CN111805544A - Robot control method and device - Google Patents
Robot control method and device Download PDFInfo
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- CN111805544A CN111805544A CN202010665125.1A CN202010665125A CN111805544A CN 111805544 A CN111805544 A CN 111805544A CN 202010665125 A CN202010665125 A CN 202010665125A CN 111805544 A CN111805544 A CN 111805544A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a control method and a control device for a robot. Wherein, the method comprises the following steps: acquiring current state information of the robot through remote equipment; determining a current operation state of the robot according to the current state information, wherein the current operation state includes one of: a normal operation state, an abnormal operation state and a state to be upgraded; and remotely controlling the robot according to the current running state. The invention solves the technical problems of higher cost and lower efficiency of the field maintenance robot in the related technology.
Description
Technical Field
The invention relates to the field of robot control, in particular to a robot control method and device.
Background
In the current industrial robot industry, the communication processing capacity of the robot is limited, and in different work flows, flexible adjustment processing is required by personnel, for example, if the robot in a factory needs system upgrade and abnormal processing, a CF card for posting a controller is required, or a technician is required to be dispatched to a field for debugging, so that the cost for maintaining the robot is high, the maintenance efficiency is low, and the production task of the robot is greatly influenced.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a control method and a control device of a robot, which are used for at least solving the technical problems of higher cost and lower efficiency of field maintenance of the robot in the related technology.
According to an aspect of an embodiment of the present invention, there is provided a control method of a robot, including: acquiring current state information of the robot through remote equipment; determining a current operation state of the robot according to the current state information, wherein the current operation state includes one of: a normal operation state, an abnormal operation state and a state to be upgraded; and remotely controlling the robot according to the current running state.
According to another aspect of the embodiments of the present invention, there is also provided a control apparatus of a robot, including: the acquisition module is used for acquiring the current state information of the robot through the remote equipment; a determining module, configured to determine a current operating state of the robot according to the current state information, where the current operating state includes one of: a normal operation state, an abnormal operation state and a state to be upgraded; and the control module is used for remotely controlling the robot according to the current running state.
According to another aspect of the embodiments of the present invention, there is also provided a non-volatile storage medium, where the non-volatile storage medium includes a stored program, and when the program runs, the apparatus in which the non-volatile storage medium is located is controlled to execute any one of the above control methods for the robot.
According to another aspect of the embodiments of the present invention, there is also provided a processor, wherein the processor is configured to execute a program stored in a memory, and the program executes any one of the above control methods of the robot when running.
In the embodiment of the invention, the current state information of the robot is acquired through the remote equipment; determining a current operation state of the robot according to the current state information, wherein the current operation state includes one of: a normal operation state, an abnormal operation state and a state to be upgraded; the robot is remotely controlled according to the current running state, the purposes of remotely monitoring the robot and remotely controlling the robot are achieved, the technical effects of reducing the field maintenance cost of the robot and improving the maintenance efficiency are achieved, and the technical problem that the cost of field maintenance of the robot is high and the efficiency is low in the related technology is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flowchart of a control method of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an alternative robot control method according to an embodiment of the present invention;
FIG. 3 is a flow chart of an alternative method of controlling a robot in accordance with an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a control device of a robot according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided an embodiment of a control method for a robot, it should be noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than that herein.
Fig. 1 is a flowchart of a control method of a robot according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S102, current state information of the robot is obtained through remote equipment;
step S104, determining a current operating state of the robot according to the current state information, wherein the current operating state includes one of the following: a normal operation state, an abnormal operation state and a state to be upgraded;
and step S106, remotely controlling the robot according to the current running state.
In the embodiment of the invention, the current state information of the robot is acquired through the remote equipment; determining a current operation state of the robot according to the current state information, wherein the current operation state includes one of: a normal operation state, an abnormal operation state and a state to be upgraded; the robot is remotely controlled according to the current running state, the purposes of remotely monitoring the robot and remotely controlling the robot are achieved, the technical effects of reducing the field maintenance cost of the robot and improving the maintenance efficiency are achieved, and the technical problem that the cost of field maintenance of the robot is high and the efficiency is low in the related technology is solved.
Optionally, the remote device may be a remote PC terminal, and the robot may be an industrial robot.
Fig. 2 is a schematic view of an alternative scenario of a robot control method according to an embodiment of the present invention, as shown in fig. 2, in the embodiment of the present invention, the robot is connected to a local PC terminal through a switch, the robot communicates with a remote PC terminal through the internet, for example, through a communication manner of ethernet, and the robot can be remotely controlled and monitored through the remote PC terminal.
In an alternative embodiment, the obtaining the current state information of the robot through the remote device includes:
step S202, acquiring the IP address of the robot through the remote equipment;
and step S204, acquiring the current state information of the robot by accessing the IP address.
In the above optional embodiment, communication is performed between the industrial robot and the upper computer, for example, a controller of the robot in the same factory is connected to the switch in an ethernet manner, then a control flow between the upper computer and the industrial robot is determined according to a function to be implemented, and the remote PC terminal acquires current state information of the robot in a manner of accessing an IP address of the robot controller.
It should be noted that, in the embodiment of the present application, the remote PC terminal serves as a master station, the industrial robot serves as a slave station, and a closed-loop control system is formed between the remote PC terminal and the robot.
In an alternative embodiment, the method for acquiring the current state information of the robot through the remote device comprises at least one of the following steps:
step S302, acquiring first state information acquired by a sensor arranged on the robot through the remote equipment;
step S304, obtaining second state information in the controller of the robot through the remote device.
In this embodiment of the application, but not limited to, first state information, for example, sensor information, collected by a sensor disposed on a robot may be acquired by a remote device, and second state information, for example, operation data of the robot, in a controller of the robot may also be acquired by the remote device, so that a remote terminal may monitor the robot through a Kemotion View software, and simultaneously, the Kemotion software is used to send a control instruction to the robot through an ethernet manner, so as to implement remote control of the robot, for example: remote upgrade, remote exception handling, and the like.
In an alternative embodiment, the remotely controlling the robot according to the current operation state includes:
step S402, if the current running state is the normal running state, the remote device controls the robot to continue running;
step S404, if the current running state is the abnormal running state, the remote device controls the robot to stop running and outputs an alarm prompt message;
step S406, if the current operating state is the state to be upgraded, the remote device obtains an upgrade package corresponding to the state to be upgraded, and controls the robot to upgrade using the upgrade package.
In the above optional embodiment, if the current operation state is the normal operation state, the remote device controls the robot to continue to operate; if the current running state is the abnormal running state, the remote equipment controls the robot to stop running and outputs alarm prompt information; and if the current running state is the state to be upgraded, the remote equipment acquires an upgrade package corresponding to the state to be upgraded and controls the robot to upgrade by adopting the upgrade package.
In an alternative embodiment, fig. 3 is a flowchart of an alternative robot control method according to an embodiment of the present invention, and as shown in fig. 3, before obtaining the current state information of the robot through a remote device, the method further includes:
step S502, a connection request is sent to the robot through the remote equipment;
step S504, receiving the response result returned by the robot through the remote equipment;
step S506, if the response result is that the connection is successful, establishing communication connection between the remote equipment and the robot; and if the response result is that the connection fails, the remote equipment retransmits the connection request to the robot until the connection failure is detected to be more than the preset times.
In the above optional embodiment, after sending the connection request to the robot through the remote device, the robot determines whether to receive the connection request and returns a response result, where the connection request carries the following information: the robot includes an IP address, an account number corresponding to the IP address, and a password.
Before the current state information of the robot is acquired through the remote equipment, a connection request can be sent to the robot through the remote equipment, the response result returned by the robot is received through the remote equipment, and if the response result is successful, the communication connection between the remote equipment and the robot is established; and if the response result is that the connection fails, the remote equipment retransmits the connection request to the robot until the connection failure is detected to be more than the preset times.
It should be noted that the preset number of times may be, but is not limited to, 3 times, 5 times, and the like, if the number of times of detecting the connection failure is greater than 3 times, the remote device determines that the current connection is abnormal and performs server connection again, and if the connection is successful within 3 times of connection, the remote device prompts that the connection is successful, and the remote device performs remote communication with the robot.
As an alternative embodiment, the controller of the robot adopts an interface that can be connected through a serial port and an ethernet as a port for communication, and the controller has the following three ethernet interfaces: COM 0: connection switch, used as remote PC control, COM 1: connecting a demonstrator for realizing field personnel operation, COM 2: connected with the servo driver.
Through the remote control mode that this application embodiment provided, can realize convenient, the high-efficient unusual that appears of solving the robot in the production operation, improve the maintenance efficiency of robot. In addition, through the remote control mode provided by the embodiment of the application, the robot can work under the harsher condition, the safety of workers is protected, the maintenance cost of the robot is reduced, the application of the industrial robot in the severe environment is promoted, and the working state of the robot can be known by the maintenance personnel in real time through the remote monitoring mode.
Example 2
According to an embodiment of the present invention, there is also provided an embodiment of an apparatus for implementing the control method of the robot, and fig. 4 is a schematic structural diagram of a control apparatus of the robot according to an embodiment of the present invention, and as shown in fig. 4, the control apparatus of the robot includes: an acquisition module 40, a determination module 42, and a control module 44, wherein:
the acquisition module 40 is used for acquiring the current state information of the robot through the remote equipment; a determining module 42, configured to determine a current operating state of the robot according to the current state information, where the current operating state includes one of: a normal operation state, an abnormal operation state and a state to be upgraded; and a control module 44 for remotely controlling the robot according to the current operation state.
It should be noted here that the above-mentioned obtaining module 40, determining module 42 and control module 44 correspond to steps S102 to S106 in embodiment 1, and the above-mentioned modules are the same as the examples and application scenarios realized by the corresponding steps, but are not limited to what is disclosed in embodiment 1. It should be noted that the modules described above may be implemented in a computer terminal as part of an apparatus.
In an optional embodiment, the control module includes: a first control unit, configured to control the robot to continue to operate if the current operation state is the normal operation state; a second control unit, configured to control the robot to stop operating and output an alarm prompt if the current operating state is the abnormal operating state; and the third control unit is used for acquiring an upgrade package corresponding to the state to be upgraded by the remote equipment and controlling the robot to upgrade by adopting the upgrade package if the current running state is the state to be upgraded.
In an optional embodiment, the apparatus further comprises: sending a connection request to the robot through the remote device, wherein the robot determines whether to receive the connection request and returns a response result, and the connection request carries the following information: an IP address of the robot, an account number and a password corresponding to the IP address; the remote equipment receives the response result returned by the robot; if the response result is that the connection is successful, establishing the communication connection between the remote equipment and the robot; and if the response result is that the connection fails, the remote equipment retransmits the connection request to the robot until the connection failure is detected to be more than the preset times.
It should be noted that the above modules may be implemented by software or hardware, for example, for the latter, the following may be implemented: the modules can be located in the same processor; alternatively, the modules may be located in different processors in any combination.
It should be noted that, reference may be made to the relevant description in embodiment 1 for alternative or preferred embodiments of this embodiment, and details are not described here again.
The control device of the robot may further include a processor and a memory, and the acquiring module 40, the determining module 42, the control module 44, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.
The processor comprises a kernel, and the kernel calls a corresponding program unit from the memory, wherein one or more than one kernel can be arranged. The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
According to the embodiment of the application, the embodiment of the nonvolatile storage medium is also provided. Optionally, in this embodiment, the nonvolatile storage medium includes a stored program, and the apparatus in which the nonvolatile storage medium is located is controlled to execute the control method of the robot when the program runs.
Optionally, in this embodiment, the nonvolatile storage medium may be located in any one of a group of computer terminals in a computer network, or in any one of a group of mobile terminals, and the nonvolatile storage medium includes a stored program.
Optionally, the apparatus in which the non-volatile storage medium is controlled to perform the following functions when the program is executed: acquiring current state information of the robot through remote equipment; determining a current operation state of the robot according to the current state information, wherein the current operation state includes one of: a normal operation state, an abnormal operation state and a state to be upgraded; and remotely controlling the robot according to the current running state.
According to the embodiment of the application, the embodiment of the processor is also provided. Optionally, in this embodiment, the processor is configured to execute a program, where the program executes the control method of any one of the robots when running.
The embodiment of the application provides equipment, the equipment comprises a processor, a memory and a program which is stored on the memory and can run on the processor, and the following steps are realized when the processor executes the program: acquiring current state information of the robot through remote equipment; determining a current operation state of the robot according to the current state information, wherein the current operation state includes one of: a normal operation state, an abnormal operation state and a state to be upgraded; and remotely controlling the robot according to the current running state.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: acquiring current state information of the robot through remote equipment; determining a current operation state of the robot according to the current state information, wherein the current operation state includes one of: a normal operation state, an abnormal operation state and a state to be upgraded; and remotely controlling the robot according to the current running state.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable non-volatile storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a non-volatile storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned nonvolatile storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method for controlling a robot, comprising:
acquiring current state information of the robot through remote equipment;
determining a current operation state of the robot according to the current state information, wherein the current operation state comprises one of the following: a normal operation state, an abnormal operation state and a state to be upgraded;
and remotely controlling the robot according to the current running state.
2. The method of claim 1, wherein obtaining the current state information of the robot via a remote device comprises:
acquiring an IP address of the robot through the remote equipment;
and obtaining the current state information of the robot by accessing the IP address.
3. The method of claim 1 or 2, wherein the method of obtaining the current state information of the robot by the remote device comprises at least one of:
acquiring first state information acquired by a sensor arranged on the robot through the remote equipment;
and acquiring second state information in the controller of the robot through the remote equipment.
4. The method of claim 1, wherein remotely controlling the robot in accordance with the current operating state comprises:
if the current running state is the normal running state, the remote equipment controls the robot to continue running;
if the current running state is the abnormal running state, the remote equipment controls the robot to stop running and outputs alarm prompt information;
and if the current running state is the state to be upgraded, the remote equipment acquires an upgrade package corresponding to the state to be upgraded and controls the robot to upgrade by adopting the upgrade package.
5. The method of claim 1, wherein prior to obtaining the current state information of the robot by a remote device, the method further comprises:
sending a connection request to the robot through the remote device, wherein the robot determines whether to receive the connection request and returns a response result, and the connection request carries the following information: the IP address of the robot, and an account and a password corresponding to the IP address;
receiving the response result returned by the robot through the remote equipment;
if the response result is that the connection is successful, establishing communication connection between the remote equipment and the robot; and if the response result is that the connection fails, the remote equipment retransmits the connection request to the robot until the connection failure is detected to be more than the preset times.
6. A control device for a robot, comprising:
the acquisition module is used for acquiring the current state information of the robot through the remote equipment;
a determining module, configured to determine a current operating state of the robot according to the current state information, where the current operating state includes one of: a normal operation state, an abnormal operation state and a state to be upgraded;
and the control module is used for remotely controlling the robot according to the current running state.
7. The apparatus of claim 6, wherein the control module comprises:
the first control unit is used for controlling the robot to continue to operate by the remote equipment if the current operation state is the normal operation state;
the second control unit is used for controlling the robot to stop running and outputting alarm prompt information by the remote equipment if the current running state is the abnormal running state;
and the third control unit is used for acquiring an upgrade package corresponding to the state to be upgraded by the remote equipment and controlling the robot to upgrade by adopting the upgrade package if the current running state is the state to be upgraded.
8. The apparatus of claim 6, further comprising:
sending a connection request to the robot through the remote device, wherein the robot determines whether to receive the connection request and returns a response result, and the connection request carries the following information: the IP address of the robot, and an account and a password corresponding to the IP address;
the remote equipment receives the response result returned by the robot;
if the response result is that the connection is successful, establishing communication connection between the remote equipment and the robot; and if the response result is that the connection fails, the remote equipment retransmits the connection request to the robot until the connection failure is detected to be more than the preset times.
9. A non-volatile storage medium, characterized in that the non-volatile storage medium includes a stored program, wherein a device in which the non-volatile storage medium is located is controlled to execute the control method of the robot according to any one of claims 1 to 5 when the program is executed.
10. A processor for running a program stored in a memory, wherein the program when running performs the control method of the robot of any one of claims 1 to 5.
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| CN202010665125.1A CN111805544A (en) | 2020-07-10 | 2020-07-10 | Robot control method and device |
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| CN202010665125.1A CN111805544A (en) | 2020-07-10 | 2020-07-10 | Robot control method and device |
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| CN113793492A (en) * | 2021-08-20 | 2021-12-14 | 深圳市创客工场科技有限公司 | Communication method and event field control device |
| CN113810514A (en) * | 2021-08-20 | 2021-12-17 | 深圳市创客工场科技有限公司 | Equipment communication information configuration method and event field control device |
| WO2024109132A1 (en) * | 2022-11-24 | 2024-05-30 | 珠海格力智能装备有限公司 | Manipulator state determination method and apparatus, and storage medium |
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Application publication date: 20201023 |
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