CN116192919A - Remote operation control system of bullet train image acquisition robot - Google Patents
Remote operation control system of bullet train image acquisition robot Download PDFInfo
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- CN116192919A CN116192919A CN202310417148.4A CN202310417148A CN116192919A CN 116192919 A CN116192919 A CN 116192919A CN 202310417148 A CN202310417148 A CN 202310417148A CN 116192919 A CN116192919 A CN 116192919A
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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
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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Abstract
The invention relates to the technical field related to a motor car appearance fault detection robot, in particular to a remote operation control system of a motor car image acquisition robot, which comprises a robot upper computer control, socket communication management and overhaul management, wherein the robot upper computer control comprises a robot initialization, a hardware control, socket connection, heartbeat sending and receiving instructions, the socket communication management comprises a connection management, a control management and heartbeat management, and the overhaul management comprises a robot management, an overhaul plan management and a robot operation, wherein the robot upper computer control comprises a robot initialization, a hardware control, a socket connection, a heartbeat sending and a receiving instruction, the socket communication management comprises a connection management, a control management and a heartbeat management, and the overhaul management comprises a robot management, an overhaul plan management and a robot operation, and the remote operation control system comprises the following components: when the upper computer of the robot is used for controlling the upper computer to directly connect with the robot, serial communication with the robot is completed, and communication with a remote server is supported. The remote operation control of the robot is realized, the robot is operated to carry out maintenance task operation according to a maintenance plan, detection related personnel do not need to enter a trench, even do not need to enter a workshop, and the robot can be controlled to complete the appearance detection task of the motor train bottom in an office.
Description
Technical Field
The invention relates to the technical field related to a motor car appearance fault detection robot, in particular to a remote operation control system of a motor car image acquisition robot.
Background
In recent years, a high-speed railway motor train unit is a high-speed carrier for railway passenger transportation, the motor train unit in China has the highest operation speed, the longest operation mileage and the greatest number of motor train units attached, along with the economic development of China, the rail transit of each city enters a rapid development period, and the safety of the motor train unit is the key of safe and efficient operation of the high-speed railway.
The first-level repair of the motor train unit mainly completes replacement, adjustment and supplementation of vulnerable and consumable parts of the motor train unit, and the technical state and part of technical performances of the motor train unit are routinely checked and detected through manual visual and vehicle-mounted fault diagnosis systems to treat temporary faults. The first-level repair is to apply the rapid routine inspection, test and fault treatment of the roof, under the car, on both sides of the car body, on the skirtboard, in the car and in the cab of the motor train unit; critical component inspections such as trucks, wheelsets, and pantographs are required to be preferentially scheduled for first-stage service.
Aiming at a motor train unit bottom detection system, functions such as motor train unit bottom information acquisition, image acquisition, data transmission and the like are mainly completed, and the appearance detection of main components at the motor train unit bottom such as wheel sets, bogies and the like is mainly aimed at, wherein the whole system consists of five parts, namely a robot system, an image information acquisition system, an image information processing system, an image information analysis system and a robot operation management system.
In the whole motor train unit bottom detection system, the operation of the robot is a real actual execution link in the whole bottom detection task link, the robot is positioned on a rail of a maintenance track trench, the motor train is directly above the robot, and the robot moves on the rail to finish detection.
Because the upper computer and the robot are arranged together and work in the trench below the motor car as a whole, the detection operator is inconvenient to enter the trench at any time to operate the robot, and the remote control capability is required to be provided for related personnel to control the robot at any time.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a remote operation control system of a motor car image acquisition robot.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides a remote operation control system of bullet train image acquisition robot, includes robot host computer control, socket communication management and maintenance management, robot host computer control includes that the robot is initialized, hardware control, socket connect, send heartbeat, receive instruction, socket communication management includes connection management, control management, heartbeat management, maintenance management includes robot management, maintenance plan management, robot operation, wherein:
when the upper computer of the robot is controlled to be used for directly connecting the robot, serial communication with the robot is completed, and communication with a remote server is supported;
the robot initialization is that the upper computer is connected with the robot hardware through a serial port, and whether the configuration of the related hardware of the robot is normally started or not is checked, and whether the network connection is normal or not is checked;
the hardware control is that the upper computer controls related hardware of the robot through serial port commands, and operates the hardware to perform detection actions;
the socket connection is that an upper computer initiates a socket request to a server, and a socket connection channel is established;
the step of heartbeat sending is that the upper computer sends socket heartbeat information to the server, and the normal connection of a socket channel of the robot is kept;
the receiving instruction is that the upper computer monitors the socket channel information and makes different responses according to different information.
The socket communication management is used for managing the whole socket service in the server, so that socket service establishment, connection management, heartbeat monitoring and general instruction issuing are realized;
the connection management is that the server end performs robot socket connection management in a unified way, and comprises socket initialization, connection channel caching and read-write operation;
the control management is to send control commands to the appointed robot according to the agreed control command format;
the heartbeat management is that the server monitors the heartbeat information sent by the robot, processes the heartbeat information once every 20 seconds, and the socket connection is disconnected if no heartbeat is received for more than 20 seconds.
The maintenance management is used for managing related contents of maintenance tasks of robots by the service system, and comprises robot management, maintenance plan related robots and robot maintenance control;
robot management is to uniformly manage robot information at a server, wherein a robot number is used as a unique identifier of a robot in a system;
the maintenance schedule management is to uniformly manage maintenance tasks corresponding to the robots at the server, and data and behaviors generated by the robots subsequently are associated with the maintenance tasks;
the robot operation is to operate the specified robot to perform detection task related operation according to the robot number, start maintenance and end maintenance.
The invention has the beneficial effects that: the remote operation control of the robot is realized, the robot is operated to carry out maintenance task operation according to a maintenance plan, detection related personnel do not need to enter a trench, even do not need to enter a workshop, and the robot can be controlled to complete the appearance detection task of the motor train bottom in an office.
Drawings
The invention will be further described with reference to the drawings and examples.
Fig. 1 is a schematic structural diagram of a remote operation control system of a bullet train image acquisition robot provided by the invention;
fig. 2 is a control flow chart of a personal computer of a remote operation control system of a bullet train image acquisition robot;
fig. 3 is a flowchart of socket communication management of a remote operation control system of a bullet train image acquisition robot provided by the invention;
fig. 4 is a maintenance management flow chart of a remote operation control system of a bullet train image acquisition robot provided by the invention.
Detailed Description
The invention is further described in connection with the following detailed description in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
As shown in fig. 1, the remote operation control system of the bullet train image acquisition robot comprises a robot upper computer control, a socket communication management and maintenance management module, wherein the robot upper computer control comprises a robot initialization, a hardware control, a socket connection, a heartbeat sending and receiving instruction, the socket communication management comprises a connection management, a control management and a heartbeat management, the maintenance management comprises a robot management, a maintenance plan management and a robot operation, and the maintenance management comprises the following steps:
when the upper computer of the robot is controlled to be directly connected with the robot, serial communication with the robot is completed, and communication with a remote server is supported;
the socket communication management is used for managing the whole socket service in the server, so that socket service establishment, connection management, heartbeat monitoring and general instruction issuing are realized;
the maintenance management is used for managing the related content of the maintenance task of the robot by the service system, and comprises the management of the robot, maintenance planning related robots, maintenance control of the robot and the like.
As shown in fig. 2, the control flow of the upper computer of the robot is used for completing the tasks of initializing the robot, controlling hardware, connecting socket, sending heartbeat and receiving instructions.
The initialization detection is used for detecting whether the network connected with the upper computer and the robot hardware are normal or not, the network is connected with an intranet server through wifi, the network transmission data is related later, and the network stability is required to be kept; the robot hardware comprises a mechanical arm, a linear array camera, an area array camera, an AGV (automatic guided vehicle) land, a small laser and other devices, and the device is detected to be ready or not;
the socket connection is established by sending a request for establishing the connection to a socket port of a server, and the address of the request is exemplified: 192.168.0.1:10010, transmitting information: "START/robot_online/000001/END", wherein "000001" represents the robot number, and the received information "START/robot_online/true/END" returned by the server indicates that the connection is successful;
the heartbeat packet is sent to the socket server every 10 seconds, and the heartbeat format is as follows: "START/robot_heartbeat/000001/END", wherein "000001" represents the robot number;
the monitoring channel information is that after connection establishment is completed, the monitoring channel information is monitored, and a message sent to the robot by a server through a socket is received;
after receiving the message sent by the server to the robot, the message processing method analyzes the message character string, wherein the character string format is as follows: "START/START_work/000001/END", wherein "START" represents a request header, "END" represents a request tail, "START_work" represents different operation commands, and "000001" represents a robot number; the operation command includes: start_work starts the job; stop_work stops the operation; the home work stops the operation and returns to the charging position to be charged; powercharge charging; clear_alarm clear alarm; the robot-zero controls the mechanical arm to return to the original point, and the mechanical arm is retracted; self-checking by a robot; forward controls the robot to run forward; backward controls the robot to run reversely; rgv _stop is parked; powering on the led_power_on area array light source power supply; the LED_power_off area array light source power is powered off; the camera power is powered off before front camera power off; powering up a front sliding-power-on front sliding table power supply; the power of the sliding table is cut off before front_sliding_power_off; the camera power supply is powered on after back_camera_power_on; camera power is powered off after back_camera_power_off; powering up a power supply of the sliding table after back_sliding_power_on; after back_sliding_power_off, the power supply of the sliding table is powered off; powering on a line-camera-power-on linear array camera power supply; the power supply of the line-camera-power-off linear array camera is powered off; powerdown turns off the upper computer power supply;
the robot action is to operate the robot hardware to perform corresponding movement according to the received operation command, for example: starting the operation, namely starting the robot from an origin to start the photographing operation of the vehicle bottom linear array;
as shown in fig. 3, the socket communication management flow is used for completing tasks of connection management, control management and heartbeat management.
The monitoring port is configured with the hostname of the ServerSocketChannel to be 0.0.0.0; port is 10010;
the loop monitor request is to turn on the Selector monitor, and judge whether there is a new connection in while (true);
whether connection exists or not is judged whether the SelectionKey is ready or not, and if so, the next operation is carried out; if not, continuing monitoring;
whether the read operation exists or not is judged whether the front end sends a message to the server end or not, and if the message is received, the message is analyzed;
whether the writing operation exists or not is judged whether to send a message to the robot end, and if the writing operation exists, a control message is sent to the appointed robot;
judging whether the read message of the front END is a heartbeat message or not, namely judging whether the format is START/robot_heartbeat/000001/END, if so, updating the state of the robot number of 000001; if there is no read operation and more than 20 seconds, the channel is removed, and the connection is broken;
as shown in fig. 4, the overhaul management module flow of the invention completes the robot management, overhaul plan management and robot operation tasks.
The robot adding is to add relevant information of the robot in the background, including robot numbers, robot models, units, unique codes, left arm monitoring addresses and right arm monitoring addresses;
setting the robot number is to realize global uniqueness when the robot number is specified, the robot numbers in all units are not repeated, and the robot number is exemplified: 00000001;
the maintenance schedule is added by creating a maintenance schedule in the background, wherein the maintenance schedule comprises maintenance date, schedule name, garage position, motor car type, motor car model number, motor car number, starting end position and operation robot, and the example maintenance schedule is as follows: 2022-08-20, daily maintenance, west warehouse, 8 consist, 380AL, 2572, 00, 00000001;
the associated robots are selected corresponding operation robots when an overhaul plan is added, and after the association is successful, the robot state is changed into overhaul; in addition, the robot in maintenance does not support being selected;
the remote operation robot can select the robot to perform related operation after the robot is associated with a maintenance plan, and the supported functions comprise: starting operation, stopping operation, returning to a charging position for charging, clearing an alarm, controlling the mechanical arm to return to an original point, retracting the mechanical arm, performing self-checking by the robot, controlling the robot to run forward, controlling the robot to run reversely, stopping, powering up an area array light source power supply, powering down a front camera power supply, powering up a front sliding table power supply, powering down a front sliding table power supply, powering up a rear camera power supply, powering down a rear camera power supply, powering up a rear sliding table power supply, powering down a rear sliding table power supply, powering up a linear array camera power supply, powering down a linear array camera power supply, and turning off a power supply of an upper computer;
according to the normal detection operation flow, firstly creating an overhaul plan, and then operating the robot to start operation; after the robot finishes the operation, the operation is stopped by clicking, so that the remote control robot finishes the detection task of the motor train bottom.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the foregoing examples, and that the foregoing description and description are merely illustrative of the principles of this invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides a remote operation control system of bullet train image acquisition robot, its characterized in that includes robot host computer control, socket communication management and maintenance management, robot host computer control includes that robot is initialized, hardware control, socket connect, sends the heartbeat, receive the instruction, socket communication management includes connection management, control management, heartbeat management, maintenance management includes robot management, maintenance plan management, robot operation, wherein:
when the upper computer of the robot is controlled to be used for directly connecting the robot, serial communication with the robot is completed, and communication with a remote server is supported;
the socket communication management is used for managing the whole socket service in the server, and realizing socket service establishment, connection management, heartbeat monitoring and general instruction issuing;
the maintenance management is used for managing the related content of the maintenance task of the robot by the service system, and comprises the management of the robot, maintenance planning related robots and maintenance control of the robot.
2. The teleoperation control system of a bullet train image acquisition robot of claim 1, wherein: in the control of the robot upper computer:
the robot initialization is that the upper computer is connected with the robot hardware through a serial port, and whether the configuration of the related hardware of the robot is normally started or not is checked, and whether the network connection is normal or not is checked;
the hardware control is that the upper computer controls related hardware of the robot through serial port commands, and operates the hardware to perform detection actions;
the socket connection is that an upper computer initiates a socket request to a server, and a socket connection channel is established;
the step of heartbeat sending is that the upper computer sends socket heartbeat information to the server, and the normal connection of a socket channel of the robot is kept;
the receiving instruction is that the upper computer monitors the socket channel information and makes different responses according to different information.
3. The teleoperation control system of a bullet train image acquisition robot of claim 1, wherein: the connection management is that the server end performs robot socket connection management in a unified way, and comprises socket initialization, connection channel caching and read-write operation.
4. The teleoperation control system of a bullet train image acquisition robot of claim 1, wherein: the control management is to send control commands to the appointed robot according to the agreed control command format.
5. The teleoperation control system of a bullet train image acquisition robot of claim 1, wherein: the heartbeat management is that a server monitors heartbeat information sent by a robot, the heartbeat information is processed every 20 seconds, and if no heartbeat is received for more than 20 seconds, the socket connection is disconnected.
6. The teleoperation control system of a bullet train image acquisition robot of claim 1, wherein: the robot management is to uniformly manage the robot information at the server, wherein the robot number is used as a unique identifier of the robot in the system.
7. The teleoperation control system of a bullet train image acquisition robot of claim 1, wherein: and the maintenance schedule management is to uniformly manage maintenance tasks corresponding to the robots at the server, and data and behaviors generated by the robots subsequently are associated with the maintenance tasks.
8. The teleoperation control system of a bullet train image acquisition robot of claim 1, wherein: the robot operation is to operate the specified robot to perform detection task related operation according to the robot number, and start maintenance and end maintenance.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310417148.4A CN116192919A (en) | 2023-04-19 | 2023-04-19 | Remote operation control system of bullet train image acquisition robot |
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| CN202310417148.4A CN116192919A (en) | 2023-04-19 | 2023-04-19 | Remote operation control system of bullet train image acquisition robot |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104345717A (en) * | 2014-10-17 | 2015-02-11 | 武汉华大优能信息有限公司 | Intelligent remote data acquisition system based on Internet of Things |
| CN111283680A (en) * | 2020-02-28 | 2020-06-16 | 华南理工大学 | System and method for remotely controlling robot in wireless manner |
| CN115016456A (en) * | 2022-04-29 | 2022-09-06 | 浙江国自机器人技术股份有限公司 | Scheduling method and scheduling system for multi-robot combined inspection |
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- 2023-04-19 CN CN202310417148.4A patent/CN116192919A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104345717A (en) * | 2014-10-17 | 2015-02-11 | 武汉华大优能信息有限公司 | Intelligent remote data acquisition system based on Internet of Things |
| CN111283680A (en) * | 2020-02-28 | 2020-06-16 | 华南理工大学 | System and method for remotely controlling robot in wireless manner |
| CN115016456A (en) * | 2022-04-29 | 2022-09-06 | 浙江国自机器人技术股份有限公司 | Scheduling method and scheduling system for multi-robot combined inspection |
Non-Patent Citations (2)
| Title |
|---|
| 张爱民;孔得鹏;王倩;: "工业机器人的远程监控与诊断系统设计", 机械, no. 10 * |
| 郭宗鹏;王光新;旷野;李朋;: "动车组检修系统的研究与实现", 现代城市轨道交通, no. 04 * |
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Application publication date: 20230530 |