CN110376924A - A kind of real-time response control method based on robot - Google Patents
A kind of real-time response control method based on robot Download PDFInfo
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- CN110376924A CN110376924A CN201810330365.9A CN201810330365A CN110376924A CN 110376924 A CN110376924 A CN 110376924A CN 201810330365 A CN201810330365 A CN 201810330365A CN 110376924 A CN110376924 A CN 110376924A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The present invention discloses a kind of real-time response control method based on robot, it is a kind of real time information that can receive host computer or the transmission of cloud monitor supervision platform and the stable operation for timely responding to and controlling fielded system, mainly solves the problems, such as real-time command response control in industry wireless network or industrial Internet of Things robot control system.In industry spot, especially in the demanding industrial robot system of real-time response, Quick Acquisition and response to field data, and real-time delivery carries out display to host computer and operation becomes more and more important, traditional real-time response control method real-time is not high, command response has delay.This method is a kind of real-time response control method based on robot, provides the command-response mechanism of real-time high-efficiency, can solve the not high problem of above-mentioned conventional industrial robot's system real time.The method includes burst command number tables to send, order receives and executes three parts with command analysis.The robot system transmission sends burst feedback information to host computer in real time using wireless communication protocol；Master system carries out analysis to burst feedback information and sends robot system for burst modification order；Robot system is parsed and is executed to the burst order received.
Description
Technical field
The present invention relates to real-time response control methods, specifically a kind of to be based on situ machine people, carry out to field data
Quick Acquisition and respond a kind of method.
The present invention discloses a kind of real-time response control method based on robot, it is that one kind can receive host computer or cloud
The real time information of monitor supervision platform transmission and the stable operation for timely responding to and controlling fielded system, mainly solve industrial wireless network
Real-time command response control problem in network or industrial Internet of Things robot control system.In industry spot, especially to reality
When respond in demanding industrial robot system, Quick Acquisition and response to field data, and real-time delivery is to host computer
It carries out display and operation becomes more and more important, traditional real-time response control method real-time is not high, command response has delay.
This method is a kind of real-time response control method based on robot, provides the command-response mechanism of real-time high-efficiency, can solve
The not high problem of above-mentioned conventional industrial robot's system real time.The method includes burst command number tables to send, order receives
Three parts are executed with command analysis.The robot system transmission is sent to host computer in real time using wireless communication protocol
Burst feedback information；Master system carries out analysis to burst feedback information and sends robot for burst modification order
System；Robot system is parsed and is executed to the burst order received.
Background technique
In industry spot, especially in the demanding industrial robot system of real-time response, to the fast of field data
Speed acquisition and response, and real-time delivery carries out display to host computer and operation becomes more and more important, in previous practice, allusion quotation
In the industrial robot system of type, the response real-time of situ machine people is not high, and lacks a corresponding command-response mechanism
Such delay defects are coped with, when needing the data in real time modifying robot system, inconvenience is had and is exposed.
Summary of the invention
There is the deficiencies of very big delay place in, response command not high for prior art situ machine people's real-time response, this
Technical problems to be solved by the inivention are to provide a kind of real-time response control method based on industry spot robot.
In order to achieve the above-mentioned object of the invention, the specific technical solution of the present invention is as follows: a kind of real-time response control of robot
Method processed, comprising the following steps:
Robot receives burst command number table, and extracts burst command number；
Information corresponding to burst command number is subjected to packing recombination, and is sent to host computer；
Robot opens receiving thread and waits, and after receiving the modification command information of host computer transmission, parses its content,
And it is modified according to content and its command number to robot interior data；
After robot has executed order, sends and feed back to host computer.
The robot receives burst command number table, and extracts burst command number specifically:
Robot receives burst command number table, after extracting ID number, parses the corresponding burst command number of the ID number.
It is described when receive host computer transmission modification command information after, parse its content, and according to content and its order
It number modifies to robot interior data specifically:
After robot receives the modification command information of host computer transmission, its data information is parsed, and according to interior
Hold and its ID number judges robot interior data, and is written in corresponding data register.
A kind of host computer real-time response control method, comprising the following steps:
Burst command number table is configured in upper computer end；
Configured burst command number table is downloaded in robot；
The burst feedback information that host computer is sent according to robot is parsed, and sends modification order to robot；
The feedback of host computer reception robot.
It is described upper computer end configure burst command number table the following steps are included:
It in upper computer end writing commands number and configures according to demand, corresponding ID number is written on its head；
ID number is 1, and represent host computer transmission is request command information；
ID number is 2, and represent host computer transmission is writing commands information.
It is described to download to configured burst command number table in robot specifically:
Configured burst command number table is packaged according to the protocol format of setting, and sends and downloads to robot
In.
A kind of real-time response control method based on robot, using burst command response, comprising the following steps:
Step 1, burst command number table is configured in upper computer end；
Step 2, configured burst command number table is downloaded in situ machine people；
Step 3, situ machine people extracts the correspondence burst command number in burst command number table；
Step 4, information corresponding to burst command number is carried out packing recombination by situ machine people, and is sent to host computer；
Step 5, the burst feedback information that host computer is sent according to situ machine human hair is parsed, and analyzes its information institute
Corresponding content；
Step 6, situ machine people opens receiving thread and waits host computer transmission modification order；
Step 7, after robot receives the modification command information that host computer is sent, its content is parsed, and according in transmission
The command number and content of appearance carry out judgement modification to robot interior data；
Step 8, it after robot system has executed order, sends and feeds back to host computer.
It is described upper computer end configure burst command number table the following steps are included:
It in upper computer end writing commands number and configures according to demand, corresponding ID number is written on its head；
ID number is 1, and represent host computer transmission is request command information；
ID number is 2, and represent host computer transmission is writing commands information.
The robot receives burst command number table, and extracts burst command number specifically:
Robot receives burst command number table, after extracting ID number, parses the corresponding burst command number of the ID number.
The step 7 the following steps are included:
After robot receives the modification command information of host computer transmission, its data information is parsed, and according to interior
Hold and its ID number judges robot interior data, and is written in corresponding data register.
Advantages and advantages of the invention are as follows:
1. relative to traditional robot response system, the present invention significantly improves the real-time responsiveness of robot system
Energy；
2. the present invention is using first inquiring the response mechanism modified afterwards, it is easy to accomplish, high reliablity.
Detailed description of the invention
Fig. 1 is overall flow schematic diagram of the present invention；
Fig. 2 is that robot system of the present invention parses data packet flow chart；
Fig. 3 is that host computer of the present invention parses data packet flow chart.
Specific embodiment
It elaborates below according to attached drawing to the present invention.
A kind of real-time response control method based on robot, comprising the following steps:
Step 1, burst command number table is configured in upper computer end；
Step 2, configured burst command number table is downloaded in situ machine people；
Step 3, situ machine people extracts the correspondence burst command number in burst command number table；
Step 4, information corresponding to burst command number is carried out packing recombination by situ machine people, and is sent to host computer；
Step 5, the burst feedback information that host computer is sent according to situ machine human hair is parsed, and analyzes its information institute
Corresponding content；
Step 6, situ machine people opens receiving thread and waits host computer transmission modification order；
Step 7, after robot receives the modification command information that host computer is sent, its content is parsed, and according in transmission
The command number and content of appearance carry out judgement modification to robot interior data；
Step 8, it after robot system has executed order, sends and feeds back to host computer.
In the step 1, command number is manually write in upper computer end according to corresponding demand, this command number is according to user's reality
Border demand is configured, and can be changed, so that client is monitored different command information, and corresponding ID number is written on its head,
The host computer of the system and situ machine people use data ID and event id mapping table.Data ID and event id mapping table include
The corresponding relationship of id command number and specific event.
In the step 2, configured burst command number table is beaten according to WirelessHART protocol format
Packet, and send and download in situ industrial robot.
In the step 3, situ machine people receives the data packet of host computer transmission, parses to data packet,
In the step 1, if the ID number in corresponding data packet is 1, represent host computer transmission is that request command information (indicates upper
Machine inquires robot internal information), if the ID number in corresponding data packet is 2, represent host computer transmission is writing commands letter
Breath (indicates that host computer modifies robot interior information), in this step, after situ machine people extracts ID number, continues to parse
Its corresponding burst command number.In such a system, host computer sends request data, ID number 1 to robot for the first time；Second
Secondary modification data, ID number 2.There can be a plurality of burst command number when wherein ID is 1, ID there can also be a plurality of life when being 2
Order number.
In the step 4, according to the step 3, the corresponding command number is responded, by corresponding burst command information
Robotic end at the scene carries out packing recombination, sends back host computer.Burst command number refers to specific order, host computer according to
Each order request robot returns to certain information.
In the step 5, the data that host computer returns situ machine human hair are parsed, and are carried out according to the data sent back to
Judgement determines the content for needing situ machine people to respond.
In the step 6, according to affiliated step 4, situ machine people is after completing to send data to host computer, unlatching etc.
To thread, host computer is waited to send modification order.
In the step 7, after situ machine people receives the command information of host computer transmission, its data information is carried out
Parsing, and robot interior data are judged (to compare according to the ID number and content that send content；Data are identical not
Write, data difference is modified again), and be written in corresponding data register.
In the step 8, after robot system has executed the order of host computer transmission, feedback coefficient is sent to host computer
According to.
As shown in Figure 1, as follows based on robot real-time response control method process.
Host computer configures burst command number table；
Host computer downloads burst table to robot, and judges whether success；
If it fails, then exiting, if it is successful, robot extracts corresponding burst command number；
Corresponding data is packaged by robot, and sends back to host computer；
Host computer analyzes burst feedback information；
Situ machine people, which opens, waits thread；
Situ machine people analyzes the information that host computer is sent, and executes；
Situ machine people is to host computer execution result back.
As shown in Fig. 2, robot system parsing data packet includes following below scheme:
Robot system receives the data packet that host computer is sent；
Robot system parses data packet, and judges whether ID value is 1；
After acquisition ID value is 1, burst command number is extracted；
Corresponding data is obtained according to burst command number, and is packaged；
Packaged data are sent back to host computer by situ machine people.
As shown in figure 3, the process of host computer parsing data packet is as follows:
Host computer receives the data that machine human hair is returned；
Data are sent back to robot in upper computer end to parse；
Host computer judges whether the data after parsing are request writing commands information；
If it is request writing commands information, then host computer sends writing commands information to robot；
If it is request write clock information, then host computer sends write clock information to robot.
Claims (10)
1. a kind of real-time response control method of robot, which comprises the following steps:
Robot receives burst command number table, and extracts burst command number；
Information corresponding to burst command number is subjected to packing recombination, and is sent to host computer；
Robot opens receiving thread and waits, and after receiving the modification command information of host computer transmission, parses its content, and root
It modifies according to content and its command number to robot interior data；
After robot has executed order, sends and feed back to host computer.
2. a kind of real-time response control method of robot described in accordance with the claim 1, which is characterized in that the robot connects
Burst command number table is received, and extracts burst command number specifically:
Robot receives burst command number table, after extracting ID number, parses the corresponding burst command number of the ID number.
3. a kind of real-time response control method of robot described in accordance with the claim 1, which is characterized in that described to receive
After the modification command information that host computer is sent, parse its content, and according to content and its command number to robot interior data into
Row modification specifically:
After robot receives the modification command information of host computer transmission, its data information is parsed, and according to content and
Its ID number judges robot interior data, and is written in corresponding data register.
4. a kind of host computer real-time response control method, which comprises the following steps:
Burst command number table is configured in upper computer end；
Configured burst command number table is downloaded in robot；
The burst feedback information that host computer is sent according to robot is parsed, and sends modification order to robot；
The feedback of host computer reception robot.
5. a kind of host computer real-time response control method according to claim 4, it is characterised in that described in upper computer end
Configure burst command number table the following steps are included:
It in upper computer end writing commands number and configures according to demand, corresponding ID number is written on its head；
ID number is 1, and represent host computer transmission is request command information；
ID number is 2, and represent host computer transmission is writing commands information.
6. a kind of host computer real-time response control method according to claim 4, which is characterized in that it is described will be configured
Burst command number table downloads in robot specifically:
Configured burst command number table is packaged according to the protocol format of setting, and sends and downloads in robot.
7. a kind of real-time response control method based on robot, which is characterized in that use burst command response, including following
Step:
Step 1, burst command number table is configured in upper computer end；
Step 2, configured burst command number table is downloaded in situ machine people；
Step 3, situ machine people extracts the correspondence burst command number in burst command number table；
Step 4, information corresponding to burst command number is carried out packing recombination by situ machine people, and is sent to host computer；
Step 5, the burst feedback information that host computer is sent according to situ machine human hair is parsed, and is analyzed corresponding to its information
Content；
Step 6, situ machine people opens receiving thread and waits host computer transmission modification order；
Step 7, after robot receives the modification command information that host computer is sent, its content is parsed, and according to transmission content
Command number and content carry out judgement modification to robot interior data；
Step 8, it after robot system has executed order, sends and feeds back to host computer.
8. a kind of real-time response control method based on robot according to claim 7, which is characterized in that described in host computer
End configuration burst command number table the following steps are included:
It in upper computer end writing commands number and configures according to demand, corresponding ID number is written on its head；
ID number is 1, and represent host computer transmission is request command information；
ID number is 2, and represent host computer transmission is writing commands information.
9. a kind of real-time response control method based on robot according to claim 7, which is characterized in that the robot connects
Burst command number table is received, and extracts burst command number specifically:
Robot receives burst command number table, after extracting ID number, parses the corresponding burst command number of the ID number.
10. a kind of real-time response control method based on robot according to claim 7, which is characterized in that step 7 packet
Include following steps:
After robot receives the modification command information of host computer transmission, its data information is parsed, and according to content and
Its ID number judges robot interior data, and is written in corresponding data register.
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| CN201810330365.9A CN110376924A (en) | 2018-04-13 | 2018-04-13 | A kind of real-time response control method based on robot |
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| CN201810330365.9A CN110376924A (en) | 2018-04-13 | 2018-04-13 | A kind of real-time response control method based on robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1603068A (en) * | 2003-09-29 | 2005-04-06 | 中国科学院自动化研究所 | Control system for multi robot carrying based on wireless network |
| CN1900987A (en) * | 2005-07-22 | 2007-01-24 | Lg电子株式会社 | Home networking system using self-moving robot |
| US20070150104A1 (en) * | 2005-12-08 | 2007-06-28 | Jang Choul S | Apparatus and method for controlling network-based robot |
| US20140136302A1 (en) * | 2011-05-25 | 2014-05-15 | Se Kyong Song | System and method for operating a smart service robot |
| CN106272416A (en) * | 2016-08-29 | 2017-01-04 | 上海交通大学 | Feel based on power and the robot slender axles Fine Boring system and method for vision |
| CN112737124A (en) * | 2020-12-30 | 2021-04-30 | 广东电网有限责任公司电力科学研究院 | Method and device for constructing power equipment monitoring terminal |
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2018
- 2018-04-13 CN CN201810330365.9A patent/CN110376924A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1603068A (en) * | 2003-09-29 | 2005-04-06 | 中国科学院自动化研究所 | Control system for multi robot carrying based on wireless network |
| CN1900987A (en) * | 2005-07-22 | 2007-01-24 | Lg电子株式会社 | Home networking system using self-moving robot |
| US20070150104A1 (en) * | 2005-12-08 | 2007-06-28 | Jang Choul S | Apparatus and method for controlling network-based robot |
| US20140136302A1 (en) * | 2011-05-25 | 2014-05-15 | Se Kyong Song | System and method for operating a smart service robot |
| CN106272416A (en) * | 2016-08-29 | 2017-01-04 | 上海交通大学 | Feel based on power and the robot slender axles Fine Boring system and method for vision |
| CN112737124A (en) * | 2020-12-30 | 2021-04-30 | 广东电网有限责任公司电力科学研究院 | Method and device for constructing power equipment monitoring terminal |
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Application publication date: 20191025 |