens arranged on the coordinate base, a camera lens arranged on the camera lens and a camera lens arranged on the camera lens, wherein the camera lens is arranged on the camera lens,

The plane of oscillation of the extension arm is parallel to the plane of rotation of the extension arm.

The raspberry is provided with 26 general purpose GPIO pins, and the ports of the raspberry group comprise I2C, SPI and UART serial ports;

the GPIO software library function of the raspberry group adopts a WiringPi module;

the WiringPi module contains a software-driven PWM library function for outputting PWM signals on the GPIO pins of any Raspberry Pi.

The PWM bank function is:

a. int softPwmCreate（int pin，int initialValue，int pwmRange）；

b. void softPwmWrite（int pin，int value）；

wherein:

pin is the pin that generates PWM signals; pwmRange is PWM period; value is the time of high level in the PWM signal;

the minimum pulse width of the PWM signal generated by the GPIO pin is 100us, and the range of value is 5-25;

the raspberry pie is provided with an instruction socket server for monitoring the transmission of the PC upper computer;

the human-computer operation interface of the raspberry pie and the PC upper computer is manufactured by using an MFC; the left side of an operation panel of the man-machine operation interface displays a monitoring picture acquired by an industrial camera, the right side of the operation panel is provided with a button, the rotation angles of N steering engines are respectively controlled, and the current degree can be increased/decreased by 1 degree when the current degree is clicked once; the text box in the middle of the man-machine operation interface displays the current angle of the steering engine, and when a new angle is input and the Enter is pressed down, the steering engine rotates to a set angle.

A remote control system of a manipulator based on raspberry pie comprises an industrial camera which is used for monitoring the manipulator and is matched with the raspberry pie;

the industrial camera comprises a coordinate base, a six-axis manipulator arranged on the coordinate base, a mechanical head arranged at the moving end part of the six-axis manipulator, a rotary lengthening arm rotatably arranged on the mechanical head, and an extension arm arranged at the end part of the rotary lengthening arm and controlled to swing by a motor with the axial direction perpendicular to the rotary lengthening arm;

the swinging plane of the extension arm is parallel to the rotating extension arm;

the end part of the extension arm is provided with a magnetic seat, and a connecting rod at the front end of the magnetic seat is provided with a lens.

As a further improvement of the above technical scheme:

the connecting rod is provided with a middle ring, the middle ring is rotatably provided with an outer hanging ring, and the lower end of the outer hanging ring is connected with a counterweight through a spring rope;

the balance weight is provided with a vibration sensor electrically connected with the raspberry group.

A remote control method is based on a remote control system of a manipulator based on raspberry pie, and the system comprises a PC upper computer, an industrial camera, the raspberry pie, a steering engine and a manipulator; the PC upper computer is connected with a raspberry pie through the Internet, the raspberry pie is respectively and electrically connected with an industrial camera and a steering engine, and the steering engine is electrically connected with a mechanical arm; the method comprises the following steps:

firstly, establishing a coordinate system in a factory building space, firstly, establishing a first coordinate system by using a base of a mechanical arm as a world coordinate system, establishing a second coordinate system on the coordinate base, and establishing a functional relation; then, a manipulator remote control system based on raspberry pie is built; secondly, establishing a laser receiving space target corresponding to the laser head according to the expected motion track of the mechanical arm;

step two, loading a software program on the raspberry group and the PC upper computer to debug the system;

step three, firstly, starting a socket server and opening a lens; then, starting a PC upper computer, controlling the mechanical arm to act through a steering engine according to a prefabricated program, and simultaneously, enabling a laser head to strike laser on a laser receiving space target; secondly, the laser receiving space target sends the vector direction of the laser head to the raspberry pie; and thirdly, the raspberry pie controls the industrial camera to act through a steering engine or a controller, places a lens in the vector direction, and tracks and shoots the end part of the mechanical arm.

The key points of the invention are as follows: a control system is designed. The control system adopts the raspberry pie as a controller of the mechanical arm, can remotely control the mechanical arm and can collect monitoring pictures.

The beneficial effects of the present invention are not limited to this description, but are described in more detail in the detailed description section for better understanding.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic flow chart of the present invention.

Fig. 3 is a schematic structural view of the manipulator of the present invention.

Wherein: 1. a PC upper computer; 2. an industrial camera; 3. raspberry pie; 4. steering engine; 5. a mechanical arm; 6. a laser head; 7. a laser receiving spatial target; 8. a coordinate base; 9. a six-axis manipulator; 10. a mechanical head; 11. rotating the lengthening arm; 12. an extension arm; 13. a magnetic base; 14. a connecting rod; 15. an intermediate ring; 16. an outer hanging ring; 17. a counterweight; 18. a vibration sensor; 19. and a lens.

Detailed Description

As shown in fig. 1-3, the remote control system of the manipulator based on raspberry pie in this embodiment includes a PC host computer 1, an industrial camera 2, a raspberry pie 3, a steering engine 4, and a manipulator 5;

the PC upper computer 1 is connected with raspberry group 3 through the internet, and raspberry group 3 is electrically connected with industry camera 2 and steering wheel 4 respectively, and steering wheel 4 electricity is connected with arm 5.

A laser head 6 is arranged at the clamping hand end of the mechanical arm 5, and a laser receiving space target 7 corresponding to the laser head 6 is arranged in the space where the mechanical arm 5 is positioned;

the laser receiving space target 7 is electrically connected with the raspberry group 3, and the space vector direction of the laser head 6 is sent to the raspberry group 3; raspberry group 3 controls industrial camera 2 to start up to the vector direction or industrial camera 2 in the vector direction.

The industrial camera 2 comprises a coordinate base 8, a six-axis manipulator 9 arranged on the coordinate base 8, a mechanical head 10 arranged at the moving end part of the six-axis manipulator 9, a rotary extension arm 11 rotatably arranged on the mechanical head 10, an extension arm 12 arranged at the end part of the rotary extension arm 11 and controlled to swing by a motor with the axial direction perpendicular to the rotary extension arm 11, a camera body and a camera body,

The plane in which the extension arm 12 swings is parallel to the plane in which the extension arm 11 is rotated.

The PWM bank function is:

a. int softPwmCreate（int pin，int initialValue，int pwmRange）；

b. void softPwmWrite（int pin，int value）；

wherein:

the raspberry pie is provided with an instruction socket server for monitoring the transmission of the PC upper computer 1;

the human-computer operation interface of the raspberry pie and the PC upper computer 1 is made of MFC; the left side of an operation panel of a man-machine operation interface is provided with a monitoring picture acquired by the industrial camera 2, the right side of the operation panel is provided with a button, the rotation angles of the N steering engines 4 are respectively controlled, and the current degree can be increased/decreased by 1 degree when the current degree is clicked once; the text box in the middle of the man-machine operation interface displays the current angle of the steering engine 4, and when a new angle is input and the Enter is pressed down, the steering engine 4 rotates to a set angle.

The remote control system of the manipulator based on the raspberry group of the embodiment comprises an industrial camera 2 which is used for monitoring a mechanical arm 5 and is connected with the raspberry group 3;

the industrial camera 2 comprises a coordinate base 8, a six-axis manipulator 9 arranged on the coordinate base 8, a mechanical head 10 arranged at the moving end part of the six-axis manipulator 9, a rotary lengthening arm 11 rotatably arranged on the mechanical head 10, and an extension arm 12 arranged at the end part of the rotary lengthening arm 11 and controlled to swing by a motor which is perpendicular to the rotary lengthening arm 11 in the axial direction;

the swinging plane of the extension arm 12 is parallel to the rotation extension arm 11;

a magnet holder 13 is attached to an end of the extension arm 12, and a lens 19 is provided on a connecting rod 14 at a front end of the magnet holder 13.

The connecting rod 14 is provided with a middle ring 15, the middle ring 15 is rotatably provided with an outer hanging ring 16, and the lower end of the outer hanging ring 16 is connected with a counterweight 17 through a spring rope;

a vibration sensor 18 electrically connected to the raspberry 3 is provided on the weight 17.

The remote control method of the embodiment is based on a remote control system of a manipulator based on raspberry pie, and the system comprises a PC (personal computer) upper computer 1, an industrial camera 2, a raspberry pie 3, a steering engine 4 and a manipulator 5; the PC upper computer 1 is connected with a raspberry group 3 through the Internet, the raspberry group 3 is respectively and electrically connected with an industrial camera 2 and a steering engine 4, and the steering engine 4 is electrically connected with a mechanical arm 5; the method comprises the following steps:

firstly, establishing a coordinate system in a factory building space, firstly, establishing a first coordinate system as a world coordinate system by using a base of a mechanical arm 5, establishing a second coordinate system on a coordinate base 8, and establishing a functional relation; then, a manipulator remote control system based on raspberry pie is built; secondly, establishing a laser receiving space target 7 corresponding to the laser head 6 according to the expected motion track of the mechanical arm 5;

step two, loading software programs on the raspberry group 3 and the PC upper computer 1 to debug the system;

step three, firstly, starting a socket server and opening a lens 19; then, starting the PC upper computer 1, controlling the mechanical arm 5 to act through the steering engine 4 according to a prefabricated program, and simultaneously, the laser head 6 is used for driving laser on the laser receiving space target 7; secondly, the laser receiving space target 7 sends the vector direction of the laser head 6 to the raspberry group 3; again, the raspberry pie 3 controls the industrial camera 2 to operate through the steering engine or the controller, and places the lens 19 in the vector direction to perform tracking shooting on the end of the mechanical arm 5.

When the invention is used, the PC upper computer 1 realizes remote control, the industrial camera 2 performs tracking shooting, the raspberry pie 3 is an industrial control center, the expansibility is good, the steering engine 4 and the controller realize the mechanical arm 5 to execute actions, the laser head 6 sends the position to the laser receiving space target 7, thereby realizing the calculation of the vector direction of the laser according to the laser head coordinates and the target coordinates, and the lens 19 is placed in the direction by utilizing the laser linear principle through the coordinate base 8 and the six-axis mechanical arm 9, thereby avoiding the obstruction when the mechanical arm 5 acts, the efficiency is high, the use is convenient, the shooting is visual, compared with the traditional method, the number of the industrial cameras is reduced, the cost is reduced, and the complexity of post-processing video pictures is reduced. Through rotating the extension arm 11, extension arm 12 increases the arm length, magnetic force seat 13 easy dismounting, the flexibility is good, current camera lens installation flexibility has been solved, waste time and energy's problem, send the camera lens vibration information feedback to the raspberry group through vibration sensor 18, thereby adjust action speed and dwell time of arm and industrial camera, after vibration sensor 18's amplitude is about setting for the threshold value, the action is slowed down or stopped, thereby avoid the camera to produce the ghost, or camera frequency is adjusted to unanimity with vibration frequency, thereby obtain according to accurate control data, thereby improve the control accuracy, through adjusting the counter weight, control vibration sensor's response accuracy, through connecting rod 14, intermediate ring 15 improves the flexibility, make the counter weight begin to hang in the below.

The whole system mainly comprises a computer upper computer, a Raspberry Pi, a mechanical arm and a USB camera. The raspberry pie is used as a core component and is connected with a manipulator, a camera and a computer. The camera transmits the collected monitoring pictures to the upper computer of the computer through the raspberry group, the instruction for controlling the action of the manipulator is transmitted to the raspberry group from the upper computer, and the raspberry group generates PWM (pulse width modulation) to control the action of the steering engine. The hardware composition structure is shown in figure 1.

The flow chart of the software design is shown in fig. 2, after the raspberry is booted, the socket server is started and the camera is started, then the upper computer is started from the computer end, the monitoring video is received in the upper computer, the control instruction is sent, and finally the raspberry is booted to receive the instruction to control the action of the manipulator.

4.2.1 Mechanical arm control

The raspberry is provided with 26 general purpose GPIO pins, wherein, some ports can be multiplexed into I2C, SPI and UART serial ports, and the raspberry can be used as a common port when not multiplexed. WiringPi is a GPIO software library function applied to the raspberry group, written in the C language and can be called by other languages. The pins of the raspberry Pi can be controlled by using the WiringPi software library function, and a user can develop more functions by calling the library function interface.

The WiringPi comprises a software-driven PWM library function, can output PWM signals on GPIO pins of any Raspberry Pi, and comprises the following specific functions:

a. int softPwmCreate（int pin，int initialValue，int pwmRange）;

b. void softPwmWrite（int pin，int value）;

wherein:

pin is the pin that generates PWM signals;

pwmRange is PWM period;

value is the time of the high level in the PWM signal.

In order to ensure low CPU usage, the minimum pulse width of the PWM signal generated by the GPIO is 100us, and the required PWM period of the steering engine is 20ms, so that the PWM period pwmRange=20 ms/100 us=200. The steering engine prescribes a high level time between 0.5 and 2.5ms, so the value is in the range of 5 to 25.

4.2.2 Camera part

The MJPG-stream is an excellent open source project, and can access a compatible camera on Linux in a file or HTTP mode, so that the effect of remote video transmission is achieved.

After the MJPG-Streamer is installed and started, the monitoring picture acquired by the camera can be checked by accessing 'http:// 192.168.0.1:8080/stream_simple.html' in the browser. Where "192.168.0.1" is the IP address of the raspberry group and 8080 is the access port set. The collected images are shown in figure 7.

4.3.3 Operation interface

The raspberry pie and the computer communicate through a network cable, and a socket server-side program is written on the raspberry pie and is used for monitoring instructions sent by the computer. And after the raspberry group receives the action instruction, controlling the manipulator to act.

MFC (Microsoft Foundation Classes) Microsoft base class library is a class library provided by Microsoft corporation, encapsulates many API functions in the form of C++ classes, and contains an application framework that allows for rapid development of user interface applications. The human-machine operation interface of the system is made of MFC, as shown in FIG. 3. The left side of the operation panel displays a monitoring picture acquired by the camera, the right side of the operation panel is provided with 12 buttons for respectively controlling the rotation of 6 steering engines, and the current degree can be increased/decreased by 1 degree when the current degree is clicked once. The text box in the middle of the interface displays the current angle of the steering engine, and when a new angle is input and the Enter is pressed, the steering engine immediately rotates to a set angle.

The invention has reasonable design, low cost, firmness, durability, safety, reliability, simple operation, time and labor saving, fund saving, compact structure and convenient use.

The present invention has been fully described for the purposes of clarity and understanding, and is not necessarily limited to the prior art.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some of the technical features thereof can be replaced by equivalents; it is obvious to a person skilled in the art to combine several embodiments of the invention. Such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The remote control method is characterized by comprising a remote control system of a manipulator based on raspberry pie, wherein the system comprises a PC (personal computer) upper computer (1), an industrial camera (2), a raspberry pie (3), a steering engine (4) and a mechanical arm (5); the PC upper computer (1) is connected with a raspberry pie (3) through the Internet, the raspberry pie (3) is respectively and electrically connected with an industrial camera (2) and a steering engine (4), and the steering engine (4) is electrically connected with a mechanical arm (5); the method comprises the following steps:

firstly, establishing a coordinate system in a factory building space, firstly, establishing a first coordinate system by using a base of a mechanical arm (5) as a world coordinate system, establishing a second coordinate system on a coordinate base (8), and establishing a functional relation; then, a manipulator remote control system based on raspberry pie is built; secondly, establishing a laser receiving space target (7) corresponding to the laser head (6) according to the expected motion track of the mechanical arm (5);

step two, loading software programs on the raspberry group (3) and the PC upper computer (1) to debug the system;

step three, firstly, starting a socket server and opening a lens (19); then, starting the PC upper computer (1), controlling the mechanical arm (5) to act through the steering engine (4) according to a prefabricated program, and simultaneously, driving laser on the laser receiving space target (7) by the laser head (6); secondly, the laser receiving space target (7) sends the vector direction of the laser head (6) to the raspberry group (3); thirdly, the raspberry pie (3) controls the industrial camera (2) to act through a steering engine or a controller, a lens (19) is arranged in the vector direction, and tracking shooting is carried out on the end part of the mechanical arm (5);

the remote control system of the manipulator based on the raspberry pie comprises a PC (personal computer) upper computer (1), an industrial camera (2), a raspberry pie (3), a steering engine (4) and a mechanical arm (5);

the PC upper computer (1) is connected with a raspberry pie (3) through the Internet, the raspberry pie (3) is respectively and electrically connected with an industrial camera (2) and a steering engine (4), and the steering engine (4) is electrically connected with a mechanical arm (5); a laser head (6) is arranged at the clamping hand end of the mechanical arm (5), and a laser receiving space target (7) corresponding to the laser head (6) is arranged in the space where the mechanical arm (5) is positioned;

the laser receiving space target (7) is electrically connected with the raspberry group (3) and sends the space vector direction of the laser head (6) to the raspberry group (3); the raspberry pie (3) controls the industrial camera (2) to start up to the vector direction or the industrial camera (2) in the vector direction;

2. The remote control method according to claim 1, wherein the raspberry group has 26 general purpose GPIO pins, and the ports of the raspberry group include I2C, SPI and UART serial ports;

the WiringPi module contains a software-driven PWM library function for outputting PWM signals on the GPIO pins of any Raspberry Pi;

the PWM bank function is:

a. int softPwmCreate（int pin，int initialValue，int pwmRange）；

b. void softPwmWrite（int pin，int value）；

wherein:

the human-computer operation interface of the raspberry pie and the PC upper computer is manufactured by using an MFC; the left side of an operation panel of the man-machine operation interface displays a monitoring picture acquired by an industrial camera, the right side of the operation panel is provided with a button, the rotation angles of N steering engines are respectively controlled, and the current degree can be increased/decreased by 1 degree when the current degree is clicked once; the text box in the middle of the man-machine operation interface displays the current angle of the steering engine, and when a new angle is input and the Enter is pressed down, the steering engine rotates to a set angle;

a magnetic base is arranged at the end part of the extension arm, and a lens is arranged on a connecting rod at the front end of the magnetic base;