CN110936375A - Synchronous multi-connection system and synchronous multi-connection method of robot - Google Patents
Synchronous multi-connection system and synchronous multi-connection method of robot Download PDFInfo
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- CN110936375A CN110936375A CN201911224719.2A CN201911224719A CN110936375A CN 110936375 A CN110936375 A CN 110936375A CN 201911224719 A CN201911224719 A CN 201911224719A CN 110936375 A CN110936375 A CN 110936375A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
Abstract
The invention relates to a synchronous multi-connection system of a robot and a synchronous multi-connection method thereof, wherein the synchronous multi-connection system is characterized in that: the gesture recognition system comprises a motion controller, a gesture recognition module and a gesture recognition module, wherein the motion controller is used for acquiring motion information in a motion sensing mode, converting the motion information into corresponding gesture data and sending the gesture data; the action controller is provided with a control communication module for sending attitude data; the controlled robot is used for finishing actions corresponding to the operator; more than one controlled robot is arranged; a robot mainboard for analyzing and processing attitude data is arranged on the controlled robot; a data receiving box; the robot main board is used for receiving the incoming attitude data and transmitting the incoming attitude data to the robot main board; the data receiving box is provided with a robot communication module which is in communication connection with the robot mainboard; the control communication module is synchronously communicated and interconnected with the robot communication modules on more than one controlled robot. The system can enable one operator to control more than one robot to act simultaneously.
Description
Technical Field
The invention relates to the field of robots, in particular to a synchronous multi-connection system of a robot and a synchronous multi-connection method thereof.
Background
The control of the robots at the present stage is generally a one-to-one control mode, if more than one robot is required to be controlled together, the same number of controllers and controllers of the robots are required to be operated together, or computer programming is required to achieve the effect that one robot controls a plurality of robots; such a situation requiring simultaneous control of multiple robots is commonly used in performance robots, and computer programming is cumbersome to control in industrial robotic arms in some industrial fields, such as: when an industrial robot arm needs to perform some precise processes, the programmed actions cannot be calculated precisely to control the robot arm to complete the processes, and the operation of multiple robots is not to be performed simultaneously, and the actions are consistent, which is more difficult to realize.
Therefore, further improvements are needed.
Disclosure of Invention
The present invention is directed to overcome the above-mentioned shortcomings of the prior art, and provides a synchronous multiple connection system for robots and a synchronous multiple connection method thereof, which enable an operator to control more than one robot to perform related operations through the application of the system.
The purpose of the invention is realized as follows:
the utility model provides a synchronous many connection system that ally oneself with of robot which characterized in that: comprises that
The action controller is used for acquiring action information corresponding to actions of an operator in an action sensing mode, converting the action information into corresponding attitude data and sending the attitude data; the action controller is provided with a control communication module used for sending attitude data outwards;
the controlled robot is used for finishing actions corresponding to the operator; one or more than two controlled robots are arranged; a robot main board for analyzing and processing attitude data is arranged on the controlled robot;
the data receiving box is used for receiving the attitude data from the action controller and transmitting the attitude data to the robot mainboard; the data receiving box is arranged on the controlled robot; the data receiving box is provided with a robot communication module which is in communication connection with a robot main board on the controlled robot; and the control communication module is synchronously communicated and interconnected with the robot communication modules on more than one controlled robot.
And the control communication module is communicated and interconnected with the robot communication module through a 4G signal, a 5G signal, Bluetooth or WIFI.
And the robot communication module is connected with the robot mainboard through a signal wire.
The data receiving box is loaded with an authentication number for identifying the controlled robot, and the authentication number is an IP address or an MAC address; and/or the action controller is loaded with a control verification number for identifying the action controller, and the control verification number is an IP address or an MAC address.
And a main board memory for recording attitude data is arranged on the robot main board.
The data receiving box is connected with the cloud end, and the attitude data in the mainboard memory is uploaded to the cloud end through the data receiving box.
The motion controller comprises a head controller worn on the head of the operator, an arm controller worn on the arm of the operator, a glove controller worn on the palm of the operator and/or a belt controller worn on the waist of the operator; the control communication module comprises a head communication module arranged on the head controller, an arm communication module arranged on the arm controller, a glove communication module arranged on the glove controller and/or a belt communication module arranged on the belt controller; the head communication module, the arm communication module, the glove communication module and/or the belt communication module are synchronously communicated and interconnected with the robot communication modules on more than one controlled robot.
The synchronous multi-connection method of the synchronous multi-connection system of the robot is characterized in that: the method comprises a controlled robot active connection mode and/or a motion controller active connection mode;
the active connection mode of the controlled robot comprises the following steps:
(1) more than one controlled robot presets a motion controller to be connected on a control system;
(2) starting more than one controlled robot, searching action controllers corresponding to the preset action controllers through a data receiving box by the controlled robot, and establishing communication connection relation with each other;
the motion controller active connection mode comprises the following steps:
(a) loading a preset connection list on the action controller or setting a real-time connection list according to actual needs;
(b) and the control communication module searches a data receiving box corresponding to the controlled robot in the communication network according to the controlled robot in the connection list and establishes a communication connection relation with each other.
In the active connection mode of the controlled robot and/or the active connection mode of the action controller, when the action controller is in communication connection with more than one controlled robot, the pairing of initialization setting is needed; after the initialization setting is completed, the operator starts to operate the controlled robot.
The invention has the following beneficial effects:
when a plurality of robots need to be controlled simultaneously, one or more (more than two) robots can be controlled to synchronously act simultaneously only by one operator wearing the action controller through the synchronous multi-link connection system; in the synchronous multi-connection system, a robot can simulate the action of an operator to accurately complete related work and can simultaneously control a plurality of robots to work; in addition, this synchronous many connection system that ally oneself with still has the recording function, can save operator's action and pass to the high in the clouds locally or on, saves computer programming time greatly, and can raise the efficiency.
Drawings
Fig. 1 is a schematic diagram of a pair in an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
The robot synchronous multi-connection system comprises
The action controller is used for acquiring action information corresponding to actions of an operator in an action sensing mode, converting the action information into corresponding attitude data and sending the attitude data; the action controller is provided with a control communication module used for sending the attitude data outwards, and the control communication module is provided with control software for managing the connection scheme;
the controlled robot is used for finishing actions corresponding to the operator; one or more than two controlled robots are arranged; a robot mainboard for analyzing and processing attitude data is arranged on the controlled robot;
the data receiving box is used for receiving the attitude data from the action controller and transmitting the attitude data to the robot mainboard; the data receiving box is arranged on the controlled robot; the data receiving box is provided with a robot communication module which is in communication connection with a robot main board on the controlled robot; the control communication module is synchronously communicated and interconnected with the robot communication modules on more than one controlled robot.
The synchronous multi-connection system of the robot can enable one operator to synchronously control a plurality of controlled robots (including a bionic robot, an industrial mechanical palm and the like), and enable the operator to simultaneously receive and synchronously control the plurality of controlled robots; the controlled robot can do some fine works through the synchronous multi-connection system, is particularly suitable for being applied to industrial production, does not need programming, and is convenient and simple to operate and use.
Further, the control communication module communicates with the robot communication module through communication modes such as 4G signals, 5G signals, Bluetooth or WIFI. The robot communication module and the control communication module are respectively 5.8G modules.
Further, the robot communication module is connected with the robot main board through a signal line.
Furthermore, the data receiving box is loaded with an authentication number for identifying the controlled robot, the authentication number is an IP address (internet protocol address) or an MAC address (physical location), and the setting of the authentication number can facilitate the confirmation of the controlled robot with correct communication connection; the action controller is loaded with a control verification number for identifying the action controller, the control verification number is an IP address (Internet protocol address) or an MAC address (entity position), and the setting of the control verification number can be convenient for confirming the action controller with correct communication connection.
Furthermore, a main board memory for recording attitude data is arranged on the robot main board; in addition, the data receiving box is connected with the cloud end, and the attitude data in the memory of the mainboard is uploaded to the cloud end through the data receiving box. And the attitude data is stored through the mainboard memory and the cloud end, so that an operator can conveniently call the relevant attitude data at any time to control the controlled robot.
Further, the motion controller comprises a head controller worn on the head of the operator, an arm controller worn on the arm of the operator, a glove controller worn on the palm of the operator, and/or a belt controller worn on the waist of the operator; the control communication module comprises a head communication module arranged on the head controller, an arm communication module arranged on the arm controller, a glove communication module arranged on the glove controller and/or a belt communication module arranged on the belt controller; the head communication module, the arm communication module, the glove communication module and/or the belt communication module are synchronously communicated and interconnected with the robot communication modules on more than one controlled robot. When an operator wears a plurality of sets of controllers, each set of controller respectively sends attitude data to the data receiving box on the corresponding controlled robot; theoretically, the same controlled robot can be synchronously controlled by one set or more than two sets of motion controllers.
The synchronous multi-connection method of the synchronous multi-connection system comprises a controlled robot active connection mode and/or an action controller active connection mode;
the active connection mode of the controlled robot comprises the following steps:
(1) the method comprises the following steps that more than one controlled robot presets action controllers to be connected on a control system of the controlled robot (the situation is similar to that of a wireless network system sent by a mobile phone to be selected and connected with different routers, a corresponding wireless network name is selected, and the name and the password of the action controller are input);
(2) starting more than one controlled robot, searching action controllers corresponding to the preset action controllers through a data receiving box by the controlled robot, and establishing communication connection relation with each other;
the active connection mode of the motion controller comprises the following steps:
(a) loading a preset connection list or setting a real-time connection list according to actual needs on the action controller, wherein the connection list comprises related information such as an IP address, a regional network name and a corresponding password of the controlled robot;
(b) and the control communication module searches a data receiving box corresponding to the controlled robot in the communication network according to the controlled robot in the connection list and establishes a communication connection relation with each other.
Further, in the active connection mode of the controlled robot and/or the active connection mode of the motion controller, when the motion controller is in communication connection with more than one controlled robot, initial setting pairing needs to be performed, because the motion controller needs to confirm the model of the controlled robot and related hardware configuration parameters including the hand length, the movable speed range and the like of the controlled robot, if a VR camera exists, even the hardware part can be effectively controlled by the parameters of the VR camera to be docked; after the initialization setting is completed, the operator starts to operate the controlled robot.
Further, referring to fig. 1, taking control of a plurality of industrial machinery palms as an example: the motion controller comprises a glove controller worn on the palm of the operator; the control communication module comprises a glove communication module arranged on the glove controller; the glove communication module and the robot communication module are communicated and interconnected with each other. Taking the control of a plurality of bionic robots to achieve the performance effect as an example: since a performance may require multiple site activities, a head controller, an arm controller, a belt controller, etc. may be required in addition to the glove controller described above.
Furthermore, in the control process, the data receiving box (the robot communication module) and the action controller (the control communication module) are connected into the same 5G network (or 4G network) to be capable of communicating with each other; after the action controller obtains the attitude data, the control communication module in the action controller sends the attitude data to the data receiving box of the same network through a 5G network (or a 4G network) by controlling, and after the robot communication module in the data receiving box receives the attitude data sent by the action controller, the robot communication module sends the attitude data to the robot mainboard of the controlled robot through the data line and the GND line, so that the controlled robot can make the action corresponding to the attitude data. Therefore, as long as the data receiving boxes corresponding to the controlled robots are all connected into the 5G network (or 4G network) which is the same as the action controller, the controlled robots can be controlled, and the purpose that one set of action controller controls a plurality of controlled robots to move simultaneously is achieved.
The foregoing is a preferred embodiment of the present invention, and the basic principles, principal features and advantages of the invention are shown and described. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and the invention is intended to be protected by the following claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The utility model provides a synchronous many connection system that ally oneself with of robot which characterized in that: comprises that
The action controller is used for acquiring action information corresponding to actions of an operator in an action sensing mode, converting the action information into corresponding attitude data and sending the attitude data; the action controller is provided with a control communication module used for sending attitude data outwards;
the controlled robot is used for finishing actions corresponding to the operator; one or more than two controlled robots are arranged; a robot main board for analyzing and processing attitude data is arranged on the controlled robot;
the data receiving box is used for receiving the attitude data from the action controller and transmitting the attitude data to the robot mainboard; the data receiving box is arranged on the controlled robot; the data receiving box is provided with a robot communication module which is in communication connection with a robot main board on the controlled robot; and the control communication module is synchronously communicated and interconnected with the robot communication modules on more than one controlled robot.
2. A synchronous multiple connection system of robots according to claim 1, characterized in that: and the control communication module is communicated and interconnected with the robot communication module through a 4G signal, a 5G signal, Bluetooth or WIFI.
3. A synchronous multiple connection system of robots according to claim 1, characterized in that: and the robot communication module is connected with the robot mainboard through a signal wire.
4. A synchronous multiple connection system of robots according to claim 1, characterized in that: the data receiving box is loaded with an authentication number for identifying the controlled robot, and the authentication number is an IP address or an MAC address; and/or the action controller is loaded with a control verification number for identifying the action controller, and the control verification number is an IP address or an MAC address.
5. A synchronous multiple connection system of robots according to claim 1, characterized in that: and a main board memory for recording attitude data is arranged on the robot main board.
6. A synchronous multiple connection system of robots according to claim 5, characterized in that: the data receiving box is connected with the cloud end, and the attitude data in the mainboard memory is uploaded to the cloud end through the data receiving box.
7. A synchronous multiple connection system of robots according to claim 1, characterized in that: the motion controller comprises a head controller worn on the head of the operator, an arm controller worn on the arm of the operator, a glove controller worn on the palm of the operator and/or a belt controller worn on the waist of the operator; the control communication module comprises a head communication module arranged on the head controller, an arm communication module arranged on the arm controller, a glove communication module arranged on the glove controller and/or a belt communication module arranged on the belt controller; the head communication module, the arm communication module, the glove communication module and/or the belt communication module are synchronously communicated and interconnected with the robot communication modules on more than one controlled robot.
8. The synchronous multiple connection method of a synchronous multiple connection system of a robot as claimed in claim 1, wherein: the method comprises a controlled robot active connection mode and/or a motion controller active connection mode;
the active connection mode of the controlled robot comprises the following steps:
(1) more than one controlled robot presets a motion controller to be connected on a control system;
(2) starting more than one controlled robot, searching action controllers corresponding to the preset action controllers through a data receiving box by the controlled robot, and establishing communication connection relation with each other;
the motion controller active connection mode comprises the following steps:
(a) loading a preset connection list on the action controller or setting a real-time connection list according to actual needs;
(b) and the control communication module searches a data receiving box corresponding to the controlled robot in the communication network according to the controlled robot in the connection list and establishes a communication connection relation with each other.
9. The synchronous multiple connection method of a synchronous multiple connection system of a robot as claimed in claim 1, wherein: in the active connection mode of the controlled robot and/or the active connection mode of the action controller, when the action controller is in communication connection with more than one controlled robot, the pairing of initialization setting is needed; after the initialization setting is completed, the operator starts to operate the controlled robot.
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| CN111409079A (en) * | 2020-05-19 | 2020-07-14 | 路邦科技授权有限公司 | Multi-connection and interconnection control system of industrial-grade mechanical arm |
| CN113835427A (en) * | 2021-07-27 | 2021-12-24 | 广东嘉腾机器人自动化有限公司 | System and method for synchronizing multiple AGV command data |
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