CN113492414B - Web-based cross-platform man-machine interaction system for robot and implementation method - Google Patents
Web-based cross-platform man-machine interaction system for robot and implementation method Download PDFInfo
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- CN113492414B CN113492414B CN202110724658.7A CN202110724658A CN113492414B CN 113492414 B CN113492414 B CN 113492414B CN 202110724658 A CN202110724658 A CN 202110724658A CN 113492414 B CN113492414 B CN 113492414B
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to the technical field of robot control, and particularly discloses a cross-platform man-machine interaction system of a robot based on Web, which comprises the following components: the 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 a method for realizing the cross-platform man-machine interaction system of the robot based on Web. The cross-platform man-machine interaction system of the robot based on the Web 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 independently controlled, and the motion and related functions of the robot can be indirectly controlled 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 cross-platform man-machine interaction system of a robot based on Web and an implementation method.
Background
The industrial robot controller in the current market is generally structured such that a demonstrator is connected to a control cabinet, and a programmer carries out teaching programming and man-machine interaction operation through the demonstrator. The programming of robots generally requires a programmer to have a certain expertise of the robot, and has high requirements on the expertise of the programmer.
With the increasing popularity of industrial robots and other robotic arm applications, there is an increasing demand for robots and an increasing desire for robot controllers. The user expects that the robot controller is as small and light as possible, has simple man-machine interaction operation and programming and is easy to learn and use.
However, the existing cross-platform man-machine interaction system cannot control the robot alone, and cannot be connected to a controller of the robot to indirectly control the movement and related functions of the robot.
Disclosure of Invention
The invention provides a cross-platform man-machine interaction system of a robot based on Web and an implementation method thereof, which solve the problems that the existing cross-platform man-machine interaction system in the related technology cannot independently control the robot and cannot be connected to a controller of the robot to indirectly control the movement and related functions of the robot.
As a first aspect of the present invention, there is provided a Web-based cross-platform human-computer interaction system for a robot, including: the 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 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 device 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 instruction sent by the web server through the robot control module and issuing the target motion control instruction to the robot hardware;
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 target motion control of the robot body.
Further, the robot hardware further includes: an I/O device in communication with the robot controller through a digital input/output interface;
the I/O device is used for directly executing the digital quantity signal instruction issued by the robot control module; or sending a digital quantity signal to the robot controller, wherein 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 related motion decisions.
Further, a real-time operating system is installed in the robot controller, the real-time operating system comprises a Linux operating system, robot control software is operated on a Xenomai real-time kernel of the Linux operating system, and the Web server is operated on the Linux operating system.
Further, the cross-platform interaction equipment is responsible for running 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 related default state information of the robot body;
the robot comprises a robot body, a robot control module, a Web server and a Web client, wherein the robot body comprises a motion state information display module used for displaying joint position information, tail end pose information and working state information of the robot body, and all the displayed information is acquired and processed in real time by the robot control module through robot hardware communication and is sent to the Web server through network communication, and the Web server is sent to the Web client through HTTP;
the robot body graphical programming module is used for writing a robot program to realize a motion control function of the robot body;
the three-dimensional visual simulation module of the robot body is used for carrying out three-dimensional simulation verification on the compiled robot program, reproducing the motion condition of the robot body in a real scene in the cross-platform interaction equipment, and judging whether the compiled robot program has a problem according to the motion condition 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 related motions and functions; if the robot program is judged to have a problem, the robot program is modified again and then simulated until the robot program after the modification is correct, and the robot program is issued to the robot body to execute related motions and functions.
Further, the Web server comprises a program analyzer, an information database and a communication server;
the program analyzer 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 the 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 HTTP.
Further, 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 control 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;
the robot safety protection module is used for taking charge of software safety guarantee of the robot body, and comprises collision protection, overload protection and fault protection.
Further, the robot hardware refers to the robot body, and the sensor comprises a position sensor, a moment sensor and a vision sensor of the robot body;
the position sensor is used for measuring the 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 drag teaching on the robot body;
the visual 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 visual servo control of the mechanical arm on the expected target object can be realized.
Further, the I/O device refers to a switching signal device, and the switching signal device comprises 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 the turn-off of the motor band-type brake, the information transmission is carried out between the motor band-type brake switch and the robot controller through digital signals, the robot controller always sends digital quantity signals of 0 and 1 to the motor band-type brake switch, and the motor band-type brake switch is switched to a corresponding state when the motor band-type brake switch receives 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 when the robot body approaches to a target object, and the robot controller controls the robot body to execute related motions or actions;
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, and the robot controller controls the robot body to execute related protection measures;
the collision detection switch is a current sensor and is used for detecting a sudden change signal of the phase current of the motor and sending a high-level or low-level digital signal to the robot controller when the robot body collides with a target object, and the robot controller controls the robot body to execute related actions so as to control the robot body to suddenly stop or move reversely.
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, a method for implementing a Web-based cross-platform human-computer interaction system of a robot is provided, where the method includes:
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 is sent to cross-platform interaction equipment through the web server by 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 instruction sent by the web server through the robot control module, and sending the target motion control instruction to a driver;
and driving the motor to drive the robot body to move by the driver according to the target movement control instruction so as to realize the target movement control of the robot body.
The cross-platform man-machine interaction system of the robot based on the Web 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 man-machine interaction system can be used for independently controlling the robot or indirectly controlling the movement and related functions of the robot on a controller connected to a brand robot.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the description serve to explain, without limitation, the invention.
Fig. 1 is a structural block diagram of a cross-platform man-machine 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 provided by the invention.
Fig. 3 is a flowchart of an implementation method of the cross-platform man-machine interaction system of the Web-based robot.
Fig. 4 is a structural block diagram of a cross-platform man-machine interaction system of a robot, in which a Web server and a robot controller are independent.
Fig. 5 is a communication schematic diagram of a cross-platform man-machine interaction system of a robot, in which a Web server and a robot controller are independent.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe 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 Web-based cross-platform human-computer interaction system for a robot is provided, as shown in fig. 1, including: 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 configured to obtain 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, by using the robot control module, motion state information of the robot body to the cross-platform interaction device 200 through the web server;
the cross-platform interaction device 200 is configured to analyze, by using the web client, motion state information of the robot body, 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, by using the robot control module, the target motion control instruction sent by the web server, and issue the target motion control instruction to the robot hardware 300;
the robot hardware 300 is configured to drive, by using the driver, the motor to drive the robot body to move 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 a hardware communication interface required by a robot sensor, a driver, and an I/O device; the cross-platform interaction device 200 refers to an interaction device of a robot and a person under different operating systems (such as Android, ISO, windows and the like), and comprises a mobile phone, a tablet computer and other portable devices or other man-machine interaction display devices.
The sensor communicates with the robot controller through the bus interface and transmits data, and the communication bus comprises an RS485 bus, an RS232 bus, a USB bus, an Internet bus, a MODBUS bus and the like.
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, and 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 high real-time requirements, runs on the Xenomai real-time kernel, and can accurately clock the communication and control of the robot. The Web server has low real-time requirements 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, windows, only the hardware platform is required to support the Web client, and the method has the advantages of being high in openness and applicability.
Specifically, the Web server is developed based on a node. Js platform and an Express framework, and the server database is MongoDB. The Web client (front end) is divided into four parts of contents, wherein the first part is the information configuration of the robot, and mainly configures related information such as kinematics, dynamic parameters, communication addresses and the like for the selected robot; the second part is used for displaying the state information of the robot and is responsible for interacting with the Web server in real time to display the state information of the robot; the third part is the graphical programming of the robot, and the content of the third part is developed based on a visual programming tool blockly issued by google, so that the graphical dragging programming operation of the robot can be realized; the fourth part is a three-dimensional visual simulation of the robot, the part is mainly used for motion simulation after graphical programming of the robot and used for judging whether a program has a problem or not, the part is developed based on the WebGL technology, and mainly used development frames are Web-based Babylon. Js and cannon. Js. In this embodiment, the Web server and Web client are in network communication via the HTTP protocol.
Preferably, the robot hardware 300 further includes: an I/O device in communication with the robot controller 100 through a digital input/output interface;
the I/O device is used for directly executing the digital quantity signal instruction issued by the robot control module; or send a digital signal to the robot controller 100, and the robot control module determines a motion state of the robot body according to the digital signal and controls the robot body to perform a related motion decision.
Preferably, a real-time operating system is installed in the robot controller 100, where the real-time operating system includes a Linux operating system, a 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 running the Web client 210, where the Web client 210 includes a robot body information configuration module, a motion state information display module of the robot body, 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 related default state information of the robot body;
the motion state information display module of the robot body is used for displaying joint position information of the robot body, pose information of the tail end of the mechanical arm and working state information, all the displayed information is acquired and processed in real time by the robot control module through communication of the robot hardware 300, the information is sent to the Web server through network communication, and the Web server is sent to the Web client through HTTP;
the robot body graphical programming module is used for writing a robot program to realize a motion control function of the robot body;
the three-dimensional visual simulation module of the robot body is used for carrying out three-dimensional simulation verification on the compiled robot program, reproducing the motion condition of the robot body in a real scene in the cross-platform interaction equipment 200, and judging whether the compiled robot program has a problem according to the motion condition 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 related motions and functions; if the robot program is judged to have a problem, the robot program is modified again and then simulated until the robot program after the modification is correct, and the robot program is issued to the robot body to execute related motions and functions.
The three-dimensional visual simulation module of the robot body truly reproduces the running condition 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 edited program before the motion of the real robot.
Preferably, as shown in fig. 2, the Web server 110 includes a program parser, an information database, and a communication server;
the program analyzer 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 the 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 HTTP.
Preferably, as shown in fig. 2, the robot control module 120 includes 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 control 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;
the robot safety protection module is used for taking charge of software safety guarantee of the robot body, and comprises 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 configured to measure an actual position value of the motor end or the joint end of the robot body, and send the actual position value to the robot controller 100 through a bus protocol, where the robot controller 100 performs motion control on a next motion of the robot body mechanical arm 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 configured to measure torque information of the joint end of the robot body, and send the torque information to the robot controller 100 through a bus protocol, where 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 born by the tail end of the robot arm, and transmits the six-dimensional force/torque to the controller through the bus, so that impedance control or compliance control of the tail end of the robot 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 the desired target object, and send the three-dimensional pose information to the robot controller 100 through a bus protocol, so as to implement vision servo control of the mechanical arm on the desired target object.
Preferably, the I/O device refers to a switching signal device, and the switching signal device comprises 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 the turn-off of the motor band-type brake, the information transmission is carried out between the motor band-type brake switch and the robot controller 100 through digital signals, the robot controller 100 always sends digital quantity signals of 0 and 1 to the motor band-type brake switch, and the on state and the off state of the motor band-type brake switch 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 configured to send a high-level or low-level digital signal to the robot controller 100 when the robot body approaches the target object, where the robot controller 100 controls the robot body to perform related motion or action;
the limit switch is configured to send a high-level or low-level digital signal to the robot controller 100 when the joint of the robot body reaches the limit position, where the robot controller 100 controls the robot body to execute related protection measures;
the collision detection switch is a current sensor, and is configured to detect an abrupt change signal of the phase current of the motor when the robot body collides with the target object, and send a high-level or low-level digital signal to the robot controller 100, where the robot controller 100 controls the robot body to perform a related action, so as to control the robot body to suddenly stop or move reversely.
Preferably, the driver refers to various motor drivers, and the drivers support various bus controls or pulse controls; the motor comprises a servo motor and a stepping motor.
It should be noted that, at present, communication between the driver and the robot controller mainly includes real-time buses such as EtherCAT bus, CANopen bus, profinet bus, profibus, and the like, and CAN bus, serial bus, PCI bus, and the like.
It should be noted that the robot controller includes two parts of contents, namely hardware and software. The hardware usually adopts an embedded industrial personal computer based on ARM and the like or an industrial personal computer based on X86 architecture as a main controller. The software comprises a real-time operating system, a robot control module and a Web server. The real-time operating system is a Linux operating system+xenomai real-time kernel, but is not limited thereto, and other real-time operating systems, such as VxWorks, QNX, RTLinux, may 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, a method for implementing a Web-based cross-platform human-computer interaction system of a robot is provided, and fig. 3 is a flowchart of a method for implementing a Web-based cross-platform human-computer interaction system of a robot, 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 comprises robot joint position information, robot mechanical arm tail end pose information and state information of a motor, a driver and a sensor;
s120, transmitting the motion state information of the robot body to cross-platform interaction equipment through a web server by 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 motions and related functions through a graphical programming module of a Web client; after the robot program is edited, the simulation of the robot program is realized through a three-dimensional visual simulation module of the Web client on the cross-platform interaction equipment; after the simulation of the robot program is completed, the Web client transmits the simulation result to the Web server through the HTTP protocol, wherein a target motion control instruction is transmitted;
s140, receiving the target motion control instruction sent by the web server through the robot control module, and sending the target motion control instruction to a driver;
after receiving the target motion control instruction, the Web server analyzes the target motion control instruction through a program analyzer and sends the analyzed robot program to a robot control module through a network protocol;
and S150, driving the motor to drive the robot body to move through the driver according to the target movement control instruction so as to realize target movement control of the robot body.
Aiming at the fact that most of the existing industrial robots are matched with own controllers, the invention provides a new implementation scheme on the basis, and a Web server and a cross-platform human-computer interaction system with independent robot controllers are provided, as shown in fig. 4 and 5, on the basis that the robots themselves are provided with controllers, the bottom software and algorithm of the robot controllers are not changed, and the Web server is installed in the computer 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 Ethernet or other network communication buses, and performs information communication and transmission with the Web client through HTTP; the robot controller is connected with the cross-platform man-machine interaction equipment through the Web server computer to play a role of a hardware bridge; the robot controller software is connected through the Web server, and the Web client program plays a role of a software bridge;
(2) The Web client 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 the Web server; and executing a robot motion control program issued by the Web client through the Web server to realize motion control of the robot body.
The specific working principle of the cross-platform man-machine interaction system of the Web-based robot provided by the invention can be referred to the previous description, and will not be repeated here.
In summary, the cross-platform man-machine interaction system and the implementation method of the robot based on the Web are mainly an improvement of teaching programming and man-machine interaction modes of a traditional robot controller matched with a teaching box, and people can conveniently control the movement of robot hardware through accessing a Web server through portable equipment such as a tablet personal computer or a mobile phone.
It is to be understood that the above embodiments are merely illustrative of the application of the principles of the present invention, but not in limitation thereof. Various modifications and improvements may be made by those skilled in the art without departing from the spirit and substance of the invention, and are also considered to be within the scope of the invention.
Claims (7)
1. A Web-based cross-platform human-machine interaction system for a robot, comprising: a robot controller (100), a cross-platform interaction device (200) and robot hardware (300), the robot controller (100) comprising a robot control module and a Web server, the cross-platform interaction device (200) comprising a Web client, the robot hardware (300) comprising a sensor, a driver and a motor;
the robot hardware (300) 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 (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 by 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 to generate 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);
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 target motion control of the robot body;
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 visual simulation module;
the robot body information configuration module is used for configuring the kinematics and dynamics parameter information and related default state information of the robot body;
the robot comprises a robot body, a robot control module, a Web server and a Web client, wherein the robot body comprises a motion state information display module used for displaying joint position information, tail end pose information and working state information of the robot body, and all the displayed information is acquired and processed in real time by the robot control module through communication of robot hardware (300), and is sent to the Web server through network communication, and the Web server is sent to the Web client through an HTTP;
the robot body graphical programming module is used for writing a robot program to realize a motion control function of the robot body;
the three-dimensional visual simulation module of the robot body is used for carrying out three-dimensional simulation verification on the compiled robot program, reproducing the motion condition of the robot body in a real scene in the cross-platform interaction equipment (200), and judging whether the compiled robot program has a problem according to the motion condition 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 related motions and functions; if the robot program is judged to have a problem, the robot program is modified again and then simulated until the robot program after the modification is correct, and then the robot program is issued to the robot body to execute related motions and functions;
wherein the Web server (110) includes a program parser, an information database, and a communication server:
the program analyzer 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 the 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 HTTP;
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 control 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;
the robot safety protection module is used for taking charge of software safety guarantee of the robot body, and comprises collision protection, overload protection and fault protection.
2. The Web-based robotic cross-platform human-machine interaction system according to claim 1, wherein the robotic hardware (300) further comprises: an I/O device in communication with the robot controller (100) through a digital input/output interface;
the I/O device is used for directly executing the digital quantity signal instruction issued by the robot control module; or sending a digital quantity signal to the robot controller (100), wherein 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 related motion decisions.
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 comprising a Linux operating system on which robot control software is run on a Xenomai real-time kernel, and the Web server is run on the Linux operating system.
4. The Web-based robotic cross-platform human-machine interaction system according to claim 1, wherein the robotic hardware (300) refers to the robot body, the sensors comprising a position sensor, a moment sensor, and a vision sensor of the robot body;
the position sensor is used for measuring the 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 robot body mechanical arm 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 visual 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 visual servo control of the mechanical arm on the expected target object can be realized.
5. The Web-based robotic cross-platform human-machine interaction system according to claim 2, wherein the I/O devices refer to switching signal devices including motor band-type brake switches, proximity switches, limit switches, and collision detection switches;
the motor band-type brake switch is used for being responsible for the turn-off of the motor band-type brake, the digital signals are used for carrying out information transmission with the robot controller (100), the robot controller (100) always sends digital quantity signals of 0 and 1 to the motor band-type brake switch, and the on and off states of the motor band-type brake switch 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 a target object, and the robot controller (100) controls the robot body to execute related motions or actions;
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, and the robot controller (100) controls the robot body to execute related protection measures;
the collision detection switch is a current sensor and is used for detecting a sudden change signal of the phase current of the motor and sending a high-level or low-level digital signal to the robot controller (100) when the robot body collides with a target object, and the robot controller (100) controls the robot body to execute related actions so as to control the robot body to suddenly stop or move reversely.
6. The Web-based robotic cross-platform human-machine interaction system according to claim 1, wherein the drivers refer to various types of motor drivers, the motors including servo motors and stepper motors.
7. A method for implementing the Web-based robotic cross-platform human-computer interaction system according to any one of claims 1-6, comprising:
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 is sent to cross-platform interaction equipment through a Web server by 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 instruction sent by the Web server through the robot control module, and sending the target motion control instruction to a driver;
and driving the motor to drive the robot body to move by 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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