CN111283680A - System and method for remotely controlling robot in wireless manner - Google Patents
System and method for remotely controlling robot in wireless manner Download PDFInfo
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- CN111283680A CN111283680A CN202010127044.6A CN202010127044A CN111283680A CN 111283680 A CN111283680 A CN 111283680A CN 202010127044 A CN202010127044 A CN 202010127044A CN 111283680 A CN111283680 A CN 111283680A
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to a system for remotely controlling a robot in a wireless and remote way, which comprises: the robot comprises an upper computer client, a server containing a communication module and a robot entity; the upper computer client and the communication module are in remote communication by adopting a Socket network protocol, and communication data are encapsulated by adopting a self-defined Json data format; and the robot entity and the communication module are in wireless communication by adopting WIFI, and communication data are packaged by adopting a self-defined serial port data format. The invention adopts the server end containing the communication module as the middleware of the upper computer client and the robot to forward the control command and the data message, and the communication module adopts a mode of simultaneously processing tasks in a multithreading way, so that the functions of establishing connection, sending the control command, receiving returned data and the like are mutually independent and do not interfere with each other, and the real-time performance of controlling the robot is improved.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a system and a method for remotely controlling a robot in a wireless and remote mode.
Background
OpenCV is a BSD license (open source) based distributed cross-platform computer vision library that can run on Linux, Windows, Android, and Mac OS operating systems. The method is light and efficient, is composed of a series of C functions and a small number of C + + classes, provides interfaces of languages such as Python, Ruby, MATLAB and the like, and realizes a plurality of general algorithms in the aspects of image processing and computer vision.
Socket is an intermediate software abstraction layer for the application layer to communicate with the TCP/IP suite of protocols, which is a set of interfaces. In a design mode, Socket is actually a facade mode, a complex TCP/IP protocol family is hidden behind a Socket interface, for a user, a group of simple interfaces are all, and the Socket organizes data to accord with a specified protocol. Therefore, developers do not need to deeply understand the tcp/udp protocol, the socket is packaged for users, the users only need to follow the specification of the socket to program, and the written program naturally follows the tcp/udp standard.
With the progress of science and technology, the development of robot technology also enters a new stage, a large number of robots are applied to different fields, and particularly in environments where human beings are difficult to explore or human safety is easily damaged, different types of robots are required to replace human beings to complete actual work. Most of the existing robots are controlled by wired connection, and when the robots work in the scenes, the control mode based on wired connection has great limitation on the mobile robots, and the exploration range of the robots is limited. Therefore, there is a need in the industry to develop a stable system or method for wirelessly controlling a mobile robot capable of supporting long-distance communication.
Disclosure of Invention
Aiming at the defect that most of the existing robots in the prior art are controlled in a wired connection mode, the invention designs a system and a method for remotely controlling the robots in a wireless mode.
The specific scheme of the application is as follows:
a system for wireless remote control of a robot, comprising: the robot comprises an upper computer client, a server containing a communication module and a robot entity; the upper computer client is used for sending a robot control instruction to realize motion control of the robot entity, receiving data from the robot entity and analyzing the data; the server side is used for processing the robot control instruction and outputting the control instruction to the robot entity; the robot entity is used for moving according to a control instruction; the upper computer client and the communication module are in remote communication by adopting a Socket network protocol, and communication data are encapsulated by adopting a self-defined Json data format; and the robot entity and the communication module are in wireless communication by adopting WIFI, and communication data are packaged by adopting a self-defined serial port data format.
Preferably, the robot entity is a multi-joint series robot, and comprises a main controller, a WIFI module, a camera, a bus, M driving steering engines and a power supply unit; the driving steering engine is connected with the main controller through a bus; the driving steering engine moves according to a control instruction output by the main controller; the power supply unit is used for supplying power.
Preferably, the server side and the upper computer client side are located in a local area network, and the server side includes a wireless network card driver connected with a WIFI module of the robot entity.
Preferably, the number of the upper computer clients is N, and N is more than or equal to 1024 and more than or equal to 1.
A method of wirelessly remotely controlling a robot, comprising:
s1, as the server end of network communication, initializing socket network connection and monitoring the connection from the upper computer client end;
s2, the server receives the network connection request sent by the upper computer client, and establishes Socket network connection between the server and the upper computer client;
s3, creating and operating a sub-thread module for WIFI communication, and establishing communication between a server and a WIFI module of the robot entity;
s4, a sub-thread module of TCP communication is created and operated, a server receives the control instruction of the client, analyzes the control instruction, and sends a corresponding control instruction to the robot entity according to the analysis result;
and S5, the robot entity moves according to the control instruction.
Preferably, step S2 includes:
s21, when the server receives a network connection request sent by the client of the upper computer, the server processes the network connection request and generates a socket identification variable corresponding to the client;
s22, storing the client socket identification variable into an FD set of the current process, wherein the FD set is used for storing all upper computer client sockets which are connected with the current server, and when the upper computer is disconnected with the current communication module of the server, the corresponding socket can be removed from the FD set;
and S23, judging whether the number of the upper computer clients which are currently connected reaches the upper limit, if so, waiting for the connection of other upper computers to be disconnected, and if not, continuing to execute S21.
Preferably, step S3 includes:
s31, circularly monitoring data from the WIFI module by the server, wherein the data comprises video data, picture data, audio data, serial port data and the like; if the data is video data, go to step S32; if the data is picture data, executing step S33; if the data is serial port data, executing step S34;
s32, processing the video data frame by frame, converting the video data into a BGR format, and displaying the analyzed video frame data frame by frame through an opencv function library to form continuous video images;
s33, displaying the picture in the program window through the opencv function library;
s34, analyzing according to the self-defined serial port data format, packaging into information to be sent according to the self-defined Json data format again, polling to obtain a writable client socket in the FD set, writing the information to be sent into the writable client socket through TCP communication, and sending the information to be sent to a corresponding upper computer.
Preferably, step S4 includes:
s41: polling an FD set at fixed time by using a select function in socket network programming, and detecting whether a control instruction from a certain upper computer client exists or not; if yes, go to step S42;
s42: clearing a temporary buffer area for receiving the message, writing a control instruction from a client into the temporary buffer area for receiving the message, taking the control instruction out of the buffer area for analysis, and sending a corresponding control instruction to the robot entity according to an analysis result;
s43: and the robot entity returns a corresponding state code to the client sending the control command according to the execution result of the control command, and continues to execute S41.
Compared with the prior art, the invention has the following beneficial effects:
according to the scheme, the server side comprising the communication module is used as middleware of the upper computer client side and the robot to forward the control command and the data message, and the communication module adopts a multi-thread mode for processing tasks at the same time, so that functions of establishing connection, sending the control command, receiving returned data and the like are independent and do not interfere with each other, and the real-time performance of robot control is improved. The method comprises the following specific steps:
(1) the invention adopts a Socket network communication method, solves the problem that one upper computer directly controls the single-to-single communication of one robot in the prior robot control, so that the robot can receive control commands from a plurality of upper computers to realize multi-computer control, and various data information fed back by the robot, such as angle information, sensor information, acquired image data and the like, can also be simultaneously returned to the plurality of upper computers for processing;
(2) according to the method for remotely controlling the robot in the wireless remote mode, the communication module adopts a mode of simultaneously processing tasks in a multithreading mode, so that functions of establishing connection, sending control commands, receiving returned data and the like are independent and do not interfere with each other, and the real-time performance of controlling the robot is improved;
(3) the invention adopts a communication mode combining the local area network and the WIFI, so that the communication function is more stable compared with the Bluetooth control, the communication range of the robot control is expanded, the limitation of wired control can be broken, and the remote control of the robot is realized.
Drawings
Fig. 1 is a schematic configuration diagram of a system of a wireless remote-controlled robot of an embodiment;
fig. 2 is a schematic flow chart of a method of wirelessly remotely controlling a robot of an embodiment;
fig. 3 is a flowchart of a method for remotely controlling a robot wirelessly according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.
Referring to fig. 1, a system for remotely controlling a robot by wireless, comprising: the robot comprises an upper computer client, a server containing a communication module and a robot entity; the upper computer client is used for sending a robot control instruction to realize motion control of the robot entity, receiving data from the robot entity and analyzing the data; the server side is used for processing the robot control instruction and outputting the control instruction to the robot entity; the robot entity is used for moving according to a control instruction; the upper computer client and the communication module are in remote communication by adopting a Socket network protocol, and communication data are encapsulated by adopting a self-defined Json data format; and the robot entity and the communication module are in wireless communication by adopting WIFI, and communication data are packaged by adopting a self-defined serial port data format.
And the server side containing the communication module adopts a communication module program as middleware of the upper computer and the robot to forward the control command and the data message. The communication module can be a software program, and is developed by combining C + + language with a socket network.
In this embodiment, the robot entity is a multi-joint series robot, and the robot entity includes a main controller, a WIFI module, a camera, a bus, M driving steering engines, and a power supply unit; the driving steering engine is connected with the main controller through a bus; the driving steering engine moves according to a control instruction output by the main controller; the power supply unit is used for supplying power.
In this embodiment, the server and the upper computer client are located in a local area network, and the server includes a wireless network card driver connected to a WIFI module of the robot entity.
In this embodiment, the number of the upper computer clients is N, and N is 1024 or more and is more than or equal to 1.
Referring to fig. 2 to 3, a wireless remote robot method based on the above-described system for wireless remote robot includes:
s1, as the server end of network communication, initializing socket network connection and monitoring the connection from the upper computer client end; specifically, step S1 includes: establishing a server socket of the current process by taking the current process as a server end of socket network communication, communicating by adopting a TCP (transmission control protocol), binding the socket with an IP (Internet protocol) address of a computer where the process is located, and assigning a computer port number for communication; setting the server socket into a non-blocking mode, starting a monitoring mode, and waiting for a connection request of an upper computer client;
s2, the server receives the network connection request sent by the upper computer client, and establishes Socket network connection between the server and the upper computer client; step S2 is a main thread of program operation, specifically, step S2 includes:
and S21, when the server receives a network connection request sent by the client of the upper computer, processing the network connection request and generating a socket identification variable corresponding to the client, namely acquiring the socket identification variable and the ip address of the client of the upper computer.
S22, storing the client socket identification variable into an FD set of the current process, wherein the FD set is used for storing all upper computer client sockets which are connected with the current server, and when the upper computer is disconnected with the current communication module of the server, the corresponding socket can be removed from the FD set;
and S23, judging whether the number of the upper computer clients which are currently connected reaches the upper limit, if so, waiting for the connection of other upper computers to be disconnected, and if not, continuing to execute S21.
S3, creating and operating a sub-thread module for WIFI communication, and establishing communication between a server and a WIFI module of the robot entity; specifically, step S3 includes:
s31, circularly monitoring data from the WIFI module by the server, wherein the data comprises video data, picture data, audio data, serial port data and the like; if the data is video data, go to step S32; if the data is picture data, executing step S33; if the data is serial port data, executing step S34;
s32, processing the video data frame by frame, converting the video data into a BGR format, and displaying the analyzed video frame data frame by frame through an opencv function library to form continuous video images;
s33, displaying the picture in the program window through the opencv function library;
s34, if serial data are received, data feedback from the robot is indicated, the data feedback is analyzed according to a self-defined serial data format, information to be sent is encapsulated according to a self-defined Json data format again, then a writable client socket in the FD set is obtained through polling, the information to be sent is written into the writable client socket through TCP communication, and the information to be sent is sent to a corresponding upper computer, wherein the self-defined serial data format is as follows:
| header | Command type ID | Data length | Message data | CRC check bits |
In the format, the length of a header is two bytes, and the header is two fixed characters and is used for identifying the initial position of serial port data; the command type ID is an enumeration value and represents whether the message type is a control command sent to the robot or message data fed back by the robot; the data length is used for recording the length of the following message data, so that the program can correctly read the content of the message data; the message data part is used for storing data, instructions, parameters and other contents to be transmitted; the CRC check bit is used for judging whether the data transmission result is correct or not.
S4, a sub-thread module of TCP communication is created and operated, a server receives the control instruction of the client, analyzes the control instruction, and sends a corresponding control instruction to the robot entity according to the analysis result; specifically, step S4 includes:
s41: polling an FD set at fixed time by using a select function in socket network programming, and detecting whether a control instruction from a certain upper computer client exists or not; if yes, go to step S42;
s42: clearing a temporary buffer area for receiving the message, writing a control instruction from a client into the temporary buffer area for receiving the message, taking the control instruction out of the buffer area for analysis, and sending a corresponding control instruction to the robot entity according to an analysis result; the custom Json format control commands are as follows:
the MessageType field is used to store an enumerated value, such as 0, 1, 2; 0 indicates that the type of the sent message is a top-level command, namely the upper layer message field has data, and 1 indicates that the type of the sent message is bottom-level data, namely the LowerLayerMessage field has data; 2, the type of the sent message is a mixed command, namely, the UpperLayerMessage field and the LowerLayerMessage field both have data;
the UpperLayerMessage field is used to deposit top-level commands, also enumerated values, including: starting robot functions such as serial port communication, camera starting, photographing and the like;
the LowerLayerMessage field is used for storing bottom layer data, is in a self-defined serial port data format and controls a specified steering engine to rotate at a certain angle;
s43: and the robot entity returns a corresponding state code to the client sending the control command according to the execution result of the control command, and continues to execute S41.
And S5, the robot entity moves according to the control instruction. Step S5 is followed by: and if the communication module program is closed, all socket network connections established by the process are disconnected.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. A system for remotely controlling a robot wirelessly, comprising: the robot comprises an upper computer client, a server containing a communication module and a robot entity;
the upper computer client is used for sending a robot control instruction to realize motion control of the robot entity, receiving data from the robot entity and analyzing the data;
the server side is used for processing the robot control instruction and outputting the control instruction to the robot entity;
the robot entity is used for moving according to a control instruction;
the upper computer client and the communication module are in remote communication by adopting a Socket network protocol, and communication data are encapsulated by adopting a self-defined Json data format;
and the robot entity and the communication module are in wireless communication by adopting WIFI, and communication data are packaged by adopting a self-defined serial port data format.
2. The system of claim 1, wherein the robot entity is a multi-joint series robot, and comprises a main controller, a WIFI module, a camera, a bus, M driving steering engines and a power supply unit; the driving steering engine is connected with the main controller through a bus; the driving steering engine moves according to a control instruction output by the main controller; the power supply unit is used for supplying power.
3. The system of claim 2, wherein the server and the upper computer client are located in a local area network, and the server comprises a wireless network card driver connected to the WIFI module of the robot entity.
4. The system of claim 1, wherein the number of the upper computer clients is N, and 1024. gtoreq.N.gtoreq.1.
5. A method of remotely controlling a robot wirelessly, comprising:
s1, as the server end of network communication, initializing socket network connection and monitoring the connection from the upper computer client end;
s2, the server receives the network connection request sent by the upper computer client, and establishes Socket network connection between the server and the upper computer client;
s3, creating and operating a sub-thread module for WIFI communication, and establishing communication between a server and a WIFI module of the robot entity;
s4, a sub-thread module of TCP communication is created and operated, a server receives the control instruction of the client, analyzes the control instruction, and sends a corresponding control instruction to the robot entity according to the analysis result;
and S5, the robot entity moves according to the control instruction.
6. The method of wireless remote control of a robot according to claim 5, wherein the step S2 comprises:
s21, when the server receives a network connection request sent by the client of the upper computer, the server processes the network connection request and generates a socket identification variable corresponding to the client;
s22, storing the client socket identification variable into an FD set of the current process, wherein the FD set is used for storing all upper computer client sockets which are connected with the current server, and when the upper computer is disconnected with the current communication module of the server, the corresponding socket can be removed from the FD set;
and S23, judging whether the number of the upper computer clients which are currently connected reaches the upper limit, if so, waiting for the connection of other upper computers to be disconnected, and if not, continuing to execute S21.
7. The method of wireless remote control of a robot according to claim 6, wherein the step S3 comprises:
s31, circularly monitoring data from the WIFI module by the server, wherein the data comprises video data, picture data, audio data, serial port data and the like; if the data is video data, go to step S32; if the data is picture data, executing step S33; if the data is serial port data, executing step S34;
s32, processing the video data frame by frame, converting the video data into a BGR format, and displaying the analyzed video frame data frame by frame through an opencv function library to form continuous video images;
s33, displaying the picture in the program window through the opencv function library;
s34, analyzing according to the self-defined serial port data format, packaging into information to be sent according to the self-defined Json data format again, polling to obtain a writable client socket in the FD set, writing the information to be sent into the writable client socket through TCP communication, and sending the information to be sent to a corresponding upper computer.
8. The method of wireless remote control of a robot according to claim 7, wherein the step S4 comprises:
s41: polling an FD set at fixed time by using a select function in socket network programming, and detecting whether a control instruction from a certain upper computer client exists or not; if yes, go to step S42;
s42: clearing a temporary buffer area for receiving the message, writing a control instruction from a client into the temporary buffer area for receiving the message, taking the control instruction out of the buffer area for analysis, and sending a corresponding control instruction to the robot entity according to an analysis result;
s43: and the robot entity returns a corresponding state code to the client sending the control command according to the execution result of the control command, and continues to execute S41.
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| CN116192919A (en) * | 2023-04-19 | 2023-05-30 | 天亿纵横智能科技(天津)有限公司 | Remote operation control system of bullet train image acquisition robot |
| CN116506326A (en) * | 2023-06-21 | 2023-07-28 | 季华实验室 | Sub-thread data receiving method, data monitoring method, upper computer and robot |
| CN116506326B (en) * | 2023-06-21 | 2023-11-24 | 季华实验室 | Sub-thread data receiving method, data monitoring method, upper computer and robot |
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