CN113492414A - Web-based robot cross-platform man-machine interaction system and implementation method - Google Patents
Web-based robot cross-platform man-machine interaction system and implementation method Download PDFInfo
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- CN113492414A CN113492414A CN202110724658.7A CN202110724658A CN113492414A CN 113492414 A CN113492414 A CN 113492414A CN 202110724658 A CN202110724658 A CN 202110724658A CN 113492414 A CN113492414 A CN 113492414A
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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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention relates to the technical field of robot control, and particularly discloses a Web-based robot cross-platform human-computer interaction system, which comprises: the robot system comprises a robot controller, cross-platform interaction equipment and robot hardware, wherein the robot controller comprises a robot control module and a web server, the cross-platform interaction equipment comprises a web client, and the robot hardware comprises a sensor, a driver and a motor. The invention also discloses an implementation method of the cross-platform human-computer interaction system of the robot based on the Web. The Web-based robot cross-platform man-machine interaction system provided by the invention can realize graphical programming of the robot on a Web client running on portable equipment such as a mobile phone, a tablet and the like, and can also perform three-dimensional visual simulation on a robot program on the Web client; the robot can be controlled independently, and the motion and related functions of the robot can be controlled indirectly by being connected to a controller of the robot.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a Web-based cross-platform human-computer interaction system and an implementation method for a robot.
Background
The industrial robot controller on the market at present is usually structured in such a way that a teaching device is connected to a control cabinet, and a programmer carries out teaching programming and man-machine interactive operation through the teaching device. Programming of robots usually requires programmers to have a certain professional knowledge of the robots, and the technical requirements on the programmers are high.
With the increasing popularity of industrial robots and other mechanical arm applications, people have more and more demands on robots and higher expectations for robot controllers. The user expects the robot controller to be small and light as much as possible, and the human-computer interaction operation and programming are simple and easy to learn and use.
However, the existing cross-platform human-computer interaction system cannot control the robot independently, and cannot be connected to a controller of the robot to indirectly control the motion and related functions of the robot.
Disclosure of Invention
The invention provides a Web-based cross-platform human-computer interaction system of a robot and an implementation method thereof, which solve the problems that the existing cross-platform human-computer interaction system in the related technology can not control the robot independently and can not be connected to a controller of the robot to indirectly control the motion and related functions of the robot.
As a first aspect of the present invention, a cross-platform human-computer interaction system for a robot based on Web is provided, which includes: the cross-platform interaction device comprises a web client, and the robot hardware comprises a sensor, a driver and a motor;
the robot hardware is used for acquiring the motion state information of the robot body through the sensor and sending the motion state information of the robot body to the robot controller;
the robot controller is used for sending the motion state information of the robot body to the cross-platform interaction equipment through the web server through the robot control module;
the cross-platform interaction equipment is used for analyzing the motion state information of the robot body through the web client, generating an analysis result and outputting a target motion control instruction to the web server according to the analysis result;
the robot controller is used for receiving the target motion control command sent by the web server through the robot control module and sending the target motion control command to the robot hardware;
and the robot hardware is used for driving the motor to drive the robot body to move through the driver according to the target motion control instruction so as to realize the target motion control of the robot body.
Further, the robot hardware further comprises: an I/O device in communication with the robot controller through a digital quantity input/output interface;
the I/O device is used for directly executing a digital quantity signal command issued by the robot control module; or sending a digital quantity signal to the robot controller, and the robot control module judges the motion state of the robot body according to the digital quantity signal and controls the robot body to execute a relevant motion decision.
Further, a real-time operating system is installed in the robot controller, the real-time operating system includes a Linux operating system, robot control software is run on a Xenomai real-time kernel of the Linux operating system, and the Web server is run on the Linux operating system.
Furthermore, the cross-platform interaction device is responsible for operating the Web client, and the Web client comprises a robot body information configuration module, a robot body motion state information display module, a robot body graphical programming module and a robot body three-dimensional visual simulation module;
the robot body information configuration module is used for configuring the kinematics and dynamics parameter information and the related default state information of the robot body;
the robot control module is used for acquiring and processing the joint position information, the tail end pose information and the working state information of the mechanical arm of the robot body in real time through robot hardware communication, and sending the acquired information to the Web server through network communication, and the Web server sends the information to the Web client through an HTTP (hyper text transport protocol);
the robot body graphical programming module is used for compiling a robot program to realize a motion control function of the robot body;
the robot body three-dimensional visualization simulation module is used for performing three-dimensional simulation verification on the compiled robot program, reproducing the motion situation of the robot body in a real scene in the cross-platform interaction device, and judging whether the compiled robot program has problems according to the motion situation of the robot body in the real scene; if the robot program is judged to be correct, the robot program is issued to the robot control module through the Web server, so that the robot body is controlled to perform relevant motions and functions; and if the robot program is judged to have problems, the robot program is revised again and then simulation is carried out, and the robot program is issued to the robot body to execute relevant motions and functions until the revised robot program is correct.
Further, the Web server comprises a program parser, an information database and a communication server;
the program parser is used for converting the robot program of the Web client into executable codes required by the robot control module;
the information database is used for receiving and storing robot program information from the Web client and the motion state information of the robot body sent by the robot control module;
the communication server is used for realizing network communication and information transmission with the robot control module through network communication and transmitting data and information with the Web client through an HTTP (hyper text transport protocol).
Furthermore, the robot control module comprises a driver real-time communication and control module, a sensor information acquisition and processing module, a robot motion control module, a robot motion state monitoring module and a robot safety protection module;
the driver real-time communication and control module is used for communicating with the driver and directly controlling the motor;
the sensor information acquisition processing module is used for acquiring sensor information and carrying out data processing and information transmission on the sensor information;
the robot motion control module is used for directly controlling the driver and the I/O device so as to realize control on the robot body;
the robot motion state monitoring module is used for monitoring the motion state of the robot body in real time and sending the motion state to the Web client through the Web server;
and the robot safety protection module is used for taking charge of software safety guarantee of the robot body, including collision protection, overload protection and fault protection.
Further, the robot hardware refers to the robot body, and the sensors include a position sensor, a moment sensor and a vision sensor of the robot body;
the position sensor is used for measuring an actual position value of the motor end or the joint end of the robot body and sending the actual position value to the robot controller through a bus protocol, and the robot controller performs motion control on the next action of the mechanical arm of the robot body according to the actual position value and the expected position value of the motor end or the joint end of the robot body;
the torque sensor is used for measuring torque information of the joint end of the robot body and sending the torque information to the robot controller through a bus protocol, and the robot controller performs zero force control or impedance control on the joint end of the robot body and performs dragging teaching on the robot body;
the vision sensor is used for measuring three-dimensional pose information between the tail end of the mechanical arm of the robot body and an expected target object and sending the three-dimensional pose information to the robot controller through a bus protocol, so that vision servo control of the mechanical arm on the expected target object can be achieved.
Furthermore, the I/O device refers to a switching signal device, and the switching signal device comprises a motor internal contracting brake switch, a proximity switch, a limit switch and a collision detection switch;
the robot controller sends digital quantity signals '0' and '1' to the motor band-type brake switch all the time, and the motor band-type brake switch is switched to a corresponding state by defining the 'on' and 'off' states of the digital quantity signals when receiving the digital quantity signals, so that the control of the motor band-type brake is realized;
the proximity switch is used for sending a high-level or low-level digital signal to the robot controller when the robot body approaches to a target object, and the robot controller controls the robot body to execute relevant movement or action;
the limit switch is used for sending a high-level or low-level digital signal to the robot controller when the joint of the robot body reaches the limit position of the joint, and the robot controller controls the robot body to execute related protective measures;
the collision detection switch is a current sensor and is used for detecting a sudden change signal of motor phase current when the robot body collides with a target object and sending a high-level or low-level digital signal to the robot controller, and the robot controller controls the robot body to execute related actions so as to control the robot body to suddenly stop or reversely move.
Further, the driver refers to various motor drivers, and the motor comprises a servo motor and a stepping motor.
As another aspect of the present invention, an implementation method of a cross-platform human-computer interaction system of a robot based on Web is provided, where the implementation method includes:
the method comprises the steps that motion state information of a robot body is obtained through a sensor, and the motion state information of the robot body is sent to a robot control module;
the motion state information of the robot body is sent to cross-platform interaction equipment through the web server through the robot control module;
analyzing the motion state information of the robot body through a web client to generate an analysis result, and outputting a target motion control instruction to the web server according to the analysis result;
receiving the target motion control command sent by the web server through the robot control module, and sending the target motion control command to a driver;
and driving a motor to drive the robot body to move through the driver according to the target movement control instruction so as to realize the target movement control of the robot body.
The Web-based robot cross-platform man-machine interaction system provided by the invention can realize graphical programming of the robot on a Web client running on portable equipment such as a mobile phone, a tablet and the like, and can also perform three-dimensional visual simulation on a robot program on the Web client; the cross-platform human-computer interaction system can be used for controlling the robot independently or indirectly controlling the motion and related functions of the robot by being connected to a controller of a brand robot.
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 specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a structural block diagram of a cross-platform human-computer interaction system of a Web-based robot provided by the invention.
Fig. 2 is a schematic structural diagram of a Web client, a Web server, and a robot control module according to the present invention.
FIG. 3 is a flowchart of an implementation method of the Web-based robot cross-platform human-computer interaction system provided by the invention.
Fig. 4 is a structural block diagram of a robot cross-platform human-computer interaction system in which a Web server and a robot controller are respectively independent.
Fig. 5 is a communication schematic diagram of a robot cross-platform human-computer interaction system in which a Web server and a robot controller are respectively independent.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution 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 may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention 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.
As an embodiment of the present invention, a cross-platform human-computer interaction system for a robot based on Web is provided, as shown in fig. 1, including: the robot system comprises a robot controller 100, a cross-platform interaction device 200 and robot hardware 300, wherein the robot controller 100 comprises a robot control module and a web server, the cross-platform interaction device 200 comprises a web client, and the robot hardware 300 comprises a sensor, a driver and a motor;
the robot hardware 300 is configured to acquire motion state information of a robot body through the sensor, and send the motion state information of the robot body to the robot controller 100;
the robot controller 100 is configured to send the motion state information of the robot body to the cross-platform interaction device 200 through the web server through the robot control module;
the cross-platform interaction device 200 is configured to analyze the motion state information of the robot body through the web client, generate an analysis result, and output a target motion control instruction to the web server according to the analysis result;
the robot controller 100 is configured to receive the target motion control instruction sent by the web server through the robot control module, and issue the target motion control instruction to the robot hardware 300;
the robot hardware 300 is configured to drive the motor to drive the robot body to move through the driver according to the target motion control instruction, so as to implement target motion control of the robot body.
The robot controller 100 is an industrial control computer or a robot-dedicated controller, and is provided with hardware communication interfaces required for robot sensors, drivers, and I/O devices; the cross-platform interactive device 200 refers to a robot-human interactive device under different operating systems (such as Android, ISO, Windows10, and the like), and includes a portable device such as a mobile phone and a tablet computer, or other human-computer interactive display devices.
The sensor communicates and transmits data with the robot controller through a bus interface, and the communication bus includes an RS485 bus, an RS232 bus, a USB bus, an Internet bus, a MODBUS bus, and the like.
It should be noted that the operating system environment of the robot controller 100 supports the operation of the Web server.
Specifically, the robot control module and the Web server are integrated in the robot controller 100, the robot controller 100 is provided with a real-time operating system, and the invention selects a Linux operating system + Xenomai real-time kernel, and can also select other real-time operating systems or operating systems + real-time modules. The robot controller software has higher real-time requirement, runs on a Xenomai real-time kernel, and can perform accurate clock control on the communication and control of the robot. The Web server has low real-time requirement relative to control software, and can be directly operated on a Linux operating system. The Web client can run on different types of hardware platforms of different operating systems such as Android, ISO and Windows, only the hardware platform is required to support the Web client, and the Web client has the advantages of being open and high in applicability.
In particular, the Web server is developed based on the node. js platform and the Express framework, and the server database is MongoDB. The Web client (front end) is divided into four parts of contents, the first part is information configuration of the robot, and the information such as relevant kinematics, kinetic parameters, communication addresses and the like is mainly configured for the selected robot; the second part is robot state information display, which is responsible for real-time interaction with a Web server end and displaying the robot state information; the third part is graphical programming of the robot, the content of the third part is developed based on a visual programming tool blockly issued by google, and graphical dragging type programming operation of the robot can be realized; the fourth part is robot three-dimensional visualization simulation, the part of contents is mainly used for motion simulation after graphical programming of the robot and used for judging whether a program has problems, the part of contents is developed based on a WebGL technology, and mainly adopted development frameworks are Web-based Babylon. In this embodiment, the Web server and the Web client communicate with each other via the HTTP protocol.
Preferably, the robot hardware 300 further comprises: an I/O device that communicates with the robot controller 100 through a digital quantity input/output interface;
the I/O device is used for directly executing a digital quantity signal command issued by the robot control module; or sending a digital quantity signal to the robot controller 100, and the robot control module judging the motion state of the robot body according to the digital quantity signal and controlling the robot body to execute a relevant motion decision.
Preferably, a real-time operating system is installed in the robot controller 100, the real-time operating system includes a Linux operating system, robot control software is run on a Xenomai real-time kernel of the Linux operating system, and the Web server is run on the Linux operating system.
Preferably, as shown in fig. 2, the cross-platform interaction device 200 is responsible for operating the Web client 210, and the Web client 210 includes a robot body information configuration module, a robot body motion state information display module, a robot body graphical programming module, and a robot body three-dimensional visualization simulation module;
the robot body information configuration module is used for configuring the kinematics and dynamics parameter information and the related default state information of the robot body;
the robot control module is used for acquiring and processing the joint position information, the tail end pose information and the working state information of the robot body in real time through the communication of the robot hardware 300, and transmitting the acquired information to the Web server through network communication, and the Web server transmits the acquired information to the Web client through an HTTP (hyper text transport protocol);
the robot body graphical programming module is used for compiling a robot program to realize a motion control function of the robot body;
the robot body three-dimensional visualization simulation module is configured to perform three-dimensional simulation verification on the compiled robot program, reproduce a motion situation of the robot body in a real scene in the cross-platform interaction device 200, and determine whether the compiled robot program has a problem according to the motion situation of the robot body in the real scene; if the robot program is judged to be correct, the robot program is issued to the robot control module through the Web server, so that the robot body is controlled to perform relevant motions and functions; and if the robot program is judged to have problems, the robot program is revised again and then simulation is carried out, and the robot program is issued to the robot body to execute relevant motions and functions until the revised robot program is correct.
It should be noted that the robot body three-dimensional visualization simulation module truly reproduces the running state of the graphically programmed program on the robot through three-dimensional simulation, requires that the simulation result is completely consistent with the actual motion state of the real robot, and can perform simulation test on the robot on the edited program before the real robot moves.
Preferably, as shown in fig. 2, the Web server 110 includes a program parser, an information database, and a communication server;
the program parser is used for converting the robot program of the Web client into executable codes required by the robot control module;
the information database is used for receiving and storing robot program information from the Web client and the motion state information of the robot body sent by the robot control module;
the communication server is used for realizing network communication and information transmission with the robot control module through network communication and transmitting data and information with the Web client through an HTTP (hyper text transport protocol).
Preferably, as shown in fig. 2, the robot control module 120 includes a driver real-time communication and control module, a sensor information collecting and processing module, a robot motion control module, a robot motion state monitoring module, and a robot safety protection module;
the driver real-time communication and control module is used for communicating with the driver and directly controlling the motor;
the sensor information acquisition processing module is used for acquiring sensor information and carrying out data processing and information transmission on the sensor information;
the robot motion control module is used for directly controlling the driver and the I/O device so as to realize control on the robot body;
the robot motion state monitoring module is used for monitoring the motion state of the robot body in real time and sending the motion state to the Web client through the Web server;
and the robot safety protection module is used for taking charge of software safety guarantee of the robot body, including collision protection, overload protection and fault protection.
Preferably, the robot hardware 300 refers to the robot body, and the sensors include a position sensor, a moment sensor and a vision sensor of the robot body;
the position sensor is used for measuring an actual position value of the motor end or the joint end of the robot body and sending the actual position value to the robot controller 100 through a bus protocol, and the robot controller 100 performs motion control on the next action of the mechanical arm of the robot body according to the actual position value and the expected position value of the motor end or the joint end of the robot body;
the torque sensor is used for measuring torque information of the joint end of the robot body and sending the torque information to the robot controller 100 through a bus protocol, and the robot controller 100 performs zero force control or impedance control on the joint end of the robot body and performs dragging teaching on the robot body; the torque sensor can also be a six-dimensional force/torque sensor, mainly measures six-dimensional force/torque applied to the tail end of the robot mechanical arm, and transmits the six-dimensional force/torque to the controller through a bus, so that impedance control or compliance control of the tail end of the robot mechanical arm can be realized, and dragging teaching can be performed on the robot body;
the vision sensor is configured to measure three-dimensional pose information between the end of the mechanical arm of the robot body and an expected target object, and send the three-dimensional pose information to the robot controller 100 through a bus protocol, so that the robot arm can perform vision servo control on the expected target object.
Preferably, the I/O device refers to a switching signal device, and the switching signal device includes a motor band-type brake switch, a proximity switch, a limit switch and a collision detection switch;
the motor band-type brake switch is used for being responsible for switching off the motor band-type brake, information transmission is carried out between the motor band-type brake switch and the robot controller 100 through digital signals, the robot controller 100 sends digital quantity signals '0' and '1' to the motor band-type brake switch all the time, and the states of the digital quantity signals 'on' and 'off' are defined, and when the motor band-type brake switch receives the digital quantity signals, the motor band-type brake switch is switched to the corresponding state, so that the control of the motor band-type brake is realized;
the proximity switch is used for sending a high-level or low-level digital signal to the robot controller 100 when the robot body approaches to the target object, and the robot controller 100 controls the robot body to execute relevant movement or action;
the limit switch is used for sending a high-level or low-level digital signal to the robot controller 100 when the joint of the robot body reaches the limit position of the joint, and the robot controller 100 controls the robot body to execute related protective measures;
the collision detection switch is a current sensor and is used for detecting a sudden change signal of motor phase current when the robot body collides with a target object and sending a high level or low level digital signal to the robot controller 100, and the robot controller 100 controls the robot body to execute related actions so as to control the robot body to suddenly stop or reversely move.
Preferably, the driver refers to various motor drivers, and the driver supports various bus control or pulse control; the motor comprises a servo motor and a stepping motor.
It should be noted that the communication between the driver and the robot controller mainly includes real-time buses such as an EtherCAT bus, a CANopen bus, a Profinet bus, and a Profibus, as well as a CAN bus, a serial port bus, and a PCI bus.
It should be noted that the robot controller includes two parts, namely hardware and software. Hardware usually adopts an embedded industrial personal computer based on ARM and the like or an industrial personal computer based on an X86 architecture as a main controller. The software comprises three parts of main contents, namely a real-time operating system, a robot control module and a Web server. The real-time operating system is selected from a Linux operating system + Xenomai real-time kernel, but is not limited thereto, and other real-time operating systems such as VxWorks, QNX, RTLinux and the like can also be selected. The robot control module is responsible for sensing data acquisition and information fusion, motion planning, motion control and the like of the robot.
As another embodiment of the present invention, an implementation method of a cross-platform human-computer interaction system of a robot based on a Web is provided, and fig. 3 is a flowchart of the implementation method of the cross-platform human-computer interaction system of a robot based on a Web according to an embodiment of the present invention, as shown in fig. 3, including:
s110, acquiring motion state information of a robot body through a sensor, and sending the motion state information of the robot body to a robot control module;
the motion state information of the robot body includes robot joint position information, robot mechanical arm end pose information, and state information of a motor, a driver and a sensor;
s120, sending the motion state information of the robot body to cross-platform interaction equipment through the web server through the robot control module;
s130, analyzing the motion state information of the robot body through a web client to generate an analysis result, and outputting a target motion control instruction to the web server according to the analysis result;
it should be noted that an operator can query whether the motion state information of the robot is normal by accessing the Web client; when the motion state information is normal, a programmer realizes program editing of robot motion and related functions through a graphical programming module of a Web client; after the robot program is edited, the robot program is simulated through a three-dimensional visual simulation module of a Web client on the cross-platform interactive equipment; after the simulation of the robot program is completed, the Web client transmits a target motion control instruction to the Web server through an HTTP (hyper text transport protocol);
s140, receiving the target motion control command sent by the web server through the robot control module, and sending the target motion control command to a driver;
the Web server analyzes the target motion control instruction after receiving the target motion control instruction, and sends the analyzed robot program to the robot control module through a network protocol;
s150, driving a motor to drive the robot body to move through the driver according to the target movement control command so as to realize target movement control of the robot body.
Aiming at the situation that most of the existing industrial robots are matched with own controllers, the invention provides a new implementation scheme on the basis that a Web server and a robot controller are independent, namely a cross-platform man-machine interaction system, as shown in fig. 4 and 5, on the basis that the robot carries the controllers, the bottom layer software and algorithm of the robot controllers are not changed, and the Web server is installed in the computers by being provided with a personal computer or an embedded computer 400.
Specifically, the specific implementation method of the cross-platform human-computer interaction system with the independent Web server and the independent robot controller is as follows:
(1) the Web server realizes information communication and transmission with the robot controller through an Ethernet or other network communication buses, and performs information communication and transmission with the Web client through an HTTP protocol; the robot controller and the cross-platform man-machine interaction equipment are connected through the Web server computer to play a role of a hardware bridge; the robot controller software and the Web client program are connected through the Web server to play a role of a software bridge;
(2) the Web client side is mainly responsible for graphical programming and three-dimensional visual simulation of the robot;
(3) the Web server is responsible for receiving the robot state information sent by the robot controller and sending the information to the Web client; meanwhile, the graphical programming program of the Web client is converted into the programming language of the robot controller and is issued to the robot controller, so that the robot is controlled;
(4) the robot controller is responsible for sending relevant information of the robot to a Web client of the cross-platform interaction equipment through a Web server; and executing a robot motion control program issued by the Web client through the Web server to realize the motion control of the robot body.
For the specific working principle of the cross-platform human-computer interaction system of the robot based on the Web provided by the invention, reference may be made to the foregoing description, and details are not repeated here.
In summary, the cross-platform human-computer interaction system and the implementation method for the robot based on the Web provided by the invention are mainly an improvement on teaching programming and human-computer interaction modes of a traditional robot controller matched with a teaching box, and people can conveniently control the motion of robot hardware by accessing a Web server through portable equipment such as a tablet personal computer or a mobile phone.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. A Web-based cross-platform human-computer interaction system of a robot is characterized by comprising: the system comprises a robot controller (100), a cross-platform interaction device (200) and robot hardware (300), wherein the robot controller (100) comprises a robot control module and a web server, the cross-platform interaction device (200) comprises a web client, and the robot hardware (300) comprises a sensor, a driver and a motor;
the robot hardware (300) is used for acquiring the motion state information of a robot body through the sensor and sending the motion state information of the robot body to the robot controller (100);
the robot controller (100) is used for sending the motion state information of the robot body to the cross-platform interaction equipment (200) through the web server through the robot control module;
the cross-platform interaction device (200) is used for analyzing the motion state information of the robot body through the web client, generating an analysis result and outputting a target motion control instruction to the web server according to the analysis result;
the robot controller (100) is configured to receive the target motion control instruction sent by the web server through the robot control module, and issue the target motion control instruction to the robot hardware (300);
and the robot hardware (300) is used for driving the motor to drive the robot body to move through the driver according to the target motion control instruction so as to realize the target motion control of the robot body.
2. The Web-based robotic cross-platform human-machine interaction system of claim 1, wherein the robotic hardware (300) further comprises: an I/O device in communication with the robot controller (100) through a digital quantity input/output interface;
the I/O device is used for directly executing a digital quantity signal command issued by the robot control module; or sending a digital quantity signal to the robot controller (100), and the robot control module judges the motion state of the robot body according to the digital quantity signal and controls the robot body to execute a relevant motion decision.
3. The Web-based robotic cross-platform human-machine interaction system according to claim 1, wherein a real-time operating system is installed in the robot controller (100), the real-time operating system comprises a Linux operating system, robot control software is run on a Xenomai real-time kernel of the Linux operating system, and the Web server is run on the Linux operating system.
4. The Web-based cross-platform robot-computer interaction system of claim 1, wherein the cross-platform interaction device (200) is responsible for running the Web client (210), and the Web client (210) comprises a robot body information configuration module, a robot body motion state information display module, a robot body graphical programming module and a robot body three-dimensional visualization simulation module;
the robot body information configuration module is used for configuring the kinematics and dynamics parameter information and the related default state information of the robot body;
the robot control module is used for acquiring and processing the joint position information, the tail end pose information and the working state information of the mechanical arm in real time through the communication of the robot hardware (300), and transmitting the acquired information to the Web server through network communication, and the Web server transmits the acquired information to the Web client through an HTTP (hyper text transport protocol);
the robot body graphical programming module is used for compiling a robot program to realize a motion control function of the robot body;
the robot body three-dimensional visualization simulation module is used for performing three-dimensional simulation verification on the compiled robot program, reproducing the motion situation of the robot body in a real scene in the cross-platform interaction device (200), and judging whether the compiled robot program has problems according to the motion situation of the robot body in the real scene; if the robot program is judged to be correct, the robot program is issued to the robot control module through the Web server, so that the robot body is controlled to perform relevant motions and functions; and if the robot program is judged to have problems, the robot program is revised again and then simulation is carried out, and the robot program is issued to the robot body to execute relevant motions and functions until the revised robot program is correct.
5. The Web-based robotic cross-platform human-computer interaction system according to claim 4, wherein said Web server (110) comprises a program parser, an information database, and a communication server;
the program parser is used for converting the robot program of the Web client into executable codes required by the robot control module;
the information database is used for receiving and storing robot program information from the Web client and the motion state information of the robot body sent by the robot control module;
the communication server is used for realizing network communication and information transmission with the robot control module through network communication and transmitting data and information with the Web client through an HTTP (hyper text transport protocol).
6. The Web-based robot cross-platform human-computer interaction system of claim 5, wherein the robot control module (120) comprises a driver real-time communication and control module, a sensor information acquisition and processing module, a robot motion control module, a robot motion state monitoring module and a robot safety protection module;
the driver real-time communication and control module is used for communicating with the driver and directly controlling the motor;
the sensor information acquisition processing module is used for acquiring sensor information and carrying out data processing and information transmission on the sensor information;
the robot motion control module is used for directly controlling the driver and the I/O device so as to realize control on the robot body;
the robot motion state monitoring module is used for monitoring the motion state of the robot body in real time and sending the motion state to the Web client through the Web server;
and the robot safety protection module is used for taking charge of software safety guarantee of the robot body, including collision protection, overload protection and fault protection.
7. The Web-based robot cross-platform human-computer interaction system according to claim 1, wherein the robot hardware (300) refers to the robot body, and the sensors comprise a position sensor, a moment sensor and a vision sensor of the robot body;
the position sensor is used for measuring an actual position value of the motor end or the joint end of the robot body and sending the actual position value to the robot controller (100) through a bus protocol, and the robot controller (100) controls the motion of the next action of the mechanical arm of the robot body according to the actual position value and the expected position value of the motor end or the joint end of the robot body;
the torque sensor is used for measuring torque information of the joint end of the robot body and sending the torque information to the robot controller (100) through a bus protocol, and the robot controller (100) performs zero force control or impedance control on the joint end of the robot body and performs dragging teaching on the robot body;
the vision sensor is used for measuring three-dimensional pose information between the tail end of the mechanical arm of the robot body and an expected target object, and sending the three-dimensional pose information to the robot controller (100) through a bus protocol, so that vision servo control of the mechanical arm on the expected target object can be achieved.
8. The Web-based robot cross-platform human-computer interaction system of claim 2, wherein the I/O device is a switch signal device comprising a motor band-type brake switch, a proximity switch, a limit switch and a collision detection switch;
the motor band-type brake switch is used for being responsible for switching off the motor band-type brake, information transmission is carried out between the motor band-type brake switch and the robot controller (100) through digital signals, the robot controller (100) sends digital quantity signals '0' and '1' to the motor band-type brake switch all the time, and the motor band-type brake switch is switched to a corresponding state when receiving the digital quantity signals through defining the on state and the off state of the motor band-type brake switch, so that the control of the motor band-type brake is realized;
the proximity switch is used for sending a high-level or low-level digital signal to the robot controller (100) when the robot body approaches to the target object, and the robot controller (100) controls the robot body to execute relevant movement or action;
the limit switch is used for sending a high-level or low-level digital signal to the robot controller (100) when the joint of the robot body reaches the limit position of the joint, and the robot controller (100) controls the robot body to execute related protective measures;
the collision detection switch is a current sensor and is used for detecting a sudden change signal of motor phase current when the robot body collides with a target object and sending a high-level or low-level digital signal to the robot controller (100), and the robot controller (100) controls the robot body to execute related actions so as to control the robot body to suddenly stop or reversely move.
9. The Web-based robotic cross-platform human-computer interaction system of claim 1, wherein the drivers refer to various types of motor drivers, including servo motors and stepper motors.
10. A method for implementing a cross-platform human-computer interaction system based on Web robots according to any one of claims 1 to 9, comprising:
the method comprises the steps that motion state information of a robot body is obtained through a sensor, and the motion state information of the robot body is sent to a robot control module;
the motion state information of the robot body is sent to cross-platform interaction equipment through the web server through the robot control module;
analyzing the motion state information of the robot body through a web client to generate an analysis result, and outputting a target motion control instruction to the web server according to the analysis result;
receiving the target motion control command sent by the web server through the robot control module, and sending the target motion control command to a driver;
and driving a motor to drive the robot body to move through the driver according to the target movement control instruction so as to realize the target movement control of the robot body.
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