CN111300412A - Method for controlling robot based on illusion engine - Google Patents
Method for controlling robot based on illusion engine Download PDFInfo
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- CN111300412A CN111300412A CN202010127061.XA CN202010127061A CN111300412A CN 111300412 A CN111300412 A CN 111300412A CN 202010127061 A CN202010127061 A CN 202010127061A CN 111300412 A CN111300412 A CN 111300412A
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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
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1625—Truss-manipulator for snake-like motion
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Abstract
The invention relates to a method for controlling a robot based on a phantom engine, which comprises the following steps: s1, sending a control command to the robot communication module through a Socket network by a robot simulation model built in the upper computer illusion engine 4; s2, the robot communication module analyzes the control command according to a preset communication protocol and sends the analyzed control command to the robot through wireless network communication; s3, the robot makes corresponding movement according to the control command, and feeds back the current actual rotation angle of the steering engine to the robot simulation model on the illusion engine 4 through the robot communication module at regular time; the invention remotely and wirelessly controls the snake-shaped robot through the robot simulation model built in the upper computer illusion engine 4 and feeds back the current pose state of the snake-shaped robot in real time for display, thereby solving the problem of wireless remote measurement and control of the snake-shaped robot and simultaneously ensuring that the development and debugging of the robot are more convenient by a visual user control interface.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a method for controlling a robot based on an illusion engine.
Background
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. The robot upper computer in the industry currently has various forms, such as making a graphical control interface based on LabVIEW developed by National Instruments (NI) corporation, developing a console program based on microsoft MFC architecture, or developing control software by using a Robot Operating System (ROS) in combination with a Qt framework, which has a problem that the developed control software interface is relatively crude, only a graphical panel for sending a control command is used, the current state of the robot can only be displayed by a numerical value or a curve, and a visual robot model is not available.
The illusion Engine 4(Unreal Engine)4 is the top game Engine which is the most famous and most authorized in the world at present, although the purpose of the initial development is to serve game developers, with the continuous abundance and enhancement of functions, other applicable fields are more and more, such as industries of buildings, automobiles, transportation, movies, training, simulation and the like. In physical simulation, the illusion engine 4 adopts a Physx physical operation engine, so that objects in the virtual world can accord with the physical motion rule of the real world, and the motion of the internal model is more realistic. In the aspect of graphic processing, the DirectX graphic rendering function developed by Microsoft is supported, such as light source display in a scene, material and coloring rendering of physical attributes of a model surface and the like, so that objects in the whole world are more vivid and gorgeous. In terms of model creation, the illusion engine 4 has a plurality of basic models, such as cylinders, spheres, cubes, and the like, and can create a complete model for a user himself or import a model created by software such as 3D Max if a finer model is sought. In the aspect of user interface, the system has abundant graphical interface components for users to develop for the second time.
In summary, there is a need in the industry to develop a visual robot control method or system based on the illusion engine 4.
Disclosure of Invention
Aiming at the defects that the current state of the robot in the prior art can only be displayed through numerical values or curves and does not have a visual robot model, the invention designs a method for controlling the robot based on an illusion engine.
The specific scheme of the application is as follows:
a method of controlling a robot based on a ghost engine, comprising:
s1, sending a control command to the robot communication module through a Socket network by a robot simulation model built in the upper computer illusion engine 4;
s2, the robot communication module analyzes the control command according to a preset communication protocol and sends the analyzed control command to the robot through wireless network communication;
s3, the robot makes corresponding movement according to the control command, and feeds back the current actual rotation angle of the steering engine to the robot simulation model on the illusion engine 4 through the robot communication module at regular time;
and S4, after receiving the angle feedback signal, the simulation model sequentially endows the angle values to the corresponding simulation modules, adjusts the pose of the simulation model according to the angle feedback signal so as to enable the pose of the simulation model to be consistent with the robot entity, and displays the current pose state of the robot through a display of the illusion engine 4 simulation system.
Preferably, the step of building the robot simulation model in the upper computer illusion engine 4 includes:
s11, building a simulation model of the robot by adopting the illusion engine 4,
s12, making materials and maps for the simulation model, and making a scene model for the simulation model;
s13, making a visual robot graphical control interface by using the illusion engine 4, and binding different control instructions for each key of the graphical control interface; and if the key is clicked, sending a control command to the robot communication module through a Socket network TCP protocol.
Preferably, the robot comprises: the head joint module and N kinematic joint modules, wherein N is more than or equal to 2; the head joint module is connected with the motion joint module through a bus, and is used for receiving a control command, analyzing data and sending the control command to the motion joint module through the bus; and the motion joint module is used for controlling the steering engine to move according to the control command.
Preferably, the head joint module comprises an STM32 series microprocessor, a WIFI module, an infrared sensor and a camera, the motion joint module comprises a steering engine microprocessor, a driving state feedback module and a steering engine, the WIFI module is connected with the robot communication module, the STM32 series microprocessor is connected with the steering engine microprocessor through a bus, the steering engine microprocessor is connected with the steering engine, and the STM32 series microprocessor is further connected with the driving state feedback module.
Preferably, step S3 includes:
s31, after receiving the control command sent by the robot communication module, the WIFI module sends the control command to an STM32 series microprocessor of the head joint module through serial port communication;
s32, the STM32 series microprocessor analyzes the received control command and controls the motion joint module through a bus;
s33, after the motion joint module receives a control command from the bus, the microprocessor analyzes the control command, controls the steering engine to move to a corresponding angle, the robot makes a corresponding motion, and the driving state feedback module feeds the current actual rotation angle of the steering engine back to the STM32 series of microprocessors of the head joint module at regular time;
s34: the STM32 series microprocessors of the head joint module, after receiving the angle feedback of each kinematic joint module, will forward to the robot simulation model on the illusion engine 4 through the robot communication module.
Preferably, the scene model made by the simulation model is a flat ground, a pipeline, a mountain land or a cable.
Compared with the prior art, the invention has the following beneficial effects:
the invention remotely and wirelessly controls the snake-shaped robot through the robot simulation model built in the upper computer illusion engine 4 and feeds back the current pose state of the snake-shaped robot in real time for display, thereby solving the problem of wireless remote measurement and control of the snake-shaped robot and simultaneously ensuring that the development and debugging of the robot are more convenient by a visual user control interface. The method comprises the following specific steps:
(1) in the invention, a virtual reality engine is adopted to develop a visual interaction interface in the remote operation of the snake-shaped robot, so that the system has a better human-computer interaction function, the operation difficulty is reduced, and the operation efficiency is improved;
(2) the invention adopts angle feedback to visually display the pose information of the snake-shaped robot in real time into the simulation scene of the virtual engine, so that an operator can accurately master the current motion state and pose of the robot in real time;
(3) the robot simulation and the entity machine control can be integrated in the same software, so that the development efficiency of workers is improved;
(4) the functions of virtual reality, augmented reality and the like can be added, and the robot has good expansibility and is favorable for displaying and popularizing the robot.
Drawings
Fig. 1 is a schematic flow chart of a method for controlling a robot based on a ghost engine according to an embodiment.
Fig. 2 is a schematic block diagram of a control robot based on a ghost engine 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. 1-2, a method of controlling a robot based on a ghost engine includes:
s1, sending a control command to the robot communication module through a Socket network by a robot simulation model built in the upper computer illusion engine 4; the step of building the robot simulation model in the upper computer illusion engine 4 comprises the following steps:
s11, building a simulation model of the robot by adopting the illusion engine 4,
s12, making materials and maps for the simulation model, and making a scene model for the simulation model; the scene model made by the simulation model is a flat ground, a pipeline, a mountain land or a cable. The material and the mapping are made for the model, and the visual experience of the snake-shaped robot simulation model is enriched.
S13, making a visual robot graphical control interface by using the illusion engine 4, and binding different control instructions for each key of the graphical control interface; and if the key is clicked, sending a control command to the robot communication module through a Socket network TCP protocol. The graphical control interface carries out key layout design according to the actually required functions of the snake-shaped robot, and simplifies the control operation of a user on the robot.
In this embodiment, the robot is a serpentine robot. The serpentine robot includes: the head joint module and N kinematic joint modules, wherein N is more than or equal to 2; the head joint module is connected with the motion joint module through a bus, and is used for receiving a control command, analyzing data and sending the control command to the motion joint module through the bus; and the motion joint module is used for controlling the steering engine to move according to the control command. The head joint module comprises an STM32 series microprocessor, a WIFI module, an infrared sensor and a camera, the motion joint module comprises a steering engine microprocessor, a driving state feedback module and a steering engine, the WIFI module is connected with the robot communication module, the STM32 series microprocessor is connected with the steering engine microprocessor through a bus, the steering engine microprocessor is connected with the steering engine, and the STM32 series microprocessor is further connected with the driving state feedback module. The serpentine robot further comprises: and the power supply system is used for supplying power to each module of the snake-shaped robot.
In the present embodiment, the STM32 family of microprocessors is the STM32F103C8T2 microprocessor.
S2, the robot communication module analyzes the control command according to a preset communication protocol and sends the analyzed control command to the robot through wireless network communication; the snake-shaped robot communication module can be a software program, is developed by combining a C + + language with a socket network, is an intermediate bridge for bidirectional communication between a simulation model and a snake-shaped robot body in the upper computer illusion engine 4, is responsible for analyzing and sending a control instruction sent by a simulation system of the illusion engine 4 to the snake-shaped robot body, and is also responsible for transmitting sensor information and angle feedback information on the snake-shaped robot body to the emulation system of the illusion engine 4.
S3, the robot makes corresponding movement according to the control command, and feeds back the current actual rotation angle of the steering engine to the robot simulation model on the illusion engine 4 through the robot communication module at regular time; specifically, step S3 includes:
s31, after receiving the control command sent by the robot communication module, the WIFI module sends the control command to an STM32 series microprocessor of the head joint module through serial port communication;
s32, the STM32 series microprocessor analyzes the received control command and controls the motion joint module through a bus;
s33, after the motion joint module receives a control command from the bus, the microprocessor analyzes the control command, controls the steering engine to move to a corresponding angle, the robot makes a corresponding motion, and the driving state feedback module feeds the current actual rotation angle of the steering engine back to the STM32 series of microprocessors of the head joint module at regular time;
if the control command is related to infrared rays and a camera, the robot performs corresponding opening/closing operation, and if the control command is related to joint module movement, the TM32 series microprocessor analyzes the control command and controls all movement joint modules connected with the bus through a CAN bus control protocol to enable the snake-shaped robot entity to make corresponding movement;
s34: the STM32 series microprocessors of the head joint module, after receiving the angle feedback of each kinematic joint module, will forward to the robot simulation model on the illusion engine 4 through the robot communication module.
And S4, after receiving the angle feedback signal, the simulation model sequentially endows the angle values to the corresponding simulation modules, adjusts the pose of the simulation model according to the angle feedback signal so as to enable the pose of the simulation model to be consistent with the robot entity, and displays the current pose state of the robot through a display of the illusion engine 4 simulation system. The method uses the phantom engine 4 simulation software to pre-construct the operation scene of the snake-shaped robot and the simulation model of the snake-shaped robot. And analyzing the information of the position and the attitude of each joint according to the motion information of the snake-shaped robot body, applying the information to the corresponding joint of the simulation model, and restoring and displaying the current motion position and attitude of the robot by the display.
In the upper computer, the virtual engine 4 simulation system controls the joint rotation angle of the snake-shaped robot through Socket network communication and the WIFI module, so that the whole motion of the robot is controlled remotely, meanwhile, the joint angle feedback from the snake-shaped robot can be received in real time, the motion pose of the snake-shaped robot is restored in a display of the simulation system, and the system is high in observability, stability and universality.
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 (6)
1. A method of controlling a robot based on a ghost engine, comprising:
s1, sending a control command to the robot communication module through a Socket network by a robot simulation model built in the upper computer illusion engine 4;
s2, the robot communication module analyzes the control command according to a preset communication protocol and sends the analyzed control command to the robot through wireless network communication;
s3, the robot makes corresponding movement according to the control command, and feeds back the current actual rotation angle of the steering engine to the robot simulation model on the illusion engine 4 through the robot communication module at regular time;
and S4, after receiving the angle feedback signal, the simulation model sequentially endows the angle values to the corresponding simulation modules, adjusts the pose of the simulation model according to the angle feedback signal so as to enable the pose of the simulation model to be consistent with the robot entity, and displays the current pose state of the robot through a display of the illusion engine 4 simulation system.
2. A phantom engine based method of controlling a robot according to claim 1, wherein the step of building a robot simulation model in the upper machine phantom engine 4 comprises:
s11, building a simulation model of the robot by adopting the illusion engine 4,
s12, making materials and maps for the simulation model, and making a scene model for the simulation model;
s13, making a visual robot graphical control interface by using the illusion engine 4, and binding different control instructions for each key of the graphical control interface; and if the key is clicked, sending a control command to the robot communication module through a Socket network TCP protocol.
3. A ghost engine based method of controlling a robot according to claim 1, wherein the robot comprises: the head joint module and N kinematic joint modules, wherein N is more than or equal to 2;
the head joint module is connected with the motion joint module through a bus, and is used for receiving a control command, analyzing data and sending the control command to the motion joint module through the bus;
and the motion joint module is used for controlling the steering engine to move according to the control command.
4. The method for controlling the robot based on the illusion engine of claim 3, wherein the head joint module comprises an STM32 series microprocessor, a WIFI module, an infrared sensor and a camera, the motion joint module comprises a steering engine microprocessor, a driving state feedback module and a steering engine, the WIFI module is connected with the robot communication module, the STM32 series microprocessor is connected with the steering engine microprocessor through a bus, the steering engine microprocessor is connected with the steering engine, and the STM32 series microprocessor is further connected with the driving state feedback module.
5. The illusion-engine-based method of controlling a robot of claim 4, wherein step S3 includes:
s31, after receiving the control command sent by the robot communication module, the WIFI module sends the control command to an STM32 series microprocessor of the head joint module through serial port communication;
s32, the STM32 series microprocessor analyzes the received control command and controls the motion joint module through a bus;
s33, after the motion joint module receives a control command from the bus, the microprocessor analyzes the control command, controls the steering engine to move to a corresponding angle, the robot makes a corresponding motion, and the driving state feedback module feeds the current actual rotation angle of the steering engine back to the STM32 series of microprocessors of the head joint module at regular time;
s34: the STM32 series microprocessors of the head joint module, after receiving the angle feedback of each kinematic joint module, will forward to the robot simulation model on the illusion engine 4 through the robot communication module.
6. A phantom engine based method of controlling a robot according to claim 2, wherein said simulation model makes a scene model of level ground, pipe, mountain or cable.
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Cited By (3)
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