CN110580842A - teaching robot control method and system and teaching robot - Google Patents
teaching robot control method and system and teaching robot Download PDFInfo
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- CN110580842A CN110580842A CN201910832275.4A CN201910832275A CN110580842A CN 110580842 A CN110580842 A CN 110580842A CN 201910832275 A CN201910832275 A CN 201910832275A CN 110580842 A CN110580842 A CN 110580842A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/06—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics
- G09B23/18—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism
- G09B23/183—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism for circuits
- G09B23/185—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for physics for electricity or magnetism for circuits for building block systems
Abstract
the invention provides a teaching robot control method and system and a teaching robot. The method is applied to a teaching robot which adopts a Bluetooth module for communication, and comprises the following steps: turning on a power switch of the teaching robot to electrify and start up the teaching robot, initializing the Bluetooth serial port and the operating system after the teaching robot is electrified and started up, and entering a standby state after the initialization is finished; receiving a request sent by an upper computer and used for connecting a Bluetooth module in the teaching robot, wherein the request is sent by the upper computer according to a searched Bluetooth identifier of the Bluetooth module; establishing connection with the upper computer according to the request, and acquiring a connection result of the Bluetooth module and the upper computer; when the connection result is successful, the sensor data of the teaching robot is sent to the upper computer through the Bluetooth module, the control instruction sent by the upper computer is received through the Bluetooth module, and the teaching robot is controlled to work according to the control instruction. The invention is suitable for cluster control of a plurality of teaching robots, and reduces the cost of the teaching robots.
Description
Technical Field
the invention relates to the technical field of teaching robots, in particular to a teaching robot control method and system and a teaching robot.
background
With the development of creative education for primary and secondary schools, the brand and kind of the STEM (abbreviation of English initials of four disciplines of science, technology, engineering and mathematics education) teaching aid is endlessly established. Common STEM teaching aids in the market are sold by being supplemented with remote controllers, users can conveniently control teaching robots built by themselves, the remote controllers realize remote control by adopting radio frequency communication or infrared communication, a sending module and a receiving module are respectively arranged on the remote controllers and teaching robot control units, radio frequency communication modules such as 433M wireless communication module SI4438 modules and 2.4G NRF24L01 modules can only realize pairing of one-to-one teaching robots and the remote controllers or one-to-many remote controllers and the teaching robots through hard coded addresses. When an application scene of a plurality of teaching robots needs to be remotely controlled, a user can only label and pair a control unit of the teaching robot and a remote controller, otherwise, the corresponding relation cannot be distinguished; when a plurality of remote controllers are used for controlling a plurality of teaching robots, the phenomenon of channel crosstalk can occur; the infrared light refraction problem is serious, and the remote controller must send a remote control instruction towards the teaching robot control unit. Therefore, it is very important to develop a teaching robot control method for solving various technical problems occurring when a plurality of teaching robots are controlled in a cluster.
Disclosure of Invention
In view of the above, it is necessary to provide a teaching robot control method, a teaching robot control system, and a teaching robot.
in a first aspect, the present invention provides a teaching robot control method, applied to a teaching robot that uses a bluetooth module for communication, the method including:
turning on a power switch of the teaching robot to electrify and start up the teaching robot, initializing the Bluetooth serial port and the operating system after the teaching robot is electrified and started up, and entering a standby state after the initialization is finished;
Receiving a request sent by an upper computer and used for connecting a Bluetooth module in the teaching robot, wherein the request is sent by the upper computer according to a searched Bluetooth identifier of the Bluetooth module;
Establishing connection with the upper computer according to the request, and acquiring a connection result of the Bluetooth module and the upper computer;
When the connection result is successful, the sensor data of the teaching robot is sent to the upper computer through the Bluetooth module, the control instruction sent by the upper computer is received through the Bluetooth module, and the teaching robot is controlled to work according to the control instruction.
in one embodiment, the sending of sensor data of the teaching robot to the upper computer through the bluetooth module specifically includes:
Acquiring a preset sending interval duration;
And sending sensor data of the teaching robot to the upper computer through the Bluetooth module according to the preset sending interval duration.
in one embodiment, after the connection with the upper computer is established according to the request and a connection result between the bluetooth module and the upper computer is obtained, the method further includes:
and when the connection result is failure, acquiring preset Bluetooth connection failure prompt information, and displaying the preset Bluetooth connection failure prompt information on a display of the teaching robot according to the preset Bluetooth connection failure prompt information.
In an embodiment, the receiving, by the bluetooth module, the control instruction sent by the upper computer specifically includes:
Acquiring a signal with data of a Bluetooth serial port;
and receiving a control instruction sent by the upper computer through the Bluetooth module according to the signal that the Bluetooth serial port has data.
In one embodiment, the bluetooth identity of the bluetooth module is unique and stored in a read-only memory of the teaching robot.
in a second aspect, the present invention provides a teaching robot, comprising: the Bluetooth module, the power supply unit, the sensor assembly, the control unit, the Bluetooth connection management module and the execution module are electrically connected, and the power supply unit is used for supplying power to the control unit, the Bluetooth module and the sensor assembly;
The sensor assembly is used for detecting according to the state of the teaching robot to obtain sensor data;
the control unit is used for turning on a power switch of the teaching robot to enable the teaching robot to be powered on and started up, initializing the Bluetooth serial port and the operating system after the teaching robot is powered on and started up, and enabling the teaching robot to enter a standby state after initialization is completed;
The Bluetooth connection management module is used for receiving a request sent by an upper computer and used for connecting a Bluetooth module in the teaching robot, the request is sent by the upper computer according to a searched Bluetooth identifier of the Bluetooth module, connection with the upper computer is established according to the request, and a connection result of the Bluetooth module and the upper computer is obtained;
The Bluetooth module is used for sending sensor data of the teaching robot to the upper computer through the Bluetooth module and receiving a control instruction sent by the upper computer through the Bluetooth module when the connection result is successful;
And the execution module is used for controlling the teaching robot to work according to the control instruction.
In one embodiment, the bluetooth module comprises bluetooth low energy, and the control unit is electrically connected with the bluetooth low energy for controlling the bluetooth low energy to work.
In one embodiment, the teaching robot further comprises a touch screen display electrically connected with the control unit for displaying information sent by the control unit and receiving information input by a user.
In a third aspect, the present invention further provides a teaching robot system, including: the teaching robot is used for executing the method steps of any one of the first aspect or adopting the teaching robot of any one of the second aspect; the upper computer comprises an upper computer end Bluetooth module, and the upper computer is in wireless connection with a Bluetooth module of the teaching robot through the upper computer end Bluetooth module so as to control the teaching robot to work.
In one embodiment, one of the upper computers is configured to receive data collected by a sensor and sent by at least one of the teaching robots, and send a control instruction to the teaching robot corresponding to the preset bluetooth module identifier according to the preset bluetooth module identifier.
In summary, in the teaching robot control method of the present invention, the bluetooth module sends sensor data of the teaching robot to the upper computer, and the bluetooth module receives a control instruction sent by the upper computer, so as to solve the problem of pairing a common remote controller and the teaching robot, and the problem of channel crosstalk when a plurality of teaching robots are controlled in a cluster, thereby reducing the cost of the teaching robot. Therefore, the invention is suitable for cluster control of a plurality of teaching robots, and reduces the cost of the teaching robots.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
FIG. 1 is a flow chart of a teaching robot control method in one embodiment;
FIG. 2 is a flow chart of a method of controlling the teach robot of FIG. 1 to periodically transmit sensor data;
FIG. 3 is a flowchart of a teaching robot control method in another embodiment;
FIG. 4 is a flowchart of the teaching robot control method of FIG. 1 receiving a host computer control instruction;
fig. 5 is a block diagram of the teaching robot in one embodiment.
Detailed Description
the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
the teaching robot is a robot finished product, a suit or a spare part specially developed by a manufacturer and aiming at exciting the learning interest of students and culturing the comprehensive abilities of the students, and the teaching robot is provided with corresponding control software, a teaching textbook and the like besides a robot body.
As shown in fig. 1, in one embodiment, a teaching robot control method is provided, which is applied to a teaching robot that uses a bluetooth module for communication, and includes:
S102, turning on a power switch of the teaching robot to electrify and start up the teaching robot, initializing a Bluetooth serial port and an operating system after the teaching robot is electrified and started up, and enabling the teaching robot to enter a standby state after initialization is completed;
Specifically, a power supply of the teaching robot is turned on, the teaching robot is powered on and started, the control unit initializes a Bluetooth serial port of the teaching robot after the teaching robot is powered on and started, an operating system of the teaching robot is initialized, and the teaching robot enters a standby state after initialization is completed. Therefore, after the teaching robot is started up each time, the Bluetooth serial port and the operating system of the teaching robot are in a default setting state through initialization.
the control unit of the teaching robot may be a single chip microcomputer, and the control unit of the teaching robot with higher performance requirement may also be a central control unit, which is not specifically limited in this example.
The control unit of the teaching robot comprises a single chip microcomputer, and the single chip microcomputer is connected with the module through a UART serial port (asynchronous serial port) and the Bluetooth. The UART serial port asynchronously receives/sends information, is a chip which is parallel input and becomes serial output, and is generally integrated on a mainboard (singlechip).
the Bluetooth serial port is a serial port which is connected with the control unit of the teaching robot through the Bluetooth module, receives information sent by the control unit through the serial port, and sends the information to the control unit through the serial port.
The control unit of the teaching robot further comprises an operating system, and the operating system is software developed based on a single chip microcomputer and used for controlling the teaching robot to work. The teaching robot works including moving and the like.
S104, receiving a request sent by an upper computer and used for connecting a Bluetooth module in the teaching robot, wherein the request is sent by the upper computer according to the searched Bluetooth identifier of the Bluetooth module;
specifically, an application program of the upper computer searches for a Bluetooth identifier of the Bluetooth module, a user selects the Bluetooth identifier of the teaching robot to be connected in the application program, and a request for connecting the Bluetooth module in the teaching robot is sent by the application program according to the Bluetooth identifier of the Bluetooth module. Through selecting bluetooth module's bluetooth sign connects teaching robot, has simplified the operation, efficiency when improving many teaching robot cluster control has promoted user experience.
The upper computer can be a mobile terminal, a PC and the like, and is provided with a Bluetooth component, so that the upper computer can be connected with a Bluetooth module of the teaching robot through the Bluetooth component to carry out two-way communication, and the examples are not particularly limited. The bluetooth component is selected according to the type of the upper computer, and is not specifically limited by the example herein.
S106, establishing connection with the upper computer according to the request, and obtaining a connection result of the Bluetooth module and the upper computer;
specifically, the control unit of the teaching robot is connected with an application program of the upper computer through a Bluetooth module, and a connection result fed back by the Bluetooth module and the upper computer is obtained.
and S108, when the connection result is successful, sending sensor data of the teaching robot to the upper computer through the Bluetooth module, receiving a control instruction sent by the upper computer through the Bluetooth module, and controlling the teaching robot to work according to the control instruction.
particularly, when the connection result is successful, the control unit of the teaching robot passes through the bluetooth module sends the sensor data of the teaching robot to the bluetooth part of the upper computer, the bluetooth part of the upper computer sends the sensor data to the application program of the upper computer, the bluetooth module receives the control instruction sent by the upper computer through the bluetooth part, and the teaching robot works according to the control instruction control.
the control unit of the teaching robot establishes a BLE _ Message _ Send process and a Command _ Execute process, the BLE _ Message _ Send process is used for sending sensor data of the teaching robot to the upper computer through the Bluetooth module, and the Command _ Execute process is used for executing a control instruction sent by the upper computer to control the teaching robot to work.
The sensor includes at least one in infrared sensor, photosensitive sensor, touch sensor, ultrasonic sensor, the attitude sensor, and the relevant data of measuring robot work in the teaching robot is installed to the sensor, teaching robot's the control unit with the sensor electricity is connected in order to be used for receiving the sensor data of sensor feedback.
the control command includes a motion control command, a programming command, and the like, for example, the motion control command includes a forward motion command, a backward motion command, a leftward motion command, a rightward motion command, and a motion speed command, which is not limited by the examples.
according to the teaching robot control method, the Bluetooth module is used for sending sensor data of the teaching robot to the upper computer, and the Bluetooth module is used for receiving the control instruction sent by the upper computer, so that the problem of pairing of a common remote controller and the teaching robot and the problem of channel crosstalk during cluster control of a plurality of teaching robots are solved, and the cost of the teaching robot is reduced.
As shown in fig. 2, in an embodiment, the sending sensor data of the teaching robot to the upper computer through the bluetooth module specifically includes:
S202, acquiring a preset sending interval duration;
The preset sending interval duration is a time interval between two adjacent times of sending the sensor data of the teaching robot, for example, the preset sending interval duration includes 0.1 second, 0.2 second, or 1 second, and this example is not limited in particular.
and S204, sending sensor data of the teaching robot to the upper computer through the Bluetooth module according to the preset sending interval duration.
specifically, the control unit of the teaching robot sends sensor data of the teaching robot to the upper computer at regular time according to preset sending interval duration. Through sending regularly, make teaching robot's the control unit adopt low-cost singlechip also can satisfy the demand, reduced teaching robot's cost.
in another embodiment, the control unit of the teaching robot controls the bluetooth module to send sensor data acquired by the sensor of the teaching robot to the upper computer in real time. The state of the teaching robot can be known in time through real-time sending, and user experience is improved.
As shown in fig. 3, in an embodiment, a teaching robot control method is further provided, which is applied to a teaching robot that uses a bluetooth module for communication, and includes:
s302, turning on a power switch of the teaching robot to electrify and start up the teaching robot, initializing a Bluetooth serial port and an operating system after the teaching robot is electrified and started up, and enabling the teaching robot to enter a standby state after initialization is completed;
s304, receiving a request sent by an upper computer and used for connecting a Bluetooth module in the teaching robot, wherein the request is sent by the upper computer according to the searched Bluetooth identifier of the Bluetooth module;
S306, establishing connection with the upper computer according to the request, and acquiring a connection result of the Bluetooth module and the upper computer;
And S308, when the connection result is successful, sending sensor data of the teaching robot to the upper computer through the Bluetooth module, receiving a control instruction sent by the upper computer through the Bluetooth module, and controlling the teaching robot to work according to the control instruction.
and S310, when the connection result is failure, acquiring preset Bluetooth connection failure prompt information, and displaying the preset Bluetooth connection failure prompt information on a display of the teaching robot according to the preset Bluetooth connection failure prompt information.
specifically, when the connection result is failure, the teaching robot acquires preset Bluetooth connection failure prompt information, and the preset Bluetooth connection failure prompt information is displayed on a display of the teaching robot. The Bluetooth connection failure prompt information preset by the display prompts the user that the Bluetooth connection fails, so that the user can overhaul in time.
in another embodiment, when the connection result is failure, the bluetooth identifier of the bluetooth module is acquired, and the display screen of the teaching robot is displayed according to the bluetooth identifier of the bluetooth module. The teaching robot that is favorable to finding the bluetooth to connect fast overhauls when many teaching robot cluster control.
In another embodiment, after the connection with the upper computer is established according to the request and the connection result between the bluetooth module and the upper computer is obtained, the method further includes: and when the connection result is failure, the control unit of the teaching robot sends an alarm signal to an alarm of the teaching robot. Alarm of teaching robot receives behind the alarm signal with audible alarm, is favorable to finding the teaching robot that the bluetooth is connected fast and overhauls when many teaching robot cluster control.
The alarm may be an audible alarm selected from the prior art and will not be described in detail herein.
It can be understood that when the connection result is failure, the display can be selected to display characters or preset graphs and display at least one reminding mode of Bluetooth identification of the Bluetooth module and sound alarm of the alarm is selected, and the teaching robot connected by Bluetooth can be found quickly to overhaul when the teaching robots are controlled by a plurality of teaching robots.
as shown in fig. 4, in an embodiment, the receiving, by the bluetooth module, the control instruction sent by the upper computer specifically includes:
S402, acquiring a signal with data in a Bluetooth serial port;
The Bluetooth serial port is hardware, the Bluetooth module receives the control instruction sent by the upper computer, the control instruction enters the Bluetooth serial port, and the Bluetooth serial port receives data and can automatically prompt the operating system of the teaching robot that the current serial port has data.
S404, receiving a control instruction sent by the upper computer through the Bluetooth module according to the signal that the Bluetooth serial port has data.
Specifically, an operating system of the teaching robot receives data through a Bluetooth serial port, and the Bluetooth module sends a control instruction sent by the upper computer.
In one embodiment, the bluetooth identity of the bluetooth module is unique and stored in a read-only memory of the teaching robot. The producer through teaching robot sets up bluetooth module's bluetooth identification, ensures bluetooth identification's uniqueness, and read only memory storage bluetooth identification through teaching robot avoids unexpected modification.
As shown in fig. 5, in one embodiment, a teaching robot is proposed, the teaching robot comprising: the bluetooth module 504, the power supply unit 502, the sensor assembly 503, the control unit 501, the bluetooth connection management module 506, the execution module 505, the power supply unit 502 is electrically connected with the control unit 501, the bluetooth module 504, the sensor assembly 503 for supplying power to the control unit 501, the bluetooth module 504, the sensor assembly 503;
The sensor component 503 is configured to detect according to a state of the teaching robot to obtain sensor data;
The control unit 501 is configured to turn on a power switch of the teaching robot to power on the teaching robot, initialize the bluetooth serial port and the operating system after the teaching robot is powered on and started up, and enter a standby state after the initialization is completed;
The bluetooth connection management module 506 is configured to receive a request sent by an upper computer to connect with a bluetooth module 504 in the teaching robot, where the request is sent by the upper computer according to a searched bluetooth identifier of the bluetooth module 504, establish a connection with the upper computer according to the request, and obtain a connection result between the bluetooth module 504 and the upper computer;
The Bluetooth module 504 is used for sending sensor data of the teaching robot to the upper computer through the Bluetooth module 504 and receiving a control instruction sent by the upper computer through the Bluetooth module 504 when the connection result is successful;
The execution module 505 is configured to control the teaching robot to work according to the control instruction.
the teaching robot of this embodiment passes through bluetooth module 504 sends teaching robot's sensor data for the host computer, through bluetooth module 504 receives the control command that the host computer sent, solved ordinary remote controller and teaching robot's the problem of pairing to and the channel crosstalk problem when many teaching robot cluster control, reduced teaching robot's cost.
the sensor assembly 503 comprises at least one of an infrared sensor, a photosensitive sensor, a touch sensor, an ultrasonic sensor and an attitude sensor, the sensor assembly 503 is installed in a teaching robot to measure relevant data of the robot, and a control unit 501 of the teaching robot is electrically connected with the sensor assembly 503 to receive sensor data fed back by the sensor assembly 503.
The power supply unit 502 may be at least one selected from a detachable dry battery, a non-detachable dry battery, a detachable lithium rechargeable battery, and a non-detachable lithium rechargeable battery, which are not specifically limited by the examples.
In one embodiment, the bluetooth module 504 comprises bluetooth low energy, and the control unit 501 is electrically connected to the bluetooth low energy for controlling the bluetooth low energy to operate. Through adopting bluetooth low energy, can reduce the demand of teaching robot to the power, practice thrift the energy, promote user experience. The bluetooth low energy may be selected from bluetooth devices that can implement corresponding functions in the prior art, which is not described herein again. It is understood that the bluetooth module 504 may also adopt non-low power bluetooth, i.e. conventional bluetooth devices, and is not limited in particular herein.
in one embodiment, the teaching robot further comprises a non-touch display for displaying information, thereby saving costs.
In another embodiment, the teaching robot further comprises a touch screen display electrically connected to the control unit 501 for displaying information sent by the control unit 501 and receiving information input by a user. By touching the display screen, the user can program directly by touching the display screen.
in one embodiment, a teaching robotic system is presented, the system comprising: the teaching robot is used for executing the method steps of the teaching robot control method in the embodiment or the teaching robot in the embodiment; the upper computer comprises an upper computer end Bluetooth module, and the upper computer is in wireless connection with a Bluetooth module of the teaching robot through the upper computer end Bluetooth module so as to control the teaching robot to work.
the teaching robot control method comprises the following steps:
turning on a power switch of the teaching robot to electrify and start up the teaching robot, initializing the Bluetooth serial port and the operating system after the teaching robot is electrified and started up, and entering a standby state after the initialization of the teaching robot
Receiving a request sent by an upper computer and used for connecting a Bluetooth module in the teaching robot, wherein the request is sent by the upper computer according to a searched Bluetooth identifier of the Bluetooth module;
Establishing connection with the upper computer according to the request, and acquiring a connection result of the Bluetooth module and the upper computer;
When the connection result is successful, the sensor data of the teaching robot is sent to the upper computer through the Bluetooth module, the control instruction sent by the upper computer is received through the Bluetooth module, and the teaching robot is controlled to work according to the control instruction.
The teaching robot of the teaching robot system of this embodiment passes through bluetooth module sends teaching robot's sensor data and gives the host computer, through bluetooth module receives the control command that the host computer sent has solved the problem of pairing of ordinary remote controller and teaching robot to and the channel crosstalk problem when many teaching robot cluster control, reduced teaching robot's cost.
In one embodiment, one of the upper computers is configured to receive data collected by a sensor and sent by at least one of the teaching robots, and send a control instruction to the teaching robot corresponding to the preset bluetooth module identifier according to the preset bluetooth module identifier. A plurality of teaching robots are controlled through an upper computer simultaneously to realize cluster control of a plurality of teaching robots, so that the pleasure and the difficulty of teaching of the teaching robots are improved, and the user experience is improved.
The upper computer comprises teaching robot control software, the teaching robot control software is used for receiving sensor data, working states of the teaching robot are calculated according to the sensor data, the calculated working states of the teaching robot are displayed, and control instructions are sent to the teaching robot according to information fed back by a user.
The teaching robot control software includes a web page terminal, a computer terminal APP, a mobile device APP, etc., and is not limited herein.
it should be noted that the teaching robot control method, the teaching robot control system, and the teaching robot described above belong to a general inventive concept, and the contents in the teaching robot control method, the teaching robot control system, and the teaching robot embodiment may be mutually applicable.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. a teaching robot control method is applied to a teaching robot which adopts a Bluetooth module for communication, and comprises the following steps:
Turning on a power switch of the teaching robot to electrify and start up the teaching robot, initializing the Bluetooth serial port and the operating system after the teaching robot is electrified and started up, and entering a standby state after the initialization is finished;
Receiving a request sent by an upper computer and used for connecting a Bluetooth module in the teaching robot, wherein the request is sent by the upper computer according to a searched Bluetooth identifier of the Bluetooth module;
establishing connection with the upper computer according to the request, and acquiring a connection result of the Bluetooth module and the upper computer;
When the connection result is successful, the sensor data of the teaching robot is sent to the upper computer through the Bluetooth module, the control instruction sent by the upper computer is received through the Bluetooth module, and the teaching robot is controlled to work according to the control instruction.
2. The method according to claim 1, wherein the sending of the sensor data of the teaching robot to the upper computer through the bluetooth module specifically comprises:
Acquiring a preset sending interval duration;
And sending sensor data of the teaching robot to the upper computer through the Bluetooth module according to the preset sending interval duration.
3. The method according to claim 1, wherein after establishing the connection with the upper computer according to the request and obtaining the connection result between the bluetooth module and the upper computer, the method further comprises:
and when the connection result is failure, acquiring preset Bluetooth connection failure prompt information, and displaying the preset Bluetooth connection failure prompt information on a display of the teaching robot according to the preset Bluetooth connection failure prompt information.
4. The method according to claim 1, wherein the receiving, by the bluetooth module, the control instruction sent by the upper computer specifically includes:
Acquiring a signal with data of a Bluetooth serial port;
And receiving a control instruction sent by the upper computer through the Bluetooth module according to the signal that the Bluetooth serial port has data.
5. the method of any one of claims 1 to 4, wherein the Bluetooth identification of the Bluetooth module is unique and stored in a read-only memory of the teaching robot.
6. A teaching robot, comprising: the Bluetooth module, the power supply unit, the sensor assembly, the control unit, the Bluetooth connection management module and the execution module are electrically connected, and the power supply unit is used for supplying power to the control unit, the Bluetooth module and the sensor assembly;
the sensor assembly is used for detecting according to the state of the teaching robot to obtain sensor data;
The control unit is used for turning on a power switch of the teaching robot to enable the teaching robot to be powered on and started up, initializing the Bluetooth serial port and the operating system after the teaching robot is powered on and started up, and enabling the teaching robot to enter a standby state after initialization is completed;
The Bluetooth connection management module is used for receiving a request sent by an upper computer and used for connecting a Bluetooth module in the teaching robot, the request is sent by the upper computer according to a searched Bluetooth identifier of the Bluetooth module, connection with the upper computer is established according to the request, and a connection result of the Bluetooth module and the upper computer is obtained;
the Bluetooth module is used for sending sensor data of the teaching robot to the upper computer through the Bluetooth module and receiving a control instruction sent by the upper computer through the Bluetooth module when the connection result is successful;
And the execution module is used for controlling the teaching robot to work according to the control instruction.
7. the instructional robot of claim 6, wherein the bluetooth module comprises bluetooth low energy, and the control unit is electrically connected to the bluetooth low energy for controlling the bluetooth low energy to operate.
8. an instructional robot as claimed in claim 6 or 7 further comprising a touch screen display electrically connected to said control unit for displaying information sent by said control unit and receiving information input by a user.
9. An instructional robotic system, the system comprising: -an upper computer, -a teaching robot for performing the method steps of any of claims 1 to 5 or employing a teaching robot according to any of claims 6 to 8; the upper computer comprises an upper computer end Bluetooth module, and the upper computer is in wireless connection with a Bluetooth module of the teaching robot through the upper computer end Bluetooth module so as to control the teaching robot to work.
10. The teaching robot system of claim 9, wherein one of the upper computers is configured to receive data collected by a sensor sent by at least one of the teaching robots, and send a control command to the teaching robot corresponding to the preset bluetooth module identifier according to the preset bluetooth module identifier.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811029379.3A CN109036046A (en) | 2018-09-05 | 2018-09-05 | A kind of STEM touch screen programmable electronic building blocks controller |
| CN2018110293793 | 2018-09-05 |
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| CN110580842A true CN110580842A (en) | 2019-12-17 |
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| CN201811029379.3A Pending CN109036046A (en) | 2018-09-05 | 2018-09-05 | A kind of STEM touch screen programmable electronic building blocks controller |
| CN201910823130.8A Active CN110533999B (en) | 2018-09-05 | 2019-09-02 | Teaching robot calibration method and teaching robot |
| CN201910832690.XA Pending CN110580844A (en) | 2018-09-05 | 2019-09-04 | self-balancing control method and device for two-wheeled robot, computer equipment and storage medium |
| CN201910832275.4A Pending CN110580842A (en) | 2018-09-05 | 2019-09-04 | teaching robot control method and system and teaching robot |
| CN201910832892.4A Pending CN110599875A (en) | 2018-09-05 | 2019-09-04 | Multi-mode remote controller and control method thereof |
| CN201910832879.9A Pending CN110599874A (en) | 2018-09-05 | 2019-09-04 | Programming method and device of robot controller, computer equipment and storage medium |
| CN201910832280.5A Pending CN110580843A (en) | 2018-09-05 | 2019-09-04 | robot control method, device, equipment and readable medium |
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| CN201811029379.3A Pending CN109036046A (en) | 2018-09-05 | 2018-09-05 | A kind of STEM touch screen programmable electronic building blocks controller |
| CN201910823130.8A Active CN110533999B (en) | 2018-09-05 | 2019-09-02 | Teaching robot calibration method and teaching robot |
| CN201910832690.XA Pending CN110580844A (en) | 2018-09-05 | 2019-09-04 | self-balancing control method and device for two-wheeled robot, computer equipment and storage medium |
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| CN201910832280.5A Pending CN110580843A (en) | 2018-09-05 | 2019-09-04 | robot control method, device, equipment and readable medium |
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| CN110533999A (en) | 2019-12-03 |
| CN110580844A (en) | 2019-12-17 |
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| CN110599874A (en) | 2019-12-20 |
| CN110533999B (en) | 2021-11-19 |
| CN110599875A (en) | 2019-12-20 |
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