CN113794775A - Robot control management method and system - Google Patents
Robot control management method and system Download PDFInfo
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- CN113794775A CN113794775A CN202111083884.8A CN202111083884A CN113794775A CN 113794775 A CN113794775 A CN 113794775A CN 202111083884 A CN202111083884 A CN 202111083884A CN 113794775 A CN113794775 A CN 113794775A
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- 238000007726 management method Methods 0.000 title claims abstract description 24
- 238000005516 engineering process Methods 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 230000000694 effects Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000003993 interaction Effects 0.000 description 4
- 230000000149 penetrating effect Effects 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/04—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks
- H04L63/0428—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/14—Session management
- H04L67/143—Termination or inactivation of sessions, e.g. event-controlled end of session
- H04L67/145—Termination or inactivation of sessions, e.g. event-controlled end of session avoiding end of session, e.g. keep-alive, heartbeats, resumption message or wake-up for inactive or interrupted session
Abstract
The invention provides a robot control management method and a system, comprising: step S1: the robot transmits the state data to a cloud server, and the cloud background service analyzes the state data to obtain analyzed state data; step S2: and presenting the analyzed state data to the client in real time through a real-time data transmission technology. The invention sends the obtained state data to the client in real time by adopting a front-end real-time technology, provides the use experience of the client and realizes non-refreshing real-time display.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot control management method and system, and more particularly to a robot control management cloud platform system.
Background
In recent years, commercial service robots are gradually accepted by the public, and are increasingly present in various places such as hotels, shopping malls, office buildings, abnormal rooms, and residential apartments. Compared with an industrial robot or a household robot, the commercial service robot has the advantages that the running environment is complicated and changeable, the uncertain factors are very many, various emergency situations can happen frequently, and the requirement on the stability and the reliability of the service is very high. Therefore, a set of robot control management method needs to be established to ensure that the robot can provide service stably for a long time.
Patent document CN109213097A (application No. 201810987798.1) discloses a robot data monitoring method and system, which collects robot data of a robot and elevator state data of elevator equipment in a robot action area through a network; processing and analyzing the robot data and the state data; and judging whether to carry out related alarm according to the result after processing and analysis.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a robot control management method and system.
The robot control management method provided by the invention comprises the following steps:
step S1: the robot transmits the state data to a cloud server, and the cloud background service analyzes the state data to obtain analyzed state data;
step S2: and presenting the analyzed state data to the client in real time through a real-time data transmission technology.
Preferably, the step S1 adopts: and the robot end deploys a core logic program and collects the state data of the robot body and the external pendant.
Preferably, the frp service is deployed on the robot side, exposing the rossbridge node service.
Preferably, the step S1 adopts: and the robot transmits the collected state data to the cloud server in a long connection mode.
Preferably, the client is connected with the node service of the robot end through the rossbridge, and data is interacted in a preset encryption protocol format in a Server + Topic mode, so that the effect of controlling the robot in real time is achieved, and local service data and log data of the robot are checked.
According to the present invention, there is provided a robot control management system comprising:
module M1: the robot transmits the state data to a cloud server, and the cloud background service analyzes the state data to obtain analyzed state data;
module M2: and presenting the analyzed state data to the client in real time through a real-time data transmission technology.
Preferably, the module M1 employs: and the robot end deploys a core logic program and collects the state data of the robot body and the external pendant.
Preferably, the frp service is deployed on the robot side, exposing the rossbridge node service.
Preferably, the module M1 employs: and the robot transmits the collected state data to the cloud server in a long connection mode.
Preferably, the client is connected with the node service of the robot end through the rossbridge, and data is interacted in a preset encryption protocol format in a Server + Topic mode, so that the effect of controlling the robot in real time is achieved, and local service data and log data of the robot are checked.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, by adopting the robot end to deploy the intranet penetrating tool, the robot can store the state data and the generated log data into the local storage medium of the robot as required, so that the capacity cost of the background server can be reduced;
2. the invention sends the obtained state data to the client in real time by adopting a front-end real-time technology, provides the use experience of the client and realizes non-refreshing real-time display.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic diagram of a robot control management system.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1
The invention provides a robot control management method, wherein a robot transmits state data to a cloud server through a network, the cloud background service analyzes the data, and the data is presented to a client (including but not limited to a desktop end and an HTTP (hyper text transport protocol) webpage end) in real time through a real-time data transmission technology;
a robot end deploys an frp intranet penetrating tool and exposes a Rosbridge node service based on a robot ROS system;
the HTTP webpage client is connected and communicated with the rossbridge of the robot end through the rossib, data exchange is carried out in a Server + Topic mode, and the management method for controlling the robot in real time is achieved.
The invention provides a robot control management method, which comprises the following steps:
step 1: the robot end deploys a core logic program and collects data of the robot body and the external pendant;
step 2: deploying the frp service at the robot end and exposing the Rosbridge node service
And step 3: the robot transmits the state data collected in the step 1 to a cloud server in a long connection mode;
and 4, step 4: the background service in the cloud server transmits the real-time state data of the robot to the client (the client comprises a desktop end program and an HTTP webpage end) through a real-time technology
And 5: the client program is connected with the node service of the robot end through the Roslibjs, and data is interacted in a self-defined encryption protocol format through a Server + Topic mode, so that the effect of controlling the robot in real time is achieved, and local service data and log data of the robot can be checked.
The Topic is a one-way communication mechanism of a many-to-many asynchronous framework, has high maintainability, and is more suitable for the robot to upload information such as state data, parameter setting, transceiving control and the like; however, the mechanism of Topic has a great influence on the overall performance of the system when the execution frequency is high.
The Server is a one-to-many synchronous architecture, is a communication mechanism based on an interactive mode of request and response, and is more suitable for executing complex event triggering conditions with low communication frequency because the time consumption of the Server is larger than that of the Server. The method is suitable for high-frequency bidirectional data interaction and real-time feedback of discontinuous data instructions when the robot is remotely controlled.
Through the communication combination of the Topic + Server, the overhead of the system can be reduced to the greatest extent, and the high-frequency data interaction of the robot can be ensured while the real-time performance of the system is ensured.
According to the invention, by adopting the robot end to deploy the intranet penetrating tool, the robot can store the state data and the generated log data into the local storage medium of the robot as required, so that the capacity cost of the background server can be reduced; by adopting a front-end real-time technology, the obtained state data is sent to the client in real time, the use experience of the client is provided, and the non-refreshing real-time display is realized.
As shown in fig. 1, a robot control and management system according to the present invention includes:
module 1: the robot end deploys a core logic program and collects data of the robot body and the external pendant;
and (3) module 2: deploying the frp service at the robot end and exposing the Rosbridge node service
And a module 3: the robot transmits the state data collected in the step 1 to a cloud server in a long connection mode;
and (4) module: the background service in the cloud server transmits the real-time state data of the robot to the client (the client comprises a desktop end program and an HTTP webpage end) through a real-time technology
And a module 5: the client program is connected with the node service of the robot end through the Roslibjs, and data is interacted in a self-defined encryption protocol format through a Server + Topic mode, so that the effect of controlling the robot in real time is achieved, and local service data and log data of the robot can be checked.
The Topic is a one-way communication mechanism of a many-to-many asynchronous framework, has high maintainability, and is more suitable for the robot to upload information such as state data, parameter setting, transceiving control and the like; however, the mechanism of Topic has a great influence on the overall performance of the system when the execution frequency is high.
The Server is a one-to-many synchronous architecture, is a communication mechanism based on an interactive mode of request and response, and is more suitable for executing complex event triggering conditions with low communication frequency because the time consumption of the Server is larger than that of the Server. The method is suitable for high-frequency bidirectional data interaction and real-time feedback of discontinuous data instructions when the robot is remotely controlled.
Through the communication combination of the Topic + Server, the overhead of the system can be reduced to the greatest extent, and the high-frequency data interaction of the robot can be ensured while the real-time performance of the system is ensured.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A robot control management method, comprising:
step S1: the robot transmits the state data to a cloud server, and the cloud background service analyzes the state data to obtain analyzed state data;
step S2: and presenting the analyzed state data to the client in real time through a real-time data transmission technology.
2. The robot control management method according to claim 1, wherein the step S1 includes: and the robot end deploys a core logic program and collects the state data of the robot body and the external pendant.
3. The robot control management approach of claim 1, wherein frp services are deployed at the robot end, exposing the rossbridge node service.
4. The robot control management method according to claim 1, wherein the step S1 includes: and the robot transmits the collected state data to the cloud server in a long connection mode.
5. The robot control management method according to claim 1, wherein the client connects to a node service of the robot through a rossbridge, and interacts data in a preset encryption protocol format in a Server + Topic manner to achieve an effect of controlling the robot in real time and check local service data and log data of the robot.
6. A robot control management system, comprising:
module M1: the robot transmits the state data to a cloud server, and the cloud background service analyzes the state data to obtain analyzed state data;
module M2: and presenting the analyzed state data to the client in real time through a real-time data transmission technology.
7. Robot control and management system according to claim 6, characterized in that said module M1 employs: and the robot end deploys a core logic program and collects the state data of the robot body and the external pendant.
8. The robot control management system of claim 6, wherein frp services are deployed at the robot end, exposing the rossbridge node service.
9. Robot control and management system according to claim 6, characterized in that said module M1 employs: and the robot transmits the collected state data to the cloud server in a long connection mode.
10. The robot control and management system of claim 6, wherein the client connects to the node service of the robot through a rossbridge, and interacts data in a preset encryption protocol format in a Server + Topic manner to achieve the effect of controlling the robot in real time and check local service data and log data of the robot.
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| CN202111083884.8A CN113794775A (en) | 2021-09-14 | 2021-09-14 | Robot control management method and system |
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| CN202111083884.8A CN113794775A (en) | 2021-09-14 | 2021-09-14 | Robot control management method and system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114374724A (en) * | 2021-12-21 | 2022-04-19 | 河南嘉晨智能控制股份有限公司 | Method for off-line issuing remote control instruction for industrial vehicle |
| CN114679416A (en) * | 2022-02-10 | 2022-06-28 | 达闼机器人股份有限公司 | Robot communication method, system, equipment and storage medium |
| CN114722050A (en) * | 2022-06-10 | 2022-07-08 | 辰星（天津）自动化设备有限公司 | Data synchronization method of robot system and robot system |
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| CN109159125A (en) * | 2018-09-28 | 2019-01-08 | 华东计算技术研究所（中国电子科技集团公司第三十二研究所） | Cloud service system based on ROS system robot |
| CN113286009A (en) * | 2021-07-20 | 2021-08-20 | 上海景吾智能科技有限公司 | Playing method and system for viewing robot rossbag in real time through remote HTTP webpage |
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2021
- 2021-09-14 CN CN202111083884.8A patent/CN113794775A/en active Pending
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| CN109159125A (en) * | 2018-09-28 | 2019-01-08 | 华东计算技术研究所（中国电子科技集团公司第三十二研究所） | Cloud service system based on ROS system robot |
| CN113286009A (en) * | 2021-07-20 | 2021-08-20 | 上海景吾智能科技有限公司 | Playing method and system for viewing robot rossbag in real time through remote HTTP webpage |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114374724A (en) * | 2021-12-21 | 2022-04-19 | 河南嘉晨智能控制股份有限公司 | Method for off-line issuing remote control instruction for industrial vehicle |
| CN114679416A (en) * | 2022-02-10 | 2022-06-28 | 达闼机器人股份有限公司 | Robot communication method, system, equipment and storage medium |
| CN114722050A (en) * | 2022-06-10 | 2022-07-08 | 辰星（天津）自动化设备有限公司 | Data synchronization method of robot system and robot system |
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