CN115550862A - Data transmission method and system of electric power robot and electronic equipment - Google Patents
Data transmission method and system of electric power robot and electronic equipment Download PDFInfo
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- CN115550862A CN115550862A CN202211503522.4A CN202211503522A CN115550862A CN 115550862 A CN115550862 A CN 115550862A CN 202211503522 A CN202211503522 A CN 202211503522A CN 115550862 A CN115550862 A CN 115550862A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W28/00—Network traffic management; Network resource management
- H04W28/02—Traffic management, e.g. flow control or congestion control
- H04W28/10—Flow control between communication endpoints
Abstract
The invention provides a data transmission method, a data transmission system and electronic equipment of an electric power robot, and relates to the field of automatic control, wherein the method comprises the steps of acquiring a data transmission request instruction from the electric power robot in real time, and determining the type of data acquired by the electric power robot according to the data transmission request instruction; then determining a data transmission scheme corresponding to the acquired data by using the type of the acquired data; finally, according to the determined data transmission scheme, the wireless network module is used for transmitting the acquired data to the proxy server, and the acquired data are transmitted to the client through the proxy server; according to the data transmission method, the wireless network module is used for transmitting the acquired data to the client through the proxy server, the wireless connection network between the mechanical arm and the client is opened, and low-cost wireless network communication is achieved, so that the problems of short transmission distance and low data transmission efficiency in data transmission of the power robot in the prior art are solved.
Description
Technical Field
The invention relates to the field of automatic control, in particular to a data transmission method and system of an electric power robot and electronic equipment.
Background
The electric power robot is mainly used outdoors, and electric power operation is completed through a built-in mechanical arm. If the user wants to see the operation scene, the joint angular motion data, the operation picture snapshot, the point cloud file and the like of the mechanical arm, the user needs to be connected to the industrial personal computer of the robot in a wired mode, and therefore the motion data of the mechanical arm is transmitted back to the display platform in a wired mode to display the motion track of the mechanical arm. Even if a wireless router is installed on the robot, only short-distance local area network data transmission can be achieved. How to access the motion data and video of the mechanical arm to any watching client with public network access capability at low cost and long distance, and provide a wireless and long-distance motion data transmission mode and streaming media type video real-time transmission and watching becomes a problem to be solved urgently.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a data transmission method, a system and an electronic device for an electric power robot, in which a wireless network module is used to transmit collected data to a client through a proxy server, a wireless connection network between a mechanical arm and the client is opened, low-cost wireless network communication is realized, a data transmission scheme corresponding to the type of the collected data is used to transmit collected file data and video data of the electric power robot, and long-distance wireless transmission of various collected data generated by the electric power robot is realized, so as to solve the problems of short transmission distance and low data transmission efficiency in data transmission of the electric power robot in the prior art.
In a first aspect, the embodiment of the invention provides a data transmission method for an electric power robot, which is applied to an industrial personal computer built in the electric power robot, wherein the industrial personal computer transmits acquired data of the electric power robot to a client through a proxy server by using a built-in wireless network module;
the method comprises the following steps:
acquiring a data transmission request instruction of the electric power robot in real time, and determining the type of acquired data of the electric power robot according to the data transmission request instruction;
determining a data transmission scheme corresponding to the acquired data by using the type of the acquired data;
and transmitting the acquired data to the proxy server by using the wireless network module according to the determined data transmission scheme, and transmitting the acquired data to the client through the proxy server.
In some embodiments, determining the type of the collected data of the electric power robot according to the data transmission request instruction includes:
acquiring the collected data of the electric power robot in real time by using the data transmission request instruction;
and determining the type of the acquired data as a file data type according to the motion data, the point cloud file and the picture data of the electric power robot contained in the acquired data.
In some embodiments, the step of determining the data transmission scheme corresponding to the acquired data using the type of the acquired data comprises:
when the type of the acquired data is a file data type, initializing a file data acquisition end and a file data receiving end by using a Socket protocol;
determining a first data transmission scheme corresponding to a file data acquisition end; the first data transmission scheme is used for pushing motion data, point cloud files and picture data of the electric power robot acquired by the file data acquisition end to the proxy server by using a Socket protocol;
determining a second data transmission scheme corresponding to the file data receiving end; the second data transmission scheme is used for controlling a file data receiving end to obtain motion data, point cloud files and picture data of the electric power robot from the proxy server by using a Socket protocol;
and determining a data transmission scheme corresponding to the acquired data by using the first data transmission scheme and the second data transmission scheme.
In some embodiments, the transmitting the collected data to the proxy server by using the wireless network module according to the determined data transmission scheme, and transmitting the collected data to the client through the proxy server includes:
utilizing a first data transmission scheme to control a wireless network module to transmit the acquired data acquired by a file data acquisition end to a proxy server;
controlling a file data receiving end to acquire acquired data from the proxy server by using a second data transmission scheme, and rendering and generating a running track and a point cloud model of a mechanical arm of the electric power robot according to the acquired data;
and sending the running track of the mechanical arm of the electric power robot and the point cloud model to the client through the proxy server.
In some embodiments, determining the type of the collected data of the electric power robot according to the data transmission request instruction includes:
acquiring the collected data of the electric power robot in real time by using the data transmission request instruction;
and determining the type of the collected data as a video data type according to the video flow data of the electric power robot contained in the collected data.
In some embodiments, the step of determining the data transmission scheme corresponding to the acquired data using the type of the acquired data comprises:
when the type of the acquired data is a video data type, initializing a video data acquisition end and a video data receiving end by utilizing an SRS streaming media protocol;
determining a third data transmission scheme corresponding to the video data acquisition end; the third data transmission scheme is used for converting rtsp video streams collected by the electric power working robot into rtmp video streams and pushing the rtmp video streams into the proxy server by utilizing an SRS streaming media protocol;
determining a fourth data transmission scheme corresponding to the video data receiving end; the fourth data transmission scheme is used for acquiring rtmp video stream from the proxy server by using an SRS streaming media protocol;
and determining a data transmission scheme corresponding to the acquired data by using the third data transmission scheme and the fourth data transmission scheme.
In some embodiments, the step of transmitting the collected data to the proxy server by using the wireless network module according to the determined data transmission scheme, and transmitting the collected data to the client through the proxy server includes:
converting an rtsp video stream contained in the acquired data into an rtmp video stream by using a third data transmission scheme, and controlling a video data acquisition end to push the rtmp video stream to a proxy server;
controlling a video data receiving end to acquire acquired data from the proxy server by using a fourth data transmission scheme, and converting the acquired data into webRTC video streams according to rtmp video streams contained in the acquired data;
and transmitting the webRTC video stream contained in the collected data to the client through the proxy server.
In a second aspect, the embodiment of the invention provides a data transmission system of an electric power robot, which is applied to an internal industrial personal computer of the electric power robot, wherein the industrial personal computer transmits acquired data of the electric power robot to a client through a proxy server by using an internal wireless network module;
the system comprises:
the acquisition data type determining module is used for acquiring a data transmission request instruction of the electric power robot in real time and determining the type of the acquisition data of the electric power robot according to the data transmission request instruction;
the data transmission scheme determining module is used for determining a data transmission scheme corresponding to the acquired data by using the type of the acquired data;
and the data transmission execution module is used for transmitting the acquired data to the proxy server by using the wireless network module according to the determined data transmission scheme and transmitting the acquired data to the client through the proxy server.
In a third aspect, an embodiment of the present invention further provides an electronic device, including: a processor and a memory; the memory has stored thereon a computer program which, when being executed by the processor, carries out the steps of the data transmission method for an electric power working robot mentioned in the above-mentioned first aspect.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the data transmission method for an electric power robot mentioned in the above first aspect.
The embodiment of the invention has the following beneficial effects:
the invention provides a data transmission method and system of an electric power robot and electronic equipment, which are applied to an industrial personal computer built in the electric power robot, wherein the industrial personal computer transmits acquired data of the electric power robot to a client through a proxy server by using a built-in wireless network module; the method includes the steps that a data transmission request instruction is obtained from the electric power operation robot in real time, and the type of data collected by the electric power operation robot is determined according to the data transmission request instruction; then, determining a data transmission scheme corresponding to the acquired data by using the type of the acquired data; and finally, according to the determined data transmission scheme, transmitting the acquired data to the proxy server by using the wireless network module, and transmitting the acquired data to the client through the proxy server. According to the data transmission method, the wireless network module is used for transmitting the collected data to the client through the proxy server, a wireless connection network between the mechanical arm and the client is opened, low-cost wireless network communication is achieved, the data transmission scheme corresponding to the type of the collected data is used for transmitting the collected file data and the video data of the electric power robot, long-distance wireless transmission of various collected data generated by the electric power robot is achieved, and the problems that the transmission distance is short and the data transmission efficiency is low in data transmission of the electric power robot in the prior art are solved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention as set forth hereinafter.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a data transmission method for an electric power robot according to an embodiment of the present invention;
fig. 2 is a flow chart of determining the type of the collected data of the electric power robot according to the data transmission request command in the data transmission method for the electric power robot according to the embodiment of the invention;
fig. 3 is a flowchart of a step S102 of a data transmission method for an electric power robot according to an embodiment of the present invention;
fig. 4 is a flowchart of step S103 of a data transmission method for an electric power robot according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of a data transmission method of an electric power robot for transmitting document data according to an embodiment of the present invention;
fig. 6 is another flowchart for determining the type of the collected data of the electric power robot according to the data transmission request command in the data transmission method for the electric power robot according to the embodiment of the invention;
fig. 7 is another flowchart of step S102 of a data transmission method for an electric power robot according to an embodiment of the present invention;
fig. 8 is another flowchart of step S103 of a data transmission method for an electric power robot according to an embodiment of the present invention;
fig. 9 is a schematic flow chart of a data transmission method of an electric power robot for transmitting video data according to an embodiment of the present invention;
fig. 10 is a schematic flow chart of a data transmission method of an electric power robot according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a data transmission system of an electric power robot according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Icon:
1110 — an acquisition data type determination module; 1120-a data transmission scheme determination module; 1130-a data transfer execution module;
101-a processor; 102-a memory; 103-a bus; 104-communication interface.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The electric power robot is mainly used outdoors, and electric power operation is completed through a built-in mechanical arm. If the user wants to see the operation scene, the joint angular motion data, the operation picture snapshot, the point cloud file and the like of the mechanical arm, the user needs to be connected to the industrial personal computer of the robot in a wired mode, and therefore the motion data of the mechanical arm is transmitted back to the display platform in a wired mode to display the motion track of the mechanical arm. Even if a wireless router is installed on the robot, the data transmission of the short-distance local area network of dozens of meters can be realized.
In an actual scene, motion data, pictures and point cloud files of a mechanical arm used by an electric power robot are stored locally through a ros system of the robot, and data cannot be acquired remotely; and for the motion data of the mechanical arm used by the electric power robot, a real-time transmission mechanism is lacked, and the motion data of the mechanical arm is transmitted to a motion data rendering client terminal in a low-delay manner. Video data of a mechanical arm used by an electric power robot can be transmitted only through a local area network or a wired network at present, a plurality of video sources exist in the mechanical arm in the operation process, the available video sources are activated according to the operation steps, and at present, a mature solution and a method for solving free video switching and low-delay, wireless and trans-provincial and long-distance transmission are not provided. Video data of a mechanical arm used by an electric power robot are mostly acquired by industrial cameras, and many of the industrial cameras do not have a plug flow capability and only provide a play address of an rtsp protocol. The problem in the prior art is how to directly play video of a mechanical arm used by an electric power robot without a plug-in form and with low delay in a browser.
Therefore, how to access the motion data and video of the mechanical arm to any viewing client with public network access capability at low cost and long distance to provide a wireless and long-distance motion data transmission mode and real-time streaming video transmission and viewing has become a problem to be solved in the prior art. Based on the problems, the embodiment of the invention provides a data transmission method, a system and electronic equipment of an electric power robot, the data transmission method utilizes a wireless network module to transmit acquired data to a client through a proxy server, a wireless connection network between a mechanical arm and the client is opened, low-cost wireless network communication is realized, a data transmission scheme corresponding to the type of the acquired data is utilized to transmit acquired file data and video data of the electric power robot, long-distance wireless transmission of various acquired data generated by the electric power robot is realized, and the problems of short transmission distance and low data transmission efficiency in data transmission of the electric power robot in the prior art are solved.
In order to understand the embodiment of the present invention, first, a data transmission method for an electric power robot disclosed in the embodiment of the present invention is described in detail, where the method is applied to an industrial personal computer built in the electric power robot, and the industrial personal computer transmits collected data of the electric power robot to a client through a proxy server by using a built-in wireless network module. Specifically, as shown in fig. 1, the method includes:
and S101, acquiring a data transmission request instruction of the electric power robot in real time, and determining the type of the acquired data of the electric power robot according to the data transmission request instruction.
For an electric power robot, the transmission of file data and video data of a mechanical arm is mainly involved. The file data is mainly transmitted by using a related file transmission channel, and the video data is mainly transmitted by using a related video transmission protocol. Therefore, in the process of executing the data transmission method, the type of data to be transmitted needs to be determined according to the data transmission request instruction. Specifically, when the electric power robot collected data corresponding to the data transmission request instruction is motion data, a picture, a point cloud file and other data of the mechanical arm, the type of the collected data is file data; and when the collected data corresponding to the data transmission request instruction is video stream data of the mechanical arm, the type of the collected data is video data.
And S102, determining a data transmission scheme corresponding to the acquired data by using the type of the acquired data.
The data transmission scheme is associated with the type of the acquired data, and specifically, for the file data, the data transmission scheme may be determined by using a related file communication protocol, for example, by establishing a socket service to determine the data transmission scheme corresponding to the file data, and the data transmission scheme may finally transmit the generated file data to the client through the socket service. For video data, a data transmission scheme can be determined by using a relevant video communication protocol, and streaming media data provided by a plurality of cameras in the mechanical arm can be finally transmitted to a client through a streaming media service through a streaming media gateway.
It should be noted that, when determining the data transmission scheme, a service corresponding to the data transmission scheme needs to be initialized, so that the feasibility of the data transmission scheme can be ensured. For example, for a data transmission scheme corresponding to file data, a socket service needs to be initialized, and a proxy server needs to be initialized, so that the file data can be transmitted to the proxy server through the socket service and transmitted to a client through the proxy server. Similar to the above situation, the data transmission scheme for the video data needs to initialize the streaming media service, so that the streaming media service can transmit the video stream data to the proxy server through the streaming media service and transmit the video stream data to the client through the proxy server.
And step S103, transmitting the acquired data to a proxy server by using a wireless network module according to the determined data transmission scheme, and transmitting the acquired data to the client through the proxy server.
One end of the wireless network module establishes wireless transmission with the client, and the client can perform data interaction with the wireless module through a mobile network; the other end of the wireless network module is in data interaction with the electric power robot through the wireless router. The wireless router can be arranged at a mechanical arm of the electric power robot, and the ability of accessing a public network can be realized through built-in related Internet of things equipment. The wireless network module can realize a network penetration function by setting an NPS (network policy server) service, so that direct communication between the mechanical arm of the electric power robot and a client is realized.
As can be seen from the data transmission scheme mentioned in the above embodiments, the method mainly relates to two types of data transmission, and the transmission of the two types of data is described in detail below. For the document data, in some embodiments, the type of the collected data of the electric power robot is determined according to the data transmission request instruction, as shown in fig. 2, including:
step S201, acquiring the collected data of the electric power robot in real time by using the data transmission request instruction.
Step S202, determining the type of the collected data as a file data type according to the motion data, the point cloud file and the picture data of the electric power robot contained in the collected data.
For a mechanical arm used by an electric power robot, motion data, pictures and point cloud files of the mechanical arm are stored locally through a ros system of the robot; therefore, the motion data, the picture and the point cloud file stored locally can be read through the data transmission request instruction. Therefore, when the data transmission request instruction acquires the motion data, the picture and the point cloud file of the mechanical arm in the acquired data of the electric power robot in real time, the type of the acquired data can be determined as the file data type.
On this basis, the step S102 of determining the data transmission scheme corresponding to the acquired data by using the type of the acquired data, as shown in fig. 3, includes:
step S301, when the type of the collected data is a file data type, initializing a file data collecting end and a file data receiving end by using a Socket protocol.
The file data acquisition end corresponds to the Socket client and is connected with a mechanical arm used by the electric power robot and used for pushing motion data, pictures and point cloud files of the mechanical arm to a file data receiving end in real time through a wireless network module; the file data receiving end corresponds to the Socket server and is connected with the wireless network module and used for receiving motion data, pictures and point cloud files of the mechanical arm.
Step S302, determining a first data transmission scheme corresponding to a file data acquisition end; the first data transmission scheme is used for pushing motion data, point cloud files and picture data of the electric power robot, which are acquired by the file data acquisition end, to the proxy server by using a Socket protocol.
According to the first data transmission scheme, a Socket client is built for a file data acquisition end, motion data, point cloud files and picture data of the electric power robot acquired by the file data acquisition end are pushed to a proxy server through Socket protocol service, and therefore a data transmission channel between the electric power robot and the proxy server is opened.
Step S303, determining a second data transmission scheme corresponding to the file data receiving end; the second data transmission scheme is used for controlling the file data receiving end to obtain motion data, point cloud files and picture data of the electric power robot from the proxy server by using a Socket protocol.
The second data transmission scheme is that a Socket server is built for a file data receiving end, motion data, point cloud files and picture data of the electric robot are obtained from the proxy server through Socket protocol service and are pushed to the proxy server, and therefore a data transmission channel between the proxy server and a client is opened.
And step S304, determining a data transmission scheme corresponding to the acquired data by using the first data transmission scheme and the second data transmission scheme.
And after the data transmission scheme is acquired, processing the acquired data by using the data transmission scheme and transmitting the processed data to the client for display. Therefore, in some embodiments, the step S103 of transmitting the collected data to the proxy server by using the wireless network module according to the determined data transmission scheme, and transmitting the collected data to the client through the proxy server, as shown in fig. 4, includes:
step S401, a wireless network module is controlled to transmit the collected data collected by the file data collecting end to a proxy server by using a first data transmission scheme.
And S402, controlling a file data receiving end to acquire acquired data from the proxy server by using a second data transmission scheme, and rendering and generating the operation track and the point cloud model of the mechanical arm of the electric power robot according to the acquired data.
And S403, sending the running track of the mechanical arm of the electric power robot and the point cloud model to a client through the proxy server.
Specifically, the above process can be represented by the flow diagram of the data transmission method in the case of transmitting the file data shown in fig. 5. The mechanical arm used by the electric power robot in fig. 5 is in data transmission with a Socket client, and the Socket client transmits motion data, pictures and point cloud files of the collected mechanical arm to a proxy server with an NPS intranet penetration service through a router. And the Socket server side and the proxy server perform data transmission, and receive data transmitted by the mechanical arm through the Socket server side. The client browser acquires file data through the Socket server, renders the running track of the mechanical arm according to the motion data, the picture and the point cloud file of the mechanical arm, and displays the running track for the user.
For the video data, in some embodiments, the type of the collected data of the electric power robot is determined according to the data transmission request instruction, as shown in fig. 6, including:
step S601, acquiring the collected data of the electric power robot in real time by using a data transmission request instruction;
step S602, determining the type of the collected data as the video data type according to the video data of the electric power robot included in the collected data.
For a mechanical arm used by an electric power working robot, video data sources of the mechanical arm and rtsp video streams provided by a plurality of cameras deployed on the mechanical arm can be obtained through a data transmission request instruction, and when the data transmission request instruction obtains data acquired by the electric power working robot in real time and contains the rtsp video streams, the type of the acquired data can be determined as the video data type.
On this basis, the step S102 of determining the data transmission scheme corresponding to the acquired data by using the type of the acquired data, as shown in fig. 7, includes:
step S701, when the type of the collected data is a video data type, initializing a video data collecting end and a video data receiving end by using an SRS streaming media protocol.
The video data acquisition end corresponds to the streaming media gateway, is connected with a mechanical arm used by the electric power robot and is used for carrying out format conversion on the video stream of the mechanical arm and pushing the video stream to a video data receiving end in real time through a wireless network module; the video data receiving end corresponds to the streaming media server, is connected with the wireless network module and is used for receiving the video stream pushed by the mechanical arm and providing video playing service.
Step S702, determining a third data transmission scheme corresponding to the video data acquisition end; the third data transmission scheme is used for converting an rtsp video stream collected by the electric power operation robot into an rtmp video stream and pushing the rtmp video stream to the proxy server by using an SRS streaming media protocol.
The third data transmission scheme is that the video stream of the electric power robot acquired by the video data acquisition end is pushed to the proxy server through a streaming media gateway arranged on the video data acquisition end, so that a data transmission channel between the electric power robot and the proxy server is opened. In the process, an rtsp video stream collected by the electric power operation robot is converted into an rtmp video stream through the streaming media gateway, and the rtmp video stream is pushed to the proxy server by using an SRS streaming media protocol.
Step S703, determining a fourth data transmission scheme corresponding to the video data receiving end; the fourth data transmission scheme is used for acquiring rtmp video stream from the proxy server by using the SRS streaming media protocol.
The fourth data transmission scheme is that an SRS streaming media server is built for a video data receiving end, and rtmp video stream is obtained from a proxy server through SRS streaming media service, so that a data transmission channel between the proxy server and a client is opened. The SRS streaming media service can also record video streams and provide video playing services.
Step S704, determining a data transmission scheme corresponding to the collected data by using the third data transmission scheme and the fourth data transmission scheme.
And after the data transmission scheme is acquired, processing the acquired data by using the data transmission scheme and transmitting the processed data to the client for display. In some embodiments, the step of transmitting the collected data to the proxy server by using the wireless network module according to the determined data transmission scheme, and transmitting the collected data to the client through the proxy server, as shown in fig. 8, includes:
step S801, a rtmp video stream contained in the collected data is converted into a rtmp video stream by using a third data transmission scheme, and the video data collection end is controlled to push the rtmp video stream to the proxy server;
step S802, controlling a video data receiving end to acquire acquired data from the proxy server by using a fourth data transmission scheme, and converting the rtmp video stream contained in the acquired data into a webRTC video stream;
and step S803, the webRTC video stream contained in the collected data is sent to the client through the proxy server.
Specifically, the above process can be illustrated by the flow chart of the data transmission method in the process of transmitting the video data shown in fig. 9. The mechanical arm used by the electric power robot in fig. 9 performs data transmission with the streaming media gateway, and the streaming media gateway converts the collected rtsp video stream into rtmp video stream and transmits the rtmp video stream to the proxy service server with NPS intranet penetration service through the router. The SRS streaming media server side and the proxy server carry out data transmission, and receive and record the rtmp protocol video through the SRS streaming media service, and simultaneously provide low-delay playing service. The client browser can play the videos without plug-ins and with low delay through the SRS streaming media service, and displays the videos to the user.
Fig. 10 is a schematic flow chart of a data transmission method for transmitting the collected data including the two types described above, and after the type of the collected data of the electric power robot is determined according to the data transmission request instruction, the mechanical arm used by the electric power robot can be controlled to determine two types of corresponding data transmission schemes according to the type of the collected data, that is: the method comprises the steps of acquiring motion data, pictures and point cloud files, transmitting the acquired data to a proxy server by using a wireless network module according to the determined data transmission scheme, and finally transmitting the acquired data to a client through the proxy server, so that real-time data rendering of the motion data, the pictures and the point cloud files of the mechanical arm is realized in a client browser, and the video of the mechanical arm can be played in real time without plug-ins and with low delay.
According to the data transmission method of the electric power robot in the embodiment, the collected data are transmitted to the client through the proxy server by using the wireless network module, the wireless connection network between the mechanical arm and the client is opened, low-cost wireless network communication is realized, the collected file data and the video data of the electric power robot are transmitted by using the data transmission scheme corresponding to the type of the collected data, long-distance wireless transmission of various collected data generated by the electric power robot is realized, and the problems of short transmission distance and low data transmission efficiency in data transmission of the electric power robot in the prior art are solved.
Corresponding to the embodiment of the data transmission method of the electric power working robot, the embodiment of the invention provides a data transmission system of the electric power working robot, the system is applied to an internal industrial personal computer of the electric power working robot, and the industrial personal computer transmits the acquired data of the electric power working robot to a client through a proxy server by using an internal wireless network module;
as shown in fig. 11, the system includes:
the collected data type determining module 1110 is used for acquiring a data transmission request instruction of the electric power robot in real time and determining the type of the collected data of the electric power robot according to the data transmission request instruction;
a data transmission scheme determining module 1120, configured to determine a data transmission scheme corresponding to the collected data by using the type of the collected data;
the data transmission executing module 1130 is configured to transmit the acquired data to the proxy server by using the wireless network module according to the determined data transmission scheme, and transmit the acquired data to the client through the proxy server.
In some embodiments, the acquisition data type determination module 1110 is further configured to: acquiring the acquired data of the electric power robot in real time by using the data transmission request instruction; and determining the type of the acquired data as a file data type according to the motion data, the point cloud file and the picture data of the electric power robot contained in the acquired data.
In some embodiments, the data transmission scheme determination module 1120 is further configured to: when the type of the acquired data is a file data type, initializing a file data acquisition end and a file data receiving end by using a Socket protocol; determining a first data transmission scheme corresponding to a file data acquisition end; the first data transmission scheme is used for pushing motion data, point cloud files and picture data of the electric power robot acquired by the file data acquisition end to the proxy server by using a Socket protocol; determining a second data transmission scheme corresponding to the file data receiving end; the second data transmission scheme is used for controlling a file data receiving end to obtain motion data, point cloud files and picture data of the electric power robot from the proxy server by using a Socket protocol; and determining a data transmission scheme corresponding to the acquired data by using the first data transmission scheme and the second data transmission scheme.
In some embodiments, the data transmission execution module 1130 is further configured to: utilizing a first data transmission scheme to control a wireless network module to transmit acquired data acquired by a file data acquisition end to a proxy server; controlling a file data receiving end to acquire acquired data from the proxy server by using a second data transmission scheme, and rendering and generating a running track and a point cloud model of a mechanical arm of the electric power robot according to the acquired data; and sending the running track of the mechanical arm of the electric power robot and the point cloud model to the client through the proxy server.
In some embodiments, the acquisition data type determination module 1110 is further configured to: acquiring the collected data of the electric power robot in real time by using the data transmission request instruction; and determining the type of the collected data as a video data type according to the video flow data of the electric power robot contained in the collected data.
In some embodiments, the data transmission scheme determination module 1120 is further configured to: when the type of the acquired data is a video data type, initializing a video data acquisition end and a video data receiving end by utilizing an SRS streaming media protocol; determining a third data transmission scheme corresponding to the video data acquisition end; the third data transmission scheme is used for converting rtsp video streams collected by the electric power working robot into rtmp video streams and pushing the rtmp video streams into the proxy server by utilizing an SRS streaming media protocol; determining a fourth data transmission scheme corresponding to the video data receiving end; the fourth data transmission scheme is used for acquiring rtmp video stream from the proxy server by using an SRS streaming media protocol; and determining a data transmission scheme corresponding to the acquired data by using the third data transmission scheme and the fourth data transmission scheme.
In some embodiments, the data transmission execution module 1130 is further configured to: converting an rtsp video stream contained in the acquired data into an rtmp video stream by using a third data transmission scheme, and controlling a video data acquisition end to push the rtmp video stream to a proxy server; controlling a video data receiving end to acquire acquired data from the proxy server by using a fourth data transmission scheme, and converting the acquired data into webRTC video streams according to rtmp video streams contained in the acquired data; and sending the webRTC video stream contained in the collected data to the client through the proxy server.
The data transmission system of the electric power robot provided by the embodiment of the invention has the same technical characteristics as the data transmission method of the electric power robot provided by the embodiment, so that the same technical problems can be solved, and the same technical effect is achieved. For the sake of brevity, where not mentioned in the section of the embodiments, reference may be made to the corresponding matters in the foregoing embodiments.
The embodiment further provides an electronic device, a schematic structural diagram of which is shown in fig. 12, and the electronic device includes a processor 101 and a memory 102; the memory 102 is used for storing one or more computer instructions, and the one or more computer instructions are executed by the processor to implement the data transmission method of the electric power robot.
The electronic device shown in fig. 12 further includes a bus 103 and a communication interface 104, and the processor 101, the communication interface 104, and the memory 102 are connected by the bus 103.
The Memory 102 may include a Random Access Memory (RAM) and a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Bus 103 may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 12, but that does not indicate only one bus or one type of bus.
The communication interface 104 is used for connecting with at least one user terminal and other network units through a network interface, and sending the packaged IPv4 message or IPv4 message to the user terminal through the network interface.
The processor 101 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 101. The Processor 101 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component. The various methods, steps, and logic blocks disclosed in the embodiments of the present disclosure may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present disclosure may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 102, and the processor 101 reads the information in the memory 102 and completes the steps of the method of the foregoing embodiment in combination with the hardware thereof.
Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, performs the steps of the method of the foregoing embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be through some communication interfaces, indirect coupling or communication connection between devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present invention or a part thereof, which essentially contributes to the prior art, can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the following descriptions are only illustrative and not restrictive, and that the scope of the present invention is not limited to the above embodiments: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The data transmission method of the electric power robot is characterized in that the method is applied to an industrial personal computer built in the electric power robot, and the industrial personal computer transmits acquired data of the electric power robot to a client through a proxy server by using a built-in wireless network module;
the method comprises the following steps:
acquiring a data transmission request instruction of the electric power working robot in real time, and determining the type of data collected by the electric power working robot according to the data transmission request instruction;
determining a data transmission scheme corresponding to the acquired data by using the type of the acquired data;
and transmitting the acquired data to the proxy server by using the wireless network module according to the determined data transmission scheme, and transmitting the acquired data to the client through the proxy server.
2. The data transmission method of an electric power robot according to claim 1, wherein determining the type of the collected data of the electric power robot according to the data transmission request instruction includes:
acquiring the collected data of the electric power robot in real time by using the data transmission request instruction;
and determining the type of the acquired data as a file data type according to the motion data, the point cloud file and the picture data of the electric power working robot contained in the acquired data.
3. The data transmission method of an electric power robot according to claim 2, wherein the step of determining a data transmission scheme corresponding to the collected data using the type of the collected data includes:
when the type of the acquired data is the file data type, initializing a file data acquisition end and a file data receiving end by using a Socket protocol;
determining a first data transmission scheme corresponding to the file data acquisition end; the first data transmission scheme is used for pushing motion data, point cloud files and picture data of the electric power robot, which are acquired by the file data acquisition end, to the proxy server by using a Socket protocol;
determining a second data transmission scheme corresponding to the file data receiving end; the second data transmission scheme is used for controlling the file data receiving end to acquire motion data, point cloud files and picture data of the electric power robot from the proxy server by using a Socket protocol;
and determining a data transmission scheme corresponding to the acquired data by using the first data transmission scheme and the second data transmission scheme.
4. The data transmission method of the electric power robot according to claim 3, wherein the transmitting the collected data to the proxy server by using the wireless network module and transmitting the collected data to the client through the proxy server according to the determined data transmission scheme comprises:
controlling the wireless network module to transmit the acquired data acquired by the file data acquisition end to a proxy server by using the first data transmission scheme;
controlling the file data receiving end to acquire the acquired data from the proxy server by using the second data transmission scheme, and rendering and generating a running track and a point cloud model of the mechanical arm of the electric power robot according to the acquired data;
and sending the running track of the mechanical arm of the electric power robot and the point cloud model to the client through the proxy server.
5. The data transmission method of an electric power robot according to claim 1, wherein determining the type of the collected data of the electric power robot according to the data transmission request instruction includes:
acquiring the collected data of the electric power robot in real time by using the data transmission request instruction;
and determining the type of the collected data as a video data type according to the video flow data of the electric power working robot contained in the collected data.
6. The data transmission method of an electric power robot according to claim 5, wherein the step of determining a data transmission scheme corresponding to the collected data using the type of the collected data comprises:
when the type of the acquired data is the video data type, initializing a video data acquisition end and a video data receiving end by utilizing an SRS streaming media protocol;
determining a third data transmission scheme corresponding to the video data acquisition end; the third data transmission scheme is used for converting rtsp video streams collected by the electric power working robot into rtmp video streams and pushing the rtmp video streams to the proxy server by using an SRS streaming media protocol;
determining a fourth data transmission scheme corresponding to the video data receiving end; the fourth data transmission scheme is used for acquiring rtmp video stream from the proxy server by using an SRS streaming media protocol;
and determining a data transmission scheme corresponding to the acquired data by using the third data transmission scheme and the fourth data transmission scheme.
7. The data transmission method of an electric power robot according to claim 6, wherein the step of transmitting the collected data to the proxy server by using the wireless network module and transmitting the collected data to the client via the proxy server according to the determined data transmission scheme comprises:
converting an rtsp video stream contained in the acquired data into an rtmp video stream by using the third data transmission scheme, and controlling the video data acquisition end to push the rtmp video stream to the proxy server;
controlling the video data receiving end to acquire the acquired data from the proxy server by using the fourth data transmission scheme, and converting the rtmp video stream contained in the acquired data into a webRTC video stream;
and sending the webRTC video stream contained in the collected data to the client through the proxy server.
8. The data transmission system of the electric power robot is characterized in that the system is applied to an industrial personal computer built in the electric power robot, and the industrial personal computer transmits acquired data of the electric power robot to a client through a proxy server by using a built-in wireless network module;
the system comprises:
the acquisition data type determining module is used for acquiring a data transmission request instruction of the electric power working robot in real time and determining the type of the acquisition data of the electric power working robot according to the data transmission request instruction;
the data transmission scheme determining module is used for determining a data transmission scheme corresponding to the acquired data by using the type of the acquired data;
and the data transmission execution module is used for transmitting the acquired data to the proxy server by using the wireless network module according to the determined data transmission scheme and transmitting the acquired data to the client through the proxy server.
9. An electronic device, comprising: a processor and a storage device; the storage means has stored thereon a computer program which, when being executed by the processor, carries out the steps of the data transmission method of an electric power robot as claimed in any of the claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the data transmission method of an electric power robot according to any one of the claims 1 to 7.
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