CN112171656A - Control method and device of mechanical arm and server - Google Patents
Control method and device of mechanical arm and server Download PDFInfo
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- CN112171656A CN112171656A CN201910597569.3A CN201910597569A CN112171656A CN 112171656 A CN112171656 A CN 112171656A CN 201910597569 A CN201910597569 A CN 201910597569A CN 112171656 A CN112171656 A CN 112171656A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
- H04L69/161—Implementation details of TCP/IP or UDP/IP stack architecture; Specification of modified or new header fields
- H04L69/162—Implementation details of TCP/IP or UDP/IP stack architecture; Specification of modified or new header fields involving adaptations of sockets based mechanisms
Abstract
The embodiment of the invention relates to the technical field of robots, and discloses a control method and device of a mechanical arm and a server. The control method of the mechanical arm comprises the following steps: acquiring a connection instruction sent by at least one piece of front-end software, and performing communication connection with the at least one piece of front-end software; distributing corresponding mechanical arm plug-ins for the mechanical arms; and receiving a control command sent by the front-end software, and controlling the mechanical arm corresponding to the mechanical arm plug-in based on the control command. Through the mode, the technical problem that the control system of the mechanical arm is poor in flexibility due to the fact that an effective control mode that a plurality of front-end software control a plurality of lower computers is lacked at present is solved, and development efficiency is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a device for controlling a mechanical arm and a server.
Background
Robots, also known as automatic control machines, include all machines that simulate human behavior or thought and other creatures. In modern industry, robots refer to man-made machine devices that can automatically perform tasks to replace or assist human work. Most of the current industrial robots complete corresponding instructions or operations through mechanical arms.
At present, in a system for controlling a lower computer (mechanical arm) by an upper computer, one or more lower computers are often controlled by one front-end software, and if a plurality of front-end software are needed to control a plurality of lower computers, the complexity of the system is high, difficulty is brought to developers, and the development period is prolonged.
In the process of implementing the embodiment of the invention, the inventor finds that the related technology has at least the following problems: at present, an effective control mode that a plurality of front-end software control a plurality of lower computers is lacked, so that the flexibility of a control system of the mechanical arm is poor.
Disclosure of Invention
The embodiment of the invention aims to provide a control method, a device and a system of a mechanical arm, which solve the technical problem that the control system of the mechanical arm is poor in flexibility due to the fact that an effective control mode that a plurality of front-end software control a plurality of lower computers is lacked at present, and improve the development efficiency.
In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions:
in a first aspect, an embodiment of the present invention provides a method for controlling a robot arm, where the method includes:
acquiring a connection instruction sent by at least one piece of front-end software, and performing communication connection with the at least one piece of front-end software;
distributing corresponding mechanical arm plug-ins for the mechanical arms;
and receiving a control command sent by the front-end software, and controlling the mechanical arm corresponding to the mechanical arm plug-in based on the control command.
In some embodiments, the method further comprises:
and configuring a uniform interface for the mechanical arm plug-in unit.
In some embodiments, communication is via socket with each front-end software.
In some embodiments, before the step of obtaining the connection instruction sent by the at least one front-end software to perform communication connection with the at least one front-end software, the method further includes:
searching for available robot arm inserts and loading the available robot arm inserts.
In some embodiments, the method further comprises:
and acquiring an execution result returned by the mechanical arm, and sending the execution result to corresponding front-end software.
In a second aspect, an embodiment of the present invention provides a control apparatus for a robot, which is applied to a server, and the apparatus includes:
the communication connection unit is used for acquiring a connection instruction sent by at least one piece of front-end software and carrying out communication connection with the at least one piece of front-end software;
the mechanical arm plug-in unit is used for distributing corresponding mechanical arm plug-in units for the mechanical arms;
and the mechanical arm control unit is used for receiving the control command sent by the front-end software and controlling the mechanical arm corresponding to the mechanical arm plug-in based on the control command.
In some embodiments, the communication connection unit is specifically a socket interface.
In some embodiments, the apparatus further comprises:
and the loading unit is used for searching for available mechanical arm plug-ins and loading the available mechanical arm plug-ins.
In a third aspect, an embodiment of the present invention provides a server, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of controlling a robotic arm described above.
In a fourth aspect, the present invention also provides a non-transitory computer-readable storage medium, which stores computer-executable instructions for enabling a server to execute the control method of a robot arm described above.
The embodiment of the invention has the beneficial effects that: in contrast to the prior art, an embodiment of the present invention provides a method for controlling a robot arm, where the method includes: acquiring a connection instruction sent by at least one piece of front-end software, and performing communication connection with the at least one piece of front-end software; distributing corresponding mechanical arm plug-ins for the mechanical arms; and receiving a control command sent by the front-end software, and controlling the mechanical arm corresponding to the mechanical arm plug-in based on the control command. Through the mode, the technical problem that the control system of the mechanical arm is poor in flexibility due to the fact that an effective control mode that a plurality of front-end software control a plurality of lower computers is lacked at present is solved, and development efficiency is improved.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic diagram of a first application environment provided by an embodiment of the invention;
fig. 2 is a conceptual diagram of a control method of a robot according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a method for controlling a robot according to an embodiment of the present invention;
FIG. 4 is a diagram of a second application environment provided by an embodiment of the invention;
fig. 5 is a schematic structural diagram of a control device of a robot arm according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a server according to an embodiment of the present invention.
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.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In the embodiment of the present invention, the terminal may be an electronic device capable of receiving and sending a signal, such as a smart phone, a Personal Digital Assistant (PDA), a tablet computer, a Personal computer, and a smart watch, and the server may be an electronic device capable of receiving and sending an instruction, such as a tower server, a rack server, a blade server, and a cloud server.
Specifically, the following specifically explains the embodiment of the present invention by taking the terminal as a personal computer and the server as a cloud server as an example.
Referring to fig. 1, fig. 1 is a schematic diagram of an application environment according to an embodiment of the present invention;
as shown in fig. 1, a plurality of terminals are connected to a server, where the server is in data communication with a plurality of controllers through a network, the controllers are controllers of robots, each controller corresponds to a robot arm of a robot, and the controllers are configured to control movement of the robot arms, in an embodiment of the present invention, the terminals are respectively in communication connection with the server, specifically, each terminal is connected to the server through a wireless network, for example: 2G, 3G, 4G, and 5G networks, or each of the terminals is in communication connection with the server through networks such as bluetooth and a local area network, wherein each of the terminals is installed with front-end software, the front-end software is used for interacting with the server, the front-end software includes a user interface, and data reception and transmission are realized through the user interface, for example: the front-end software is used for sending instructions or information to the server, or the front-end software is used for receiving the instructions or information sent by the server and presenting the instructions or information sent by the server to a user through a user interface of the front-end software.
It can be understood that the embodiment of the present invention can implement that the front-end software of one terminal controls one mechanical arm, and can also implement that the front-end software of one terminal controls a plurality of mechanical arms, specifically, the front-end software of the terminal sends a control instruction to the server, and the server identifies whether the control instruction is an instruction for controlling the plurality of mechanical arms according to the control instruction sent by the front-end software, and if so, sends corresponding data to the controllers of the plurality of mechanical arms corresponding to the control instruction according to the content of the control instruction, and then the plurality of controllers respectively control the corresponding mechanical arms, thereby implementing that the front-end software controls the plurality of mechanical arms. In the embodiment of the present invention, the terminal may be an electronic device capable of receiving and sending a signal, such as a smart phone, a Personal Digital Assistant (PDA), a tablet pc, a Personal computer, and a smart watch, and preferably, the terminal is a Personal computer.
The terminal of the embodiments of the present invention exists in various forms, including but not limited to:
(1) a mobile communication device: such devices are characterized by mobile communications capabilities and are primarily targeted at providing voice, data communications. Such electronic devices include smart phones (e.g., iphones), multimedia phones, functional phones, and low-end phones, among others.
(2) The mobile personal computer equipment belongs to the category of personal computers, has calculation and processing functions and generally has the characteristic of mobile internet access. Such electronic devices include: PDA, MID, and UMPC devices, etc., such as ipads.
(3) A portable entertainment device: such devices can display and play video content, and generally also have mobile internet access features. This type of device comprises: video players, handheld game consoles, and intelligent toys and portable car navigation devices.
(4) And other electronic equipment with a video playing function and an internet surfing function.
Referring to fig. 4, fig. 4 is a schematic diagram of a second application environment according to an embodiment of the present invention;
as shown in fig. 4, the upper computer is connected to at least one controller through a network, the controller is a controller of the robot, the robot further includes a robot arm, and the controller is used for controlling the movement of the robot arm. The upper computer comprises at least one front-end software and a background program, the front-end software is used for interacting with the background program and comprises a user interface, and data receiving and sending are achieved through the user interface, or the front-end software is used for receiving instructions or information sent by the background program and presenting the instructions or information sent by the background program to a user through the user interface of the front-end software.
It can be understood that in the embodiment of the present invention, one front-end software can control one mechanical arm, and also one front-end software can control a plurality of mechanical arms, specifically, the front-end software sends a control instruction to the background program, the background program identifies whether the control instruction is an instruction for controlling the plurality of mechanical arms according to the control instruction sent by the front-end software, if so, sends corresponding data to controllers of the plurality of mechanical arms corresponding to the control instruction according to the content of the control instruction, and then the plurality of controllers respectively control the corresponding mechanical arms, so that one front-end software controls the plurality of mechanical arms to operate.
In the above two application environments, the program and the background program running in the server may also be referred to as a server, and the control method of the robot arm is run at the server.
Referring to fig. 2 again, fig. 2 is a conceptual diagram of a control method of a robot according to an embodiment of the present invention;
as shown in fig. 2, a plurality of front-end software communicates with a server through a socket, where each front-end software corresponds to a unique socket number, the front-end software sends a connection request to the server, a socket of the front-end software sends an address and a port number of a server to which the front-end software is to be connected, when the server receives the connection request sent by the front-end software, the server sends a description of the socket of the server to the front-end software, and when the front-end software confirms the description, the front-end software and the server are successfully connected. For example: the front-end software 1 sends a connection request to the server, after receiving the connection request sent by the front-end software 1, the server sends a description of a socket of the server to the front-end software 1, and after the front-end software 1 confirms the description of the socket of the server, the front-end software 1 and the server are successfully connected, and the server may also continue to receive connection requests sent by other front-end software, for example: and receiving the connection request sent by the front-end software 2, and so on, thereby realizing the communication connection between one server and a plurality of front-end software.
In the embodiment of the invention, after the front-end software is successfully connected with the server, the server allocates corresponding mechanical arm plug-ins for each mechanical arm in advance, and the mechanical arms of the same type correspond to the same plug-ins. For example: the mechanical arm M1 corresponds to mechanical arm plug-in 1, mechanical arm M2 corresponds to mechanical arm plug-in 2, mechanical arm M3 corresponds to mechanical arm plug-in 3, every time a mechanical arm is added, the server automatically loads corresponding mechanical arm plug-in for the mechanical arm, the mechanical arm plug-in is used for driving the mechanical arm, concretely, the server comprises a control program, the control program is connected with a plurality of mechanical arm plug-in through a unified interface, and the mechanical arm plug-in sends an instruction to a controller of the mechanical arm so as to drive the mechanical arm.
Example one
Referring to fig. 3, fig. 3 is a schematic flow chart illustrating a method for controlling a robot according to an embodiment of the present invention;
as shown in fig. 3, the method includes:
step S10: acquiring a connection instruction sent by at least one piece of front-end software, and performing communication connection with the at least one piece of front-end software;
specifically, the terminal is provided with front-end software, the front-end software comprises a user interface, a user sends a connection instruction to the server through the user interface of the front-end software, and the server establishes communication connection with the at least one front-end software after receiving the connection instruction sent by the at least one front-end software. Specifically, each piece of front-end software is connected with the server through a socket, wherein each piece of front-end software corresponds to a unique socket number, the front-end software sends a connection instruction to the server, a socket of the front-end software sends an address and a port number of the server to be connected, when the server receives the connection instruction sent by the front-end software, the server sends a description of the socket of the server to the front-end software, and when the front-end software confirms the description, the front-end software is successfully connected with the server. For example: the front-end software 1 sends a connection instruction to the server, the server sends a description of a socket of the server to the front-end software 1 after receiving the connection instruction sent by the front-end software 1, and when the front-end software 1 confirms the description of the socket of the server, the front-end software 1 and the server are successfully connected, and the server can also continue to receive connection instructions sent by other front-end software, for example: and receiving the connection request sent by the front-end software 2, and so on, thereby realizing the communication connection between one server and a plurality of front-end software.
Step S20: distributing corresponding mechanical arm plug-ins for the mechanical arms;
specifically, after the front-end software is in communication connection with the server, the server allocates corresponding mechanical arm plug-ins for the mechanical arms, the mechanical arm plug-ins are used for driving the mechanical arms corresponding to the mechanical arm plug-ins, so that the front-end software can send control instructions to the server, and the server controls the mechanical arms by controlling the mechanical arm plug-ins.
In practical application, a corresponding robot arm plug-in unit is developed for each type of robot arm in advance, and a uniform interface is configured for all the robot arm plug-in units. For different types of mechanical arms, only corresponding mechanical arm plug-ins need to be maintained, and the server side edits all the mechanical arm plug-ins through the interface, so that the server side does not need to be modified, coupling among modules is greatly reduced, development efficiency is improved, and control efficiency of the mechanical arms is improved. Meanwhile, the mechanical arm can be maintained only by maintaining the mechanical arm plug-in corresponding to a certain mechanical arm, so that the maintenance cost is reduced.
Step S30: and receiving a control command sent by the front-end software, and controlling the mechanical arm corresponding to the mechanical arm plug-in based on the control command.
Specifically, the server receives a control command sent by the front-end software, and performs message analysis on the control command based on the control command, so as to determine which one or more mechanical arms are controlled, and control the corresponding mechanical arms by controlling the mechanical arm plug-in corresponding to the mechanical arms.
In this embodiment of the present invention, before the step of obtaining the connection instruction sent by the at least one front-end software and performing communication connection with the at least one front-end software, the method further includes: searching for available robot arm inserts and loading the available robot arm inserts. Specifically, the server searches for available robot arm plug-ins and loads the available robot arm plug-ins, for example: and loading the available mechanical arm plug-ins in a dynamic library loading mode, controlling the corresponding mechanical arms through the available mechanical arm plug-ins, acquiring execution results returned by the mechanical arms, sending the execution results to the corresponding front-end software, and presenting the execution results to a user through a user interface of the front-end software.
Specifically, when the server is started, the control program of the server searches for available mechanical arm plug-ins, performs dynamic library loading, and then allocates a corresponding mechanical arm plug-in to each mechanical arm, and at this time, a control command may be sent to the mechanical arm corresponding to the mechanical arm plug-in, for example: the front-end software sends a connection request to a server through a network and carries out network connection, after connection is successfully established, the front-end software and the server communicate through a JSON-RPC cross-language remote call protocol, the transmitted content of the front-end software and the server passes through a JSON-RPC cross-language remote call protocol, and the remote call can use http as a transmission protocol or other transmission protocols. After receiving the message sent by the front-end software, the server analyzes json to obtain related information and sends a command to the mechanical arm, the mechanical arm starts to execute actions after receiving the command and returns an execution result to the server, and after receiving the execution result, the server returns the execution result to the corresponding front-end software through network connection, so that the control of the front-end software on the mechanical arm is realized. In the embodiment of the present invention, the server may be a server.
In the embodiment of the invention, as the plug-in server is used, the function of 'starting and stopping' is realized in the front-end software and the mechanical arm (lower computer), the problem of adaptation of different front-end software and different mechanical arms (lower computers) is well solved, and the development period is greatly saved.
In an embodiment of the present invention, a method for controlling a robot arm is provided, where the method is applied to a server, and the method includes: acquiring a connection instruction sent by at least one piece of front-end software, and performing communication connection with the at least one piece of front-end software; distributing corresponding mechanical arm plug-ins for the mechanical arms; and receiving a control command sent by the front-end software, and controlling the mechanical arm corresponding to the mechanical arm plug-in based on the control command. Through the mode, the technical problem that the control system of the mechanical arm is poor in flexibility due to the fact that an effective control mode that a plurality of front-end software control a plurality of lower computers is lacked at present is solved, and development efficiency is improved.
Example two
Referring to fig. 5, fig. 5 is a schematic structural diagram of a control device of a robot according to an embodiment of the present disclosure;
as shown in fig. 5, the control device 100 for the robot arm includes:
the communication connection unit 10 is used for acquiring a connection instruction sent by at least one piece of front-end software and performing communication connection with the at least one piece of front-end software;
a robot arm inserter unit 20 for allocating corresponding robot arm inserter to the robot arm;
and the mechanical arm control unit 30 is configured to receive a control command sent by the front-end software, and control a mechanical arm corresponding to the mechanical arm plug-in based on the control command.
In the embodiment of the present invention, the communication connection unit 10 is specifically a socket interface.
In an embodiment of the present invention, the control device 100 for the robot arm further includes:
and the loading unit 40 is used for searching for available mechanical arm inserts and loading the available mechanical arm inserts.
Since the apparatus embodiment and the method embodiment are based on the same concept, the contents of the apparatus embodiment may refer to the method embodiment on the premise that the contents do not conflict with each other, and are not described herein again.
In an embodiment of the present invention, there is provided a control apparatus for a robot arm, applied to a server, the apparatus including: the communication connection unit is used for acquiring a connection instruction sent by at least one piece of front-end software and carrying out communication connection with the at least one piece of front-end software; the mechanical arm plug-in unit is used for distributing corresponding mechanical arm plug-in units for the mechanical arms; and the mechanical arm control unit is used for receiving the control command sent by the front-end software and controlling the mechanical arm corresponding to the mechanical arm plug-in based on the control command. And the loading unit is used for searching for available mechanical arm plug-ins and loading the available mechanical arm plug-ins. Through the mode, the technical problem that the control system of the mechanical arm is poor in flexibility due to the fact that an effective control mode that a plurality of front-end software control a plurality of lower computers is lacked at present is solved, and development efficiency is improved.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a server according to an embodiment of the present invention;
the server may be an electronic device capable of receiving and sending instructions, such as a tower server, a rack server, a blade server, and a cloud server.
As shown in fig. 6, the server 60 includes one or more processors 601 and memory 602. In fig. 6, one processor 601 is taken as an example.
The processor 601 and the memory 602 may be connected by a bus or other means, such as the bus connection in fig. 6.
The memory 602, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as units (for example, the units described in fig. 5) corresponding to a control method of a robot arm according to an embodiment of the present invention. The processor 601 executes various functional applications of the control method of the robot arm and data processing, i.e. the functions of the various modules and units of the robot arm and the above-described apparatus embodiments of the above-described method embodiments, by running non-volatile software programs, instructions and modules stored in the memory 602.
The memory 602 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 602 may optionally include memory located remotely from the processor 601, which may be connected to the processor 601 through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The modules are stored in the memory 602 and, when executed by the one or more processors 601, perform the control method of the robotic arm in any of the method embodiments described above, e.g., perform the various steps shown in fig. 3 described above; the functions of the respective modules or units described in fig. 5 can also be implemented.
The server 60 of the embodiment of the present invention exists in various forms, including but not limited to:
(1) tower server
The general tower server chassis is almost as large as the commonly used PC chassis, while the large tower chassis is much larger, and the overall dimension is not a fixed standard.
(2) Rack-mounted server
Rack-mounted servers are a type of server that has a standard width of 19 inch racks, with a height of from 1U to several U, due to the dense deployment of the enterprise. Placing servers on racks not only facilitates routine maintenance and management, but also may avoid unexpected failures. First, placing the server does not take up too much space. The rack servers are arranged in the rack in order, and no space is wasted. Secondly, the connecting wires and the like can be neatly stored in the rack. The power line, the LAN line and the like can be distributed in the cabinet, so that the connection lines accumulated on the ground can be reduced, and the accidents such as the electric wire kicking off by feet can be prevented. The specified dimensions are the width (48.26cm ═ 19 inches) and height (multiples of 4.445 cm) of the server. Because of its 19 inch width, a rack that meets this specification is sometimes referred to as a "19 inch rack".
(3) Blade server
A blade server is a HAHD (High Availability High Density) low cost server platform designed specifically for the application specific industry and High Density computer environment, where each "blade" is actually a system motherboard, similar to an individual server. In this mode, each motherboard runs its own system, serving a designated group of different users, without any relationship to each other. Although system software may be used to group these motherboards into a server cluster. In the cluster mode, all motherboards can be connected to provide a high-speed network environment, and resources can be shared to serve the same user group.
(4) Cloud server
The cloud server (ECS) is a computing Service with simplicity, high efficiency, safety, reliability, and flexible processing capability. The management mode is simpler and more efficient than that of a physical server, and a user can quickly create or release any plurality of cloud servers without purchasing hardware in advance. The distributed storage of the cloud server is used for integrating a large number of servers into a super computer, and a large number of data storage and processing services are provided. The distributed file system and the distributed database allow access to common storage resources, and IO sharing of application data files is achieved. The virtual machine can break through the limitation of a single physical machine, dynamically adjust and allocate resources to eliminate single-point faults of the server and the storage equipment, and realize high availability.
Embodiments of the present invention also provide a non-transitory computer storage medium storing computer-executable instructions, which are executed by one or more processors, such as one of the processors 601 in fig. 6, to enable the one or more processors to perform the control method of the robot arm in any of the above-mentioned method embodiments, such as the control method of the robot arm in any of the above-mentioned method embodiments, for example, to perform the above-mentioned steps shown in fig. 3; the functions of the various units described in figure 5 may also be implemented.
The above-described embodiments of the apparatus or device are merely illustrative, wherein the unit modules described as separate parts may or may not be physically separate, and the parts displayed as module units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the technical solutions mentioned above may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute the method according to each embodiment or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A method for controlling a robot arm, the method comprising:
acquiring a connection instruction sent by at least one piece of front-end software, and performing communication connection with the at least one piece of front-end software;
distributing corresponding mechanical arm plug-ins for the mechanical arms;
and receiving a control command sent by the front-end software, and controlling the mechanical arm corresponding to the mechanical arm plug-in based on the control command.
2. The method of claim 1, further comprising:
and configuring a uniform interface for the mechanical arm plug-in unit.
3. The method of claim 1, wherein communication with each front-end software is via a socket.
4. The method of claim 1, wherein before the step of obtaining the connection command sent by the at least one front-end software to perform communication connection with the at least one front-end software, the method further comprises:
searching for available robot arm inserts and loading the available robot arm inserts.
5. The method of claim 1, further comprising:
and acquiring an execution result returned by the mechanical arm, and sending the execution result to corresponding front-end software.
6. A control device of a mechanical arm, which is applied to a server, is characterized by comprising:
the communication connection unit is used for acquiring a connection instruction sent by at least one piece of front-end software and carrying out communication connection with the at least one piece of front-end software;
the mechanical arm plug-in unit is used for distributing corresponding mechanical arm plug-in units for the mechanical arms;
and the mechanical arm control unit is used for receiving the control command sent by the front-end software and controlling the mechanical arm corresponding to the mechanical arm plug-in based on the control command.
7. The device according to claim 6, wherein the communication connection unit is a socket interface.
8. The apparatus of claim 6, further comprising a loading unit for searching for available robot arm inserts and loading the available robot arm inserts.
9. A server, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
10. A non-transitory computer-readable storage medium having stored thereon computer-executable instructions that, when executed by a server, cause the server to perform the method of any of claims 1-5.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210672144.6A CN115150444A (en) | 2019-07-04 | 2019-07-04 | Control method and device for mechanical arm and server |
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