CN114211501A - Bluetooth-based wireless control module and control method thereof - Google Patents
Bluetooth-based wireless control module and control method thereof Download PDFInfo
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- CN114211501A CN114211501A CN202111680426.2A CN202111680426A CN114211501A CN 114211501 A CN114211501 A CN 114211501A CN 202111680426 A CN202111680426 A CN 202111680426A CN 114211501 A CN114211501 A CN 114211501A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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Abstract
The invention relates to a wireless control module based on Bluetooth and a control method thereof, comprising a controller, a master module, a slave module and an actuator; the controller is connected with the main module and used for generating a control signal according to the real-time task and transmitting the control signal to the main module; the master module is used for converting the control signal into a control instruction and transmitting the control instruction to the slave module in a Bluetooth wireless data transmission mode; the slave module is used for converting the control instruction into an execution control signal and transmitting the execution control signal to the actuator; the actuator is used for controlling the external equipment to execute corresponding actions according to the execution control signal. The robot system has the advantages that the available space of the robot system can be effectively saved, the complexity of a robot hardware system is reduced, the robot system is convenient and effective in the robot control, communication and fault maintenance processes, and the robot system has remarkable advantages and wide application prospect.
Description
Technical Field
The invention belongs to the technical field of robot navigation and control, and particularly relates to a wireless control module based on Bluetooth and a control method thereof.
Background
In recent years, although the related technology of robots has been developed rapidly, the related technology of robots mainly focuses on research in terms of algorithm software such as robot intellectualization, and basically adopts a hardware system structure of a traditional robot in terms of a hardware structure, which cannot meet the application requirements of the robot technology of the same era, especially in terms of driving and controlling, for example, a control box of an industrial robot is opened, a dedicated control and drive board card is often arranged in the control box, and a controller often transmits a corresponding control signal through a dedicated backplane bus to realize control over an actuator, which often causes limitation of robot application, and is mainly embodied in the following three aspects:
1) the special control and drive board card and the huge bus system occupy a large amount of available space of the robot system, so that the problems of low robot load, short endurance and limited measuring capability of a carried sensor are more and more prominent, and meanwhile, the spatial layout of the controller and the bus system also causes larger constraint on the corresponding mechanical structure design of the robot, thereby increasing the complexity of a robot hardware system;
2) the control signal is easily interfered in the wired transmission process, the signal loss is possibly caused, and the signal transmission response time is long, so that specific measures are required to ensure that the signal is reliably and quickly transmitted, and the control difficulty of the robot system is greatly improved;
3) the robot control system transmits corresponding control signals through a backboard bus, and once the control bus is connected in a wrong way, is connected in a missing way or has a fault, the hardware is difficult to overhaul and replace.
In a complex task environment, a bus control system of a single robot has limitations in aspects of hardware design, detection, communication and the like, and a wireless control mode is adopted in the robot system, so that the available space of the robot system can be effectively saved, the mechanical structure design of the robot is facilitated, the complexity of the robot hardware system is greatly reduced, and the robot control, communication and fault maintenance processes are convenient and effective, and the robot control system has remarkable advantages and a wide application prospect.
Disclosure of Invention
The invention overcomes one of the defects of the prior art, provides the wireless control module based on the Bluetooth and the control method thereof, can effectively save the available space of the robot system, reduces the complexity of the robot hardware system, is convenient and effective in the robot control, communication and fault maintenance process, and has obvious advantages and wide application prospect.
According to an aspect of the present disclosure, there is provided a bluetooth-based wireless control module, the module comprising: the controller, the master module, the slave module and the actuator;
the controller is connected with the main module and used for generating a control signal according to a real-time task and transmitting the control signal to the main module;
the master module is used for converting the control signal into a control instruction and transmitting the control instruction to the slave module in a Bluetooth wireless data transmission mode;
the slave module is used for converting the control instruction into an execution control signal and transmitting the execution control signal to an actuator;
and the actuator is used for controlling the external equipment to execute corresponding actions according to the execution control signal.
In one possible implementation, the main module comprises a bluetooth host and a module master;
the module main controller is used for converting the control signal into a control instruction and transmitting the control instruction to the Bluetooth host;
and the Bluetooth host is used for transmitting the control command to the slave module in a Bluetooth wireless data transmission mode.
In one possible implementation, the slave module comprises a bluetooth slave and a control signal generator;
the Bluetooth slave is used for carrying out double-line Bluetooth wireless communication with the Bluetooth host and sending a received control command to the control signal generator;
the control signal generator is used for converting the control instruction into an execution control signal which can be executed by the actuator.
According to another aspect of the present disclosure, there is provided a bluetooth-based wireless control method, the method including:
step S1: the controller generates a corresponding control signal according to a real-time task, sends the control signal to the module main controller, and the module main controller converts the control signal into a control command and then forwards the control command to the Bluetooth host;
step S2: the Bluetooth host sends the control command to the Bluetooth slave machine in a Bluetooth wireless data transmission mode;
step S3: the Bluetooth slave machine sends the control command to a control signal generator, the control command is converted into an execution control signal by the control signal generator and then sent to an actuator, and the actuator controls an external device to execute corresponding actions according to the execution control signal.
In a possible implementation manner, the controller generates a corresponding control signal according to the real-time task, and sends the control signal to the module master controller, and the module master controller converts the control signal into a control command and then forwards the control command to the bluetooth host, including:
step S11: the controller generates a corresponding control signal according to the real-time task and sends the control signal to the module main controller;
step S12: the module master waits for a preset time in a delayed mode, if control receiving is completed, the step S13 is executed, and if the control receiving is not completed, the step S11 is executed;
step S13: and the module main controller converts the control signal into a control command and forwards the control command to the Bluetooth host.
In a possible implementation manner, the sending, by the bluetooth master, the control command to the bluetooth slave in a bluetooth wireless data transmission manner includes:
step S21: the Bluetooth host sends the control command to the Bluetooth slave in a Bluetooth wireless data transmission mode;
step S22: if the current control command is successfully sent, executing the step S23, otherwise executing the step S21;
step S23: and detecting and/or reconnecting the Bluetooth disconnection between the Bluetooth host and the Bluetooth slave, if the Bluetooth signal is detected to be normal, executing the step S3, otherwise, sending an AT command to the Bluetooth slave to reconnect.
In a possible implementation manner, the bluetooth slave sends the control command to a control signal generator, the control command is converted into an execution control signal by the control signal generator and then sent to an actuator, and the actuator controls an external device to execute a corresponding action according to the execution control signal, including:
step S31: if the data of the control command received by the Bluetooth slave machine is normal, executing the step S32, otherwise, executing the step S33;
step S32: the control signal generator converts the control command into an execution control signal required by the actuator, and executes step S34;
step S33: the control signal generator generates a specific execution control signal according to the state of the actuator and the control requirement, and executes step S34, wherein the specific execution control signal is a safety control signal;
step S34: the actuator controls the external equipment to execute corresponding actions according to the execution control signal.
The invention discloses a wireless control module based on Bluetooth, comprising: the controller, the master module, the slave module and the actuator; the controller is connected with the main module and used for generating a control signal according to the real-time task and transmitting the control signal to the main module; the master module is used for converting the control signal into a control instruction and transmitting the control instruction to the slave module in a Bluetooth wireless data transmission mode; the slave module is used for converting the control instruction into an execution control signal and transmitting the execution control signal to the actuator; the actuator is used for controlling the external equipment to execute corresponding actions according to the execution control signal. The robot system has the advantages that the available space of the robot system can be effectively saved, the complexity of a robot hardware system is reduced, the robot system is convenient and effective in the robot control, communication and fault maintenance processes, and the robot system has remarkable advantages and wide application prospect.
Drawings
The accompanying drawings are included to provide a further understanding of the technology or prior art of the present application and are incorporated in and constitute a part of this specification. The drawings expressing the embodiments of the present application are used for explaining the technical solutions of the present application, and should not be construed as limiting the technical solutions of the present application.
Fig. 1 illustrates a functional block diagram of a bluetooth-based wireless control module, according to an embodiment of the present disclosure;
FIG. 2 illustrates a flowchart of a Bluetooth-based wireless control method according to an embodiment of the present disclosure;
FIG. 3 illustrates a further method flow diagram of step S1 according to an embodiment of the present disclosure;
FIG. 4 illustrates a further method flow diagram of step S2 according to an embodiment of the present disclosure;
fig. 5 shows a further method flowchart of step S3 according to an embodiment of the present disclosure.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the accompanying drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the corresponding technical effects can be fully understood and implemented. The embodiments and the features of the embodiments can be combined without conflict, and the technical solutions formed are all within the scope of the present invention.
Additionally, the steps illustrated in the flow charts of the figures may be performed in a computer such as a set of computer-executable instructions. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.
Fig. 1 illustrates a functional block diagram of a bluetooth-based wireless control module, according to an embodiment of the present disclosure. As shown in fig. 1, the module may include: the controller, the master module, the slave module and the actuator.
The controller is connected with the main module, generates a control signal according to the real-time task, and transmits the control signal to the main module. Namely, the controller can generate corresponding control signals according to the real-time task requirements and send the control signals to the module main controller.
And the master module is used for converting the control signal into a control instruction and transmitting the control instruction to the slave module in a Bluetooth wireless data transmission mode. As shown in fig. 1, the main module includes a bluetooth host and a module master. And the module main controller is used for converting the control signal into a control instruction and transmitting the control instruction to the Bluetooth host. And the Bluetooth host is used for transmitting the control instruction to the slave module in a Bluetooth wireless data transmission mode so as to realize information exchange with the controller.
And the slave module is used for converting the control instruction into an execution control signal and transmitting the execution control signal to the actuator. The slave module comprises a Bluetooth slave and a control signal generator; the Bluetooth slave machine is used for carrying out double-wire Bluetooth wireless communication with the Bluetooth host machine and sending the received control instruction to the control signal generator; and the control signal generator is used for converting the control instruction into an execution control signal which can be executed by the actuator. The Bluetooth host and the Bluetooth slave realize bidirectional Bluetooth wireless communication and realize wireless transmission of control instructions.
And the actuator is used for controlling the external equipment to execute corresponding actions according to the execution control signal. Namely, the actuator can control the mechanical structure of the system to complete corresponding actions according to the control signals generated by the control signal generator.
The invention discloses a wireless control module based on Bluetooth, comprising: the controller, the master module, the slave module and the actuator; the controller is connected with the main module and used for generating a control signal according to the real-time task and transmitting the control signal to the main module; the master module is used for converting the control signal into a control instruction and transmitting the control instruction to the slave module in a Bluetooth wireless data transmission mode; the slave module is used for converting the control instruction into an execution control signal and transmitting the execution control signal to the actuator; the actuator is used for controlling the external equipment to execute corresponding actions according to the execution control signal. Through the wireless transmission of control signal data between the Bluetooth master-slave machines, the Bluetooth wireless control of the actuator by the controller can be effectively realized, and the Bluetooth wireless control system has remarkable advantages and wide application prospect.
Fig. 2 shows a flowchart of a bluetooth-based wireless control method according to an embodiment of the present disclosure.
According to another aspect of the present disclosure, the present disclosure proposes a bluetooth-based wireless control method. As shown in fig. 2, the method may include:
step S1: the controller generates corresponding control signals according to the real-time tasks, sends the control signals to the module main controller, and the module main controller converts the control signals into control commands and then forwards the control commands to the Bluetooth host.
Fig. 3 shows a further method flowchart of step S1 according to an embodiment of the present disclosure.
In one example, as shown in fig. 3, step S1 may include:
step S11: the controller generates a corresponding control signal according to the real-time task and sends the control signal to the module main controller;
step S12: the module master waits for a preset time in a delayed mode, if control receiving is completed, the step S13 is executed, and if the control receiving is not completed, the step S11 is executed;
step S13: the module main controller converts the control signal into a control command and forwards the control command to the Bluetooth host.
The bluetooth master sends the control command to the bluetooth slave in a bluetooth wireless data transmission manner, and if the current control command is sent, step S2 is executed.
Step S2: the Bluetooth host sends the control command to the Bluetooth slave machine in a Bluetooth wireless data transmission mode.
FIG. 4 illustrates a further method flow diagram of step S2 according to an embodiment of the present disclosure;
in an example, step S2 may include:
step S21: the Bluetooth host sends the control command to the Bluetooth slave in a Bluetooth wireless data transmission mode;
step S22: if the current control command is successfully sent, executing the step S23, otherwise executing the step S21;
step S23: and detecting and/or reconnecting the Bluetooth disconnection between the Bluetooth host and the Bluetooth slave, if the Bluetooth signal is detected to be normal, executing the step S3, otherwise, sending an AT command to the Bluetooth slave to reconnect, and executing the step S3.
Step S3: the Bluetooth slave machine sends the control command to the control signal generator, the control command is converted into an execution control signal by the control signal generator and then sent to the actuator, and the actuator controls the external equipment to execute corresponding actions according to the execution control signal.
FIG. 5 shows a flowchart of a further method of step S3 according to an embodiment of the present disclosure
In one example, as shown in fig. 5, step S3 may include:
step S31: if the data of the control command received by the Bluetooth slave machine is normal, executing the step S32, otherwise, executing the step S33;
step S32: the control signal generator converts the control command into an execution control signal required by the actuator, and executes step S34;
step S33: the control signal generator generates a specific execution control signal according to the state of the actuator and the control requirement, and executes step S34, wherein the specific execution control signal is a safety control signal;
step S34: the actuator controls the external equipment to execute corresponding actions according to the execution control signal.
The wireless control method based on Bluetooth wireless transmission can effectively save the available space of the robot system, is convenient for the mechanical structure design of the robot, greatly reduces the complexity of the hardware system of the robot, and is convenient and effective in the processes of robot control, communication and fault maintenance. The control of the robot is realized by adopting a wireless control mode based on Bluetooth, the interference of control signals in a wired transmission process can be avoided, and the control signals can be effectively and reliably and quickly transmitted by adopting Bluetooth disconnection detection and protection measures, so that the control difficulty of a robot system is reduced, and the control robustness of the robot control system is improved.
Although the embodiments of the present invention have been described above, the above descriptions are only for the convenience of understanding the present invention, and are not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A bluetooth-based wireless control module, the module comprising: the controller, the master module, the slave module and the actuator;
the controller is connected with the main module and used for generating a control signal according to a real-time task and transmitting the control signal to the main module;
the master module is used for converting the control signal into a control instruction and transmitting the control instruction to the slave module in a Bluetooth wireless data transmission mode;
the slave module is used for converting the control instruction into an execution control signal and transmitting the execution control signal to an actuator;
and the actuator is used for controlling the external equipment to execute corresponding actions according to the execution control signal.
2. The wireless control module of claim 1, wherein the primary module comprises a bluetooth host and a module master;
the module main controller is used for converting the control signal into a control instruction and transmitting the control instruction to the Bluetooth host;
and the Bluetooth host is used for transmitting the control command to the slave module in a Bluetooth wireless data transmission mode.
3. The wireless control module of claim 2, wherein the slave module comprises a bluetooth slave and a control signal generator;
the Bluetooth slave is used for carrying out double-line Bluetooth wireless communication with the Bluetooth host and sending a received control command to the control signal generator;
the control signal generator is used for converting the control instruction into an execution control signal which can be executed by the actuator.
4. A method for wireless control based on bluetooth, the method comprising:
step S1: the controller generates a corresponding control signal according to a real-time task, sends the control signal to the module main controller, and the module main controller converts the control signal into a control command and then forwards the control command to the Bluetooth host;
step S2: the Bluetooth host sends the control command to the Bluetooth slave machine in a Bluetooth wireless data transmission mode;
step S3: the Bluetooth slave machine sends the control command to a control signal generator, the control command is converted into an execution control signal by the control signal generator and then sent to an actuator, and the actuator controls an external device to execute corresponding actions according to the execution control signal.
5. The wireless control method of claim 4, wherein the controller generates a corresponding control signal according to the real-time task, sends the control signal to the module master controller, and the module master controller converts the control signal into a control command and forwards the control command to the Bluetooth host, and the method comprises:
step S11: the controller generates a corresponding control signal according to the real-time task and sends the control signal to the module main controller;
step S12: the module master waits for a preset time in a delayed mode, if control receiving is completed, the step S13 is executed, and if the control receiving is not completed, the step S11 is executed;
step S13: and the module main controller converts the control signal into a control command and forwards the control command to the Bluetooth host.
6. The wireless control method of claim 4, wherein the Bluetooth master sends the control command to the Bluetooth slave through a Bluetooth wireless data transmission mode, and the method comprises the following steps:
step S21: the Bluetooth host sends the control command to the Bluetooth slave in a Bluetooth wireless data transmission mode;
step S22: if the current control command is successfully sent, executing the step S23, otherwise executing the step S21;
step S23: and detecting and/or reconnecting the Bluetooth disconnection between the Bluetooth host and the Bluetooth slave, if the Bluetooth signal is detected to be normal, executing the step S3, otherwise, sending an AT command to the Bluetooth slave to reconnect.
7. The wireless control method according to claim 4, wherein the Bluetooth slave sends the control command to a control signal generator, the control command is converted into an execution control signal by the control signal generator and then sent to an actuator, and the actuator controls an external device to execute a corresponding action according to the execution control signal, including:
step S31: if the data of the control command received by the Bluetooth slave machine is normal, executing the step S32, otherwise, executing the step S33;
step S32: the control signal generator converts the control command into an execution control signal required by the actuator, and executes step S34;
step S33: the control signal generator generates a specific execution control signal according to the state of the actuator and the control requirement, and executes step S34, wherein the specific execution control signal is a safety control signal;
step S34: the actuator controls the external equipment to execute corresponding actions according to the execution control signal.
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| CN202111680426.2A CN114211501A (en) | 2021-12-27 | 2021-12-27 | Bluetooth-based wireless control module and control method thereof |
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| CN202111680426.2A CN114211501A (en) | 2021-12-27 | 2021-12-27 | Bluetooth-based wireless control module and control method thereof |
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| CN112975057A (en) * | 2021-02-07 | 2021-06-18 | 广东福维德焊接股份有限公司 | Wireless control system of deep-melting arc welding machine |
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2021
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20020078741A (en) * | 2001-04-10 | 2002-10-19 | 주식회사 팬택앤큐리텔 | Remote control method of bluetooth cellular phone |
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