CN116442230A - Robot control method and device, robot, storage medium, and program product - Google Patents
Robot control method and device, robot, storage medium, and program product Download PDFInfo
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- CN116442230A CN116442230A CN202310466301.2A CN202310466301A CN116442230A CN 116442230 A CN116442230 A CN 116442230A CN 202310466301 A CN202310466301 A CN 202310466301A CN 116442230 A CN116442230 A CN 116442230A
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- 238000003860 storage Methods 0.000 title claims abstract description 13
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- 238000004891 communication Methods 0.000 claims abstract description 83
- 238000012545 processing Methods 0.000 claims abstract description 61
- 230000004044 response Effects 0.000 claims description 27
- 238000004590 computer program Methods 0.000 claims description 21
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Classifications
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application relates to a robot control method and device, a robot, a storage medium and a program product. The method comprises the following steps: receiving a first target instruction sent by a client; if the number of the instructions stored in the instruction buffer area does not reach a preset first threshold value, receiving a push instruction request which is provided by a client in a preset communication mode; responding to the push instruction request, sequentially pushing the first target instructions into an instruction buffer area, and sequentially performing look-ahead processing on the first target instructions in the instruction buffer area; if the number of the first target instructions after the look-ahead processing reaches a preset second threshold value, receiving a starting motion request which is provided by a client in a communication mode; and responding to the starting movement request, and executing target movement according to the first target instruction after the look-ahead processing in sequence. By adopting the method, the efficiency of remote communication control of the robot can be improved, so that the remote communication control process is simpler and more convenient.
Description
Technical Field
The present disclosure relates to the field of robot control technologies, and in particular, to a robot control method and apparatus, a robot, a computer readable storage medium, and a computer program product.
Background
With the development of robot control technology, the robot remote communication control technology is also widely used. In the traditional remote communication control technology, the defect of low control efficiency exists.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a robot control method and apparatus, a robot, a computer-readable storage medium, and a computer program product that can improve the efficiency of robot remote communication control.
In a first aspect, the present application provides a robot control method. The robot control method comprises the following steps:
receiving a first target instruction sent by a client;
if the number of the instructions stored in the instruction buffer area does not reach a preset first threshold value, receiving a push instruction request which is provided by a client in a preset communication mode;
responding to the push instruction request, sequentially pushing the first target instructions into an instruction buffer area, and sequentially performing look-ahead processing on the first target instructions in the instruction buffer area;
if the number of the first target instructions after the look-ahead processing reaches a preset second threshold value, receiving a starting motion request which is provided by a client in a communication mode;
and responding to the starting movement request, and executing target movement according to the first target instruction after the look-ahead processing in sequence.
In one embodiment, the communication means includes calling an API and/or sending TCP commands in a JSON data format.
In one embodiment, the robot control method further includes:
receiving a query instruction sent by a client, wherein the query instruction is used for querying whether the number of instructions stored in an instruction buffer area reaches a first threshold value;
responding to the query instruction, and sending a query result;
if the number of instructions stored in the instruction buffer area does not reach a preset first threshold value, receiving a push instruction request sent by a client in a preset communication mode, wherein the push instruction request comprises:
if the query result indicates that the number of instructions stored in the instruction buffer area does not reach the first threshold value, receiving a push instruction request sent by the client in a communication mode.
In one embodiment, pushing the first target instruction into the instruction buffer sequentially includes:
pressing part of the first target instruction into an instruction buffer area in sequence;
after pressing part of the first target instruction into the instruction buffer area in sequence, the method further comprises the following steps:
and receiving the query instruction sent by the client again, responding to the query instruction, and sending a query result, if the query result indicates that the number of the instructions stored in the instruction buffer area does not reach a first threshold value, pressing part of the first target instructions into the instruction buffer area in sequence until the query result that the number of the instructions stored in the instruction buffer area reaches the first threshold value is sent in response to the query instruction or all the first target instructions are pressed into the instruction buffer area.
In one embodiment, the query instruction includes a query password; in response to the query instruction, sending a query result, including:
checking the inquiry password according to a preset command password;
and if the inquiry password is successfully checked, responding to the inquiry instruction, and sending an inquiry result.
In one embodiment, the robot control method further includes:
receiving a second target instruction sent by a client;
and if the number of the second target instructions after the look-ahead processing reaches a second threshold value, executing target movement according to the second target instructions after the look-ahead processing in sequence until the execution of the target movement is completed.
In a second aspect, the present application also provides a robot control device. The robot control device includes:
the instruction receiving module is used for receiving a first target instruction sent by the client;
the first request receiving module is used for receiving a push instruction request which is provided by the client in a preset communication mode if the number of instructions stored in the instruction buffer area does not reach a preset first threshold value;
The instruction pushing module is used for responding to the pushing instruction request, sequentially pushing the first target instructions into the instruction buffer area, and sequentially performing look-ahead processing on the first target instructions in the instruction buffer area;
the second request receiving module is used for receiving a starting motion request sent by the client in a communication mode if the number of the first target instructions after the look-ahead processing reaches a preset second threshold value;
and the motion execution module is used for responding to the starting motion request and executing target motion according to the first target instruction after the look-ahead processing in sequence.
In a third aspect, the present application also provides a robot, including a memory storing a computer program and a processor implementing the steps of the above method when the processor executes the computer program.
In a fourth aspect, the present application also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the above-described method.
In a fifth aspect, the present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the method described above.
According to the robot control method and device, the robot, the computer readable storage medium and the computer program product, the robot receives the first target instructions sent by the client, if the number of the instructions stored in the instruction buffer area of the robot does not reach the preset first threshold value, the robot receives the push instruction request which is sent by the client in a preset communication mode, then responds to the real-time push instruction request of the client, the robot sequentially pushes the first target instructions into the instruction buffer area, temporarily and orderly stores the first target instructions by utilizing the instruction buffer area, and sequentially performs look-ahead processing on the first target instructions in the instruction buffer area. Further, if the number of the first target instructions after the look-ahead processing reaches a preset second threshold, a starting motion request sent by the client in a communication mode is received, and then, in response to the real-time starting motion request of the client, the robot sequentially executes target motions according to the first target instructions after the look-ahead processing. According to the remote communication control process adopting the robot control method, a complex instruction system is not needed, the robot and the client do not need to carry out data combination on instructions, the first target instructions of the client and the real-time requests of the client are temporarily and orderly stored on the basis of the instruction buffer area, the robot can respond to the requests of the client in real time and efficiently control and execute target movements in sequence according to the first target instructions of the client, the control efficiency is improved, and the remote communication control process is simpler and more convenient.
Drawings
FIG. 1 is one of the flow diagrams of a robot control method according to one embodiment;
FIG. 2 is a second flow chart of a robot control method according to an embodiment;
FIG. 3 is a third flow chart of a robot control method according to one embodiment;
FIG. 4 is a flow diagram of sending query results in response to a query instruction in one embodiment;
FIG. 5 is a flow chart of a robot control method according to one embodiment;
FIG. 6 is a fifth flow chart of a robot control method according to one embodiment;
FIG. 7 is a block diagram of a robot control device in one embodiment;
fig. 8 is an internal structural view of the robot in one embodiment.
Reference numerals illustrate:
a robot control device: 10; and a receiving module: 11; a first request receiving module: 12; the instruction push module: 13; a second request receiving module: 14; the motion execution module: 15.
Detailed Description
In order to facilitate an understanding of the embodiments of the present application, the embodiments of the present application will be described more fully below with reference to the accompanying drawings. Preferred embodiments of the present application are illustrated in the accompanying drawings. However, embodiments of the present application may be embodied in many different forms and are not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which embodiments of the present application belong. The terminology used herein in the description of the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the application.
It will be understood that the terms "first," "second," and the like, as used herein, may be used to describe various target instructions, but these target instructions are not limited by these terms. For example, a first target instruction may be referred to as a second target instruction, and similarly, a second target instruction may be referred to as a first target instruction, without departing from the scope of the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, or groups thereof. Also, the term "and/or" as used in this specification includes any and all combinations of the associated listed items.
With the development of science and technology, industrial robots are widely used and gradually become the core productivity. In popularization and application of industrial robots, the industrial robots often become a unit module of a workstation, and besides the instruction sent by a main control device is required to be received by the industrial robots according to independent operation of a teaching program written by a user, the industrial robots operate according to the dispatching of the main control device and exchange of data and interaction of states with other peripheral devices to form an intelligent processing and production unit, namely a robot workstation, and a plurality of robot workstations can be quickly interconnected through communication to form a networked, automatic and intelligent manufacturing and production line.
The industrial robot remote communication control method widely used at present generally adopts a serial communication protocol of a master-slave architecture, namely Modbus protocol. The Modbus protocol was developed by Modicon, the current Schneider electric (Schneider Electric) in 1979 for communication using programmable logic controllers (Programmable Logic Controller, PLCs). The Modbus protocol has become the industry standard (De factor) for industrial-area communication protocols and is now a common way of connecting industrial electronic devices to each other. The Modbus protocol includes versions for serial ports, ethernet, and other supporting internet protocols. The Modbus protocol has the characteristics of simple structure, streamline operation and easiness in hand. However, the Modbus protocol is a protocol that communicates commands and data according to register addresses, and has a problem of slow communication speed when a large amount of data needs to be exchanged. In the intelligent manufacturing production line, the industrial robot needs to be remotely communicated with the main control equipment or the external equipment to control more instruction types and larger data volume. Under such application scenario, the Modbus protocol is adopted to define a complicated instruction system, complex data is required to be stored and transmitted by a plurality of registers, and a receiver of the data is required to recombine the data, so that the remote communication control efficiency is low, the remote communication control process is complex, the debugging is difficult, and the development period is long.
Based on the above, in order to improve the efficiency of remote communication control of the industrial robot, the embodiment of the application provides a robot control method. The robot controller is used as a service end of communication control, and a communication opposite party such as a main control device and an external device is used as a client end of communication control. The robot controller correspondingly receives the inquiry instruction, the modification instruction, the dynamic instruction and other instructions of the client, and controls the robot to execute the corresponding instructions.
Specifically, as shown in fig. 1, the robot control method provided in the embodiment of the present application is applied to a robot controller, that is, a robot, and includes the following steps 110 to 150.
Step 110, a first target instruction sent by a client is received. The first target instruction refers to a dynamic instruction for enabling the robot to execute target movement. The robot is used as a communication server, receives a connection command of the client, and performs parameter configuration on a configuration page of the robot to establish connection between the robot and the client. After the connection is established, the robot can receive the first target instruction of the client. In this embodiment, after receiving the first target instruction, the decoding module of the robot may further process the first target instruction to obtain a decoded first target instruction.
Step 120, if the number of instructions stored in the instruction buffer area does not reach the preset first threshold, receiving a push instruction request sent by the client in a preset communication mode. The instruction buffer is an area of the robot for temporarily and orderly storing instructions, and the push instruction request is a request for pushing the first target instruction into the instruction buffer. Specifically, if the number of the instructions in the instruction buffer area does not reach the first threshold value, the instruction buffer area is indicated to have available storage space, the instructions are allowed to be stored again, at this time, the client side makes a push instruction request in real time in a specific communication mode, and the robot correspondingly receives the push instruction request. It should be understood that when the robot decodes the first target instruction, the first target instruction pushed into the instruction buffer should be the decoded first target instruction.
Step 130, in response to the push instruction request, sequentially pushing the first target instruction into the instruction buffer, and sequentially performing look-ahead processing on the first target instruction in the instruction buffer. The look-ahead processing refers to analyzing and processing a target motion track before the control robot executes target motion so as to plan the speed on a target motion path, and smooth transition of the speed is realized while the speed maximization is ensured. The first target instruction is subjected to look-ahead processing, so that the impact and loss of the robot and the components are reduced while the accurate execution of the target movement is ensured. Specifically, the robot responds to the push instruction request of the client, and sequentially pushes the first target instruction into the instruction buffer area in real time for temporary storage, so as to prepare for executing the target action according to the first target instruction. Meanwhile, the robot sequentially performs look-ahead processing on the pressed first target instruction. It is understood that the first target instructions sent by the client are a plurality of continuous instructions, there is a ranking among the plurality of first target instructions, and the ranking among the first target instructions sent by the client corresponds to the robot target motion path. Therefore, in this embodiment, the robot only needs to push the first target instruction into the first target instruction buffer area in sequence and perform look-ahead processing on the first target instruction pushed into the first target instruction buffer area in sequence, so that the target motion path of the robot can be obtained, and the speed on the target motion path can be effectively planned, so that the first target instruction is prevented from being subjected to data combination, the control process is simpler and more convenient, and the control efficiency is higher.
Step 140, if the number of the first target instructions after the look-ahead processing reaches the preset second threshold, receiving a request for starting motion from the client in a communication manner. Wherein, the motion start request refers to a request for starting to execute the target motion according to the first target instruction. Specifically, the number of the first target instructions after the look-ahead processing reaches the second threshold value, which is favorable for more accurately acquiring the target motion path, more accurately performing speed planning, and further more accurately and efficiently executing target motion. If the number of the first target instructions after the look-ahead processing reaches a second threshold, the client side gives out a starting motion request in real time in a specific communication mode, and the robot correspondingly receives the starting motion request.
Step 150, in response to the motion starting request, executing the target motion according to the first target instruction after the look-ahead processing in sequence. Specifically, the first target instruction within the instruction buffer does not directly produce target motion. The robot responds to a starting motion request of the client, and sequentially presses a first target instruction which is processed in a prospective mode in the instruction buffer area to the motion control module in real time, so that the motion of an execution target is efficiently controlled according to the first target instruction.
Further, the client may send a request for querying whether the target movement is completed to the robot, and after the robot receives the corresponding query request, when the control execution target movement is completed, the robot responds to the query request to send a result of completing the execution target movement to the client, so as to inform the client that the target movement is completed.
In this embodiment, the remote communication control process does not need a complex instruction system, the robot and the client do not need to perform data combination on instructions, and the first target instruction of the client and the real-time request of the client are temporarily and orderly stored based on the instruction buffer area, so that the robot can respond to the request of the client in real time and efficiently control the execution target movement in sequence according to the first target instruction of the client, which is beneficial to improving the control efficiency, and the remote communication control process is simpler and more convenient.
In one embodiment, the communication means includes calling an API and/or sending TCP commands in a JSON data format. The API refers to an application programming interface (Application Programming Interface, API), which is a set of definitions, programs, and protocols through which computer software and software can communicate with each other. In this embodiment, the client can establish communication with the robot by calling the API of the robot, and can efficiently and quickly call the function corresponding to the API in the robot. The JavaScript object notation (JavaScript Object Notation, JSON) is a lightweight data exchange format, and the JSON data format embodies a concise and clear hierarchical structure, is easy to read and write by a person, is easy to parse and generate by a machine, and is beneficial to effectively improving the network transmission efficiency. Objects and arrays are basic types in JSON, the content enclosed using curly brackets "{ }" is called an object, the sub-objects in the object are separated by commas, for example { sub-object 1, sub-object 2, sub-object 3, … … }, and the object type can be a character string, a number, a boolean type, a key value, etc. The contents enclosed by brackets are called arrays, and objects in the arrays are separated by commas. The transmission control protocol (Transmission Control Protocol, TCP) is a connection-oriented, reliable, byte stream based communication protocol capable of providing reliable communication services. The client and the robot use the JSON data format as the basis of TCP communication, and the remote communication control efficiency can be improved on the basis of ensuring the reliability of communication service.
Specifically, the client performs remote communication with the robot by calling an API and/or sending a TCP instruction in a JSON data format, so as to realize remote control of the target movement of the robot. Such as: the client can send a push instruction request to the robot by calling an API (application program interface) of the robot corresponding to the push instruction function or sending a TCP (transmission control protocol) instruction corresponding to the push instruction function to the robot in a character string form; the client may send a request for starting motion to the robot by calling an API of the robot corresponding to the function for starting motion, or sending a TCP command corresponding to the function for starting motion to the robot in the form of a character string. If the number of the instructions stored in the instruction buffer area reaches a first threshold, the client can send a request for ending the push instruction to the robot by calling an API (application program interface) of the robot corresponding to the function for ending the push instruction or sending a TCP (transmission control protocol) instruction corresponding to the function for ending the push instruction to the robot in a character string mode. If the client wants to acquire the instruction number of the instruction buffer, the client can send a request for acquiring the instruction number to the robot by calling an API (application program interface) of the robot corresponding to the function for acquiring the instruction number or sending a TCP (transmission control protocol) instruction corresponding to the function for acquiring the instruction number to the robot in a character string mode. That is, the client can request and function of the robot according to the client itself, the remote communication control is realized by the two modes, and all communication contents are not exhaustive in the embodiment.
Further, in addition to remote communication control for implementing the target motion of the robot by calling an API and/or sending a TCP command in JSON data format, the client also implements remote communication control for the basic functions of the robot by sending a TCP command in JSON data format, such as inquiry, servo up-down enabling, starting a designated teaching program file, inquiring and modifying parameters and variables, and so on. Such as: the client sends the first target instruction to the robot in the form of a character string so that the robot receives the first target instruction. Correspondingly, the robot responds to the corresponding instruction sent by the client by taking the JSON data format as the basic format of the communication application layer protocol based on the physical layer and the protocol layer of the standard TCP network communication. Such as: and responding to the request of acquiring the number of instructions, which is sent by the client, and sending the number of instructions stored in the instruction buffer area to the client by the robot in the form of a character string. It will be appreciated that in the whole process of implementing remote control of the target motion of the robot, there are also processes in which the client remotely controls the robot to perform basic functions, and processes in which the robot responds to instructions sent by the client according to the agreed application layer protocol format.
In a communication application layer protocol in which a robot uses JSON data format as a basic format, keywords such as token (indicating a transmission/verification password), date (indicating a time stamp), from (indicating a sender name), to (indicating a receiver name), get (indicating query data), put (indicating modification data) and the like are supported. Specifically, when the client sends the instructions of get, put, post, the correct token must be sent, and the robot must verify that the token is correct, so as to execute the instructions of get, put, post of the client. The format of date is ISO date format (ISO date), and the minimum unit is millisecond. Taking a robot as a sender as an example, a name of a robot controller, which is specified in a system parameter, needs to be used as a sender name, and a name of a client, which is specified in a communication parameter, needs to be used as a receiver name. When the robot is used as a sender, the sent information must contain information corresponding to date, from, to; when the client is used as a sender, the sent information can selectively contain the information corresponding to date, from, to. The client can query main parameters and variables in the robot system by using the get instruction, and when the main parameters and variables are queried, the format of the key is as follows: group (groupIndex). ParamName (paramSubId), where groupIndex and paramSubId can be defaults. In addition, to improve the efficiency of client data transmission and robot data parsing, the key may be: the SameAsLastTime automatically acquires the last get setting, namely, the main parameters or variables of the last query and the corresponding query result. The client uses the put instruction to modify the main parameters and variables in the robot, and when the main parameters and variables are modified, the format of the key is: group (groupIndex). ParamName (paramSubId), where groupIndex and paramSubId can also be defaults.
In this embodiment, the client may call the function corresponding to the API of the robot efficiently and quickly by calling the API, and/or send the TCP command in JSON data format, so as to improve the remote communication control efficiency on the basis of ensuring the reliability of the communication service, and further implement remote communication control of the target movement of the robot. And the client can also realize remote communication control of the basic functions of the robot by sending TCP instructions in a JSON data format.
As shown in fig. 2, in one embodiment, the robot control method includes the following steps 210 to 270. The steps 210, 250 to 270 correspond to the steps 110, 130 to 150 in the foregoing embodiments, respectively, and the steps 210, 250 to 270 in the present embodiment may refer to the discussion of the foregoing embodiments, and are not repeated herein.
Step 210, receiving a first target instruction sent by a client. Specifically, the client may send the first target instruction to the robot in the form of a character string, and the robot receives the first target instruction accordingly.
Step 220, receiving a query instruction sent by the client, where the query instruction is used to query whether the number of instructions stored in the instruction buffer reaches a first threshold. Specifically, the client may send a query instruction to the robot in a JSON data format, so as to query whether the number of instructions stored in the instruction buffer of the robot reaches a first threshold, and further determine whether the first target instruction may be pushed into the instruction buffer.
In step 230, in response to the query instruction, a query result is sent. The query result includes that the number of instructions stored in the instruction buffer area does not reach a first threshold value, and the number of instructions stored in the instruction buffer area reaches the first threshold value.
Step 240, if the query result indicates that the number of instructions stored in the instruction buffer does not reach the first threshold, receiving a push instruction request sent by the client in a communication manner. Specifically, if the query result indicates that the number of instructions in the instruction buffer area does not reach the first threshold value, it indicates that there is still available storage space in the instruction buffer area, and the client may send a TCP instruction corresponding to the function of the push instruction to the robot by calling an API corresponding to the function of the push instruction of the robot, or in a character string form, so as to propose a push instruction request to the robot, and the robot receives the push instruction request accordingly.
Step 250, in response to the push instruction request, sequentially pushing the first target instruction into the instruction buffer, and sequentially performing look-ahead processing on the first target instruction in the instruction buffer.
Step 260, if the number of the first target instructions after the look-ahead processing reaches the preset second threshold, receiving a request for starting motion from the client in a communication manner. Specifically, the client may send an instruction for querying whether the number of first target instructions after the look-ahead processing reaches the second threshold to the robot in JSON data format to determine whether execution of the target motion may be started. Correspondingly, the robot receives the instruction of the client, and responds to the instruction, and sends the result that the number of the first target instructions after the look-ahead processing does not reach the second threshold value or the number of the first target instructions after the look-ahead processing reaches the second threshold value to the client in a JSON data format. If the result is that the number of the first target instructions after the look-ahead processing reaches the preset second threshold, the client can send a start motion request to the robot by calling an API (application program interface) of the robot corresponding to the function of starting motion or sending a TCP instruction corresponding to the function of starting motion to the robot in a character string mode, and the robot correspondingly receives the start motion request.
In step 270, in response to the start motion request, the target motion is executed sequentially according to the first target instruction after the look-ahead processing.
In this embodiment, the client may implement remote communication control of the basic functions such as the query of the robot, and implement remote communication control of the target motion of the robot by sending the query command and other commands corresponding to the basic functions of the robot to the robot.
In one embodiment, in step 250, the first target instruction is pushed into the instruction buffer in sequence, including the step of pushing a portion of the first target instruction into the instruction buffer in sequence, as shown in fig. 3. Based on this, the robot control method includes the following steps 310 to 390. The steps 310 to 340 and the steps 380 to 390 correspond to the steps 210 to 240 and the steps 260 to 270 in the foregoing embodiments, respectively, and the steps 310 to 340 and the steps 380 to 390 in the present embodiment may refer to the discussion of the foregoing embodiments, and are not repeated herein.
Step 310, a first target instruction sent by a client is received.
Step 320, receiving a query instruction sent by the client, where the query instruction is used to query whether the number of instructions stored in the instruction buffer reaches a first threshold.
Step 330, in response to the query instruction, sending a query result.
Step 340, if the query result indicates that the number of instructions stored in the instruction buffer does not reach the first threshold, receiving a push instruction request sent by the client in a communication manner.
In step 350, in response to the push instruction request, a portion of the first target instruction is pushed into the instruction buffer in turn. In particular, the robot may optionally divide the first target instruction into a plurality of parts to push the first target instruction into the instruction buffer in real time and sequentially. It should be noted that, the first target instruction is divided into a plurality of portions, and it is intended to express the first target instruction to be pushed and determine whether the number of instructions stored in the instruction buffer reaches the first threshold, which are all continuous and repetitive processes, and not all the first target instructions are pushed into the instruction buffer at one time, or not all the first target instructions are pushed only once. In this embodiment, the division of the "portion" is not required to be too obvious, and only a portion of the first target instruction is pushed in the process of pushing the first target instruction into the instruction buffer, and a portion of the first target instruction is not pushed in, so that the "portion" of the first target instruction can be considered to be pushed in.
Step 360, receiving the query instruction sent by the client again, and responding to the query instruction to send a query result, if the query result indicates that the number of the instructions stored in the instruction buffer area does not reach the first threshold value, pressing part of the first target instructions into the instruction buffer area in sequence until the query result that the number of the instructions stored in the instruction buffer area reaches the first threshold value is sent in response to the query instruction or all the first target instructions are pressed into the instruction buffer area. Specifically, when a part of the first target instructions are pressed into the instruction buffer area in sequence, the client needs to continuously and repeatedly judge whether the number of the instructions stored in the instruction buffer area reaches a first threshold value, so as to determine whether space in the instruction buffer area allows the first target instructions to be stored continuously. The client sends the query again, and accordingly, the robot receives and responds to the query to send the query. It should be understood that, since the client has already sent the TCP command corresponding to the function of the push command to the robot by calling the API corresponding to the function of the push command of the robot or in the form of a character string in the whole process of controlling the robot to perform the target movement, that is, has already made the push command request, it is not necessary to make the push command request again. If the query result indicates that the number of the instructions stored in the instruction buffer area does not reach the first threshold value, the robot can directly press part of the first target instructions into the instruction buffer area in sequence. It should also be appreciated that the first target instruction may be pushed in as long as the number of instructions does not reach the first threshold; if the first target instruction is pushed in, it is necessary to further determine whether the number of instructions reaches the first threshold. Until the number of the instructions reaches a first threshold value, indicating that the instruction buffer area has no redundant space to allow the first target instruction to be stored, and stopping pressing the first target instruction into the instruction buffer area; or, until all the first target instructions have been pushed into the first buffer, at which point the pushing is completed. If the number of the instructions stored in the instruction buffer area reaches a first threshold, the client may send a request for ending the push instruction to the robot by calling an API corresponding to the function of ending the push instruction of the robot or sending a TCP instruction corresponding to the function of ending the push instruction to the robot in a character string form, so as to indicate ending the push of the first target instruction.
Step 370, look-ahead processing is performed sequentially on the first target instruction in the instruction buffer. It should be noted that, as long as the first target instruction enters the instruction buffer, the robot sequentially performs look-ahead processing on the first target instruction in the instruction buffer, which is a continuous process, i.e. in this embodiment, there is virtually no execution sequence between step 370 and the subsequent step, and step 360.
Step 380, if the number of the first target instructions after the look-ahead processing reaches the preset second threshold, receiving a request for starting motion from the client in a communication manner.
In step 390, in response to the start motion request, the target motion is executed sequentially according to the first target instruction after the look-ahead processing.
In this embodiment, in the process that the robot sequentially pushes part of the first target instructions into the instruction buffer, the client continuously and repeatedly sends a query instruction to query whether the number of instructions stored in the instruction buffer reaches a first threshold value, so as to determine whether the first target instructions can be pushed into the instruction buffer continuously.
As shown in FIG. 4, in one embodiment, the query instruction includes a query password; the step 230, in response to the query instruction, sends the query result, including the following steps 410 to 420.
Step 410, checking the inquiry password according to the preset command password. Specifically, in the foregoing embodiment, it is noted that when the client sends the instruction get, put, post, the correct token must be sent, and the robot must verify that the token is correct, so as to execute the instruction get, put, post of the client. Based on this, in this embodiment, the query command sent by the client to the robot includes a query password, and after the robot receives the query command, the query password needs to be checked according to the preset command password.
Step 420, if the inquiry password is successfully checked, the inquiry result is sent in response to the inquiry command. Specifically, the inquiry password is successfully checked, and the robot executes the inquiry instruction of the client, namely, sends the inquiry result to the client.
In addition, it may be understood that the query instruction sent by the client may optionally include information corresponding to date, from, to, and the query result sent by the robot necessarily includes information corresponding to date, from, to.
In this embodiment, the robot checks the query password carried by the query instruction sent by the client, and executes the query instruction of the client under the condition of successful check, which is beneficial to improving the security of remote communication control.
As shown in fig. 5, in one embodiment, the robot control method includes the following steps 510 to 570. The steps 510 to 550 correspond to the steps 110 to 150 in the foregoing embodiments, respectively, and the steps 510 to 550 in the present embodiment may refer to the discussion of the foregoing embodiments, and are not repeated herein.
Step 510, receiving a first target instruction sent by a client.
Step 520, if the number of instructions stored in the instruction buffer area does not reach the preset first threshold, receiving a push instruction request sent by the client in a preset communication mode.
In step 530, in response to the push instruction request, the first target instructions are sequentially pushed into the instruction buffer, and the first target instructions in the instruction buffer are sequentially processed in a look-ahead manner.
Step 540, if the number of the first target instructions after the look-ahead processing reaches the preset second threshold, a request for starting motion is received from the client in a communication manner.
In step 550, in response to the start motion request, the target motion is executed sequentially according to the first target instruction after the look-ahead processing.
Step 560, receiving a second target instruction sent by the client. The second target instruction is also a dynamic instruction for enabling the robot to execute target movement, and after the remote communication control robot finishes executing the target movement corresponding to the first target instruction, the client continues to send the second target instruction to the robot so as to remotely control the robot to execute the target movement corresponding to the second target instruction, and at the moment, the robot receives the second target instruction. It should be noted that, the client side sends the first target instruction to control the robot to execute the target movement, and then sends the second target instruction to control the robot to execute the target movement, which is an overall process, and the client side can also select to combine the first target instruction and the second target instruction into an overall target instruction, so as to control the robot to execute the target movement. It should be noted that, if the client side further sends an instruction for querying whether the target movement corresponding to the first target instruction is completed to the robot, the standby robot responds to the instruction and sends a result of completing the execution of the target movement to the client side, and then the client side continues to send the second target instruction to the robot.
In step 570, if the number of instructions stored in the instruction buffer area does not reach the first threshold value, the second target instructions are pressed into the instruction buffer area in sequence, the second target instructions in the instruction buffer area are processed in advance in sequence, and if the number of the second target instructions after the processing reaches the second threshold value, the target movement is executed in sequence according to the second target instructions after the processing in advance until the execution of the target movement is completed. Specifically, after receiving the second target instruction, the robot needs to perform communication interaction with the client as well as controlling the process of executing the target movement corresponding to the first target instruction. The difference is that in the whole process, the client side has already provided a push instruction request and a start movement request, so when communication interaction is carried out on the second target instruction, if the number of the instructions stored in the instruction buffer area does not reach a first threshold value, the robot directly pushes the second target instruction into the instruction buffer area in sequence; if the number of the second target instructions after the look-ahead processing reaches a second threshold, the robot directly and sequentially executes target movement according to the second target instructions after the look-ahead processing, and does not need to receive a push instruction request and a start movement request of the client side respectively.
It can be appreciated that, after the remote communication control robot executes the target motion corresponding to the second target instruction, the client may further send the third target instruction to the robot, so that the remote communication control robot executes the target motion corresponding to the third target instruction, and so on, until the client no longer needs the robot to execute more target motions.
In this embodiment, the client may control the robot to perform the target motion multiple times in one overall process. And after the previous group of target movements are executed, the next group of target movements are controlled to be executed, so that the robot can execute the target movements continuously and orderly.
As shown in fig. 6, in one embodiment, the robot control method includes the following steps 601 to 612.
The robot executes step 601 to receive a first target instruction sent by the client. Then, step 602 is executed, where a query instruction sent by the client is received, where the query instruction is used to query whether the number of instructions stored in the instruction buffer reaches a first threshold. The query instruction includes a query password, and then step 603 is executed to verify the query password according to a preset instruction password. Step 604, if the challenge password is successfully checked, a challenge result is sent in response to the challenge instruction. In step 605, if the query result indicates that the number of instructions stored in the instruction buffer does not reach the first threshold, the receiving client side sends the push instruction request proposed by the TCP instruction in the form of calling API and/or JSON data. Further, the robot performs step 606 of pushing part of the first target instruction to the instruction buffer in turn in response to the push instruction request. Still further, the robot executes step 607 to receive the query instruction sent by the client again, and send a query result in response to the query instruction, and if the query result indicates that the number of instructions stored in the instruction buffer area does not reach the first threshold, press part of the first target instructions into the instruction buffer area in turn until the query result that the number of instructions stored in the instruction buffer area reaches the first threshold in response to the query instruction is sent or all the first target instructions are pressed into the instruction buffer area. Step 608 is further executed by the robot, without any sequence of execution of step 607, to sequentially look-ahead the first target instruction in the instruction buffer; step 609, if the number of the first target instructions after the look-ahead processing reaches a preset second threshold, receiving a start motion request which is sent by the TCP instruction and is sent by the client by calling an API and/or by sending the TCP instruction in a JSON data format; in step 610, in response to the start motion request, the target motion is executed sequentially according to the first target instruction after the look-ahead processing. It should be noted that although fig. 6 shows a sequence between step 607 and steps 608-610, in practice, the two processes are not sequential. Through the steps, the robot responds to the request of the client in real time, and sequentially controls the execution of the target movement according to the first target instruction of the client until the execution of the target movement is completed.
Further, the robot also executes step 611 to receive the second target instruction sent by the client. And executing step 612, if the number of instructions stored in the instruction buffer does not reach the first threshold, pushing the second target instructions into the instruction buffer in sequence, performing look-ahead processing on the second target instructions in the instruction buffer in sequence, and if the number of the second target instructions after look-ahead processing reaches the second threshold, executing target movement according to the second target instructions after look-ahead processing in sequence until the execution of target movement is completed. Through the steps, the robot continues to control the execution target to move in sequence according to the second target instruction of the client until the execution target is moved.
In this embodiment, the remote communication control process does not need a complex instruction system, the robot and the client do not need to perform data combination on the instructions, the first target instruction of the client and the real-time request of the client are temporarily and orderly stored based on the instruction buffer, the robot can respond to the request of the client in real time and efficiently control and execute the target movement in sequence according to the first target instruction of the client, thereby being beneficial to improving the control efficiency and leading the remote communication control process to be simpler and more convenient.
It should be understood that, although the steps in the flowcharts of fig. 1 to 6 relating to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts of fig. 1-6, as described above with respect to the various embodiments, may include multiple steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the application also provides a robot control device for realizing the robot control method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitations in one or more embodiments of the robot control device provided below may be referred to above as limitations of the robot control method, and will not be described herein.
As shown in fig. 7, the embodiment of the present application further provides a robot control device 10. The robot control device 10 includes an instruction receiving module 11, a first request receiving module 12, an instruction push module 13, a second request receiving module 14, and a motion executing module 15. The instruction receiving module 11 is configured to receive a first target instruction sent by the client. The first request receiving module 12 is configured to receive a push instruction request sent by the client in a preset communication manner if the number of instructions stored in the instruction buffer area does not reach a preset first threshold. The instruction pushing module 13 is configured to sequentially push the first target instructions into the instruction buffer in response to the pushing instruction request, and sequentially look-ahead process the first target instructions in the instruction buffer. The second request receiving module 14 is configured to receive a start motion request sent by the client in a communication manner if the number of first target instructions after the look-ahead processing reaches a preset second threshold. The motion execution module 15 is configured to execute, in response to the motion start request, the target motion according to the first target instruction after the look-ahead processing in sequence.
In one embodiment, the robot control device 10 further includes a query instruction receiving module 11 and a query result transmitting module. The query instruction receiving module 11 is configured to receive a query instruction sent by the client, where the query instruction is used to query whether the number of instructions stored in the instruction buffer reaches a first threshold. And the query result sending module is used for responding to the query instruction and sending the query result. The first request receiving module 12 is further configured to receive a push instruction request sent by the client in a communication manner if the query result indicates that the number of instructions stored in the instruction buffer does not reach the first threshold.
In one embodiment, the instruction pushing module 13 is further configured to sequentially push a portion of the first target instruction into the instruction buffer. The robot control device 10 further includes a loop query module, configured to receive the query instruction sent by the client again, and send a query result in response to the query instruction, and if the query result indicates that the number of instructions stored in the instruction buffer area does not reach the first threshold, sequentially push part of the first target instructions into the instruction buffer area until the number of instructions stored in the instruction buffer area reaches the query result of the first threshold in response to the query instruction or all of the first target instructions are pushed into the instruction buffer area.
In one embodiment, the query instruction includes a query password; the inquiry result sending module comprises a password checking unit and an inquiry result sending unit. The password verification unit is used for verifying the inquiry password according to a preset command password. And the query result sending unit is used for responding to the query instruction and sending the query result if the query password is successfully checked.
In one embodiment, the robot control device 10 further includes a loop execution module, configured to receive a second target instruction sent by the client; and if the number of the second target instructions after the look-ahead processing reaches a second threshold value, executing target movement according to the second target instructions after the look-ahead processing in sequence until the execution of the target movement is completed.
The respective modules in the robot control device 10 described above may be implemented in whole or in part by software, hardware, or a combination thereof. The modules can be embedded in the processor in the robot or independent of the processor in the robot in a hardware mode, and can also be stored in a memory in the robot in a software mode, so that the processor can call and execute the operations corresponding to the modules.
As shown in fig. 8, the embodiment of the application also provides a robot. The robot comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the robot control method when executing the computer program.
Those skilled in the art will appreciate that the structure shown in fig. 8 is merely a block diagram of a portion of the structure associated with the present application and is not limiting of the robots to which the present application may be applied, and that a particular robot may include more or fewer components than shown in fig. 8, or may combine certain components, or have a different arrangement of components.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the robot control method described above.
The embodiments of the present application also provide a computer program product comprising a computer program which, when executed by a processor, implements the steps of the robot control method described above.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (10)
1. A method of controlling a robot, the method comprising:
receiving a first target instruction sent by a client;
if the number of the instructions stored in the instruction buffer area does not reach a preset first threshold value, receiving a push instruction request which is provided by the client in a preset communication mode;
responding to the push instruction request, sequentially pushing the first target instruction into the instruction buffer area, and sequentially performing look-ahead processing on the first target instruction in the instruction buffer area;
If the number of the first target instructions after the look-ahead processing reaches a preset second threshold, receiving a starting motion request which is provided by the client in the communication mode;
and responding to the starting movement request, and executing target movement according to the first target instruction after the look-ahead processing in sequence.
2. The method according to claim 1, wherein the communication means comprises calling an API and/or sending TCP instructions in JSON data format.
3. The method according to claim 1, wherein the method further comprises:
receiving a query instruction sent by the client, wherein the query instruction is used for querying whether the number of instructions stored in the instruction buffer area reaches the first threshold value;
responding to the query instruction, and sending a query result;
if the number of the instructions stored in the instruction buffer area does not reach a preset first threshold, receiving a push instruction request sent by the client in a preset communication mode, wherein the push instruction request comprises:
and if the query result indicates that the number of the instructions stored in the instruction buffer area does not reach the first threshold value, receiving the push instruction request which is provided by the client in the communication mode.
4. A method according to claim 3, wherein said sequentially pushing said first target instruction into said instruction buffer comprises:
pressing part of the first target instruction into the instruction buffer area in sequence;
after the part of the first target instruction is pressed into the instruction buffer area in sequence, the method further comprises the following steps:
and receiving the query instruction sent by the client again, and responding to the query instruction to send the query result, if the query result indicates that the number of instructions stored in the instruction buffer area does not reach the first threshold value, pressing part of the first target instructions into the instruction buffer area in sequence until the query result that the number of instructions stored in the instruction buffer area reaches the first threshold value is sent in response to the query instruction or all the first target instructions are pressed into the instruction buffer area.
5. The method of claim 3, wherein the query instruction comprises a query password; the responding to the query instruction, sending a query result, comprises the following steps:
checking the inquiry password according to a preset command password;
and if the query password is successfully checked, responding to the query instruction, and sending the query result.
6. The method according to any one of claims 1 to 5, further comprising:
receiving a second target instruction sent by the client;
and if the number of the second target instructions after the look-ahead processing reaches the second threshold value, executing target movement according to the second target instructions after the look-ahead processing in sequence until the execution of target movement is completed.
7. A robot control device, the device comprising:
the instruction receiving module is used for receiving a first target instruction sent by the client;
the first request receiving module is used for receiving a push instruction request which is provided by the client in a preset communication mode if the number of instructions stored in the instruction buffer area does not reach a preset first threshold value;
the instruction pushing module is used for responding to the pushing instruction request, sequentially pushing the first target instructions into the instruction buffer area, and sequentially performing look-ahead processing on the first target instructions in the instruction buffer area;
The second request receiving module is used for receiving a starting motion request which is provided by the client in the communication mode if the number of the first target instructions after the look-ahead processing reaches a preset second threshold value;
and the motion execution module is used for responding to the motion starting request and executing target motion according to the first target instruction after the look-ahead processing in sequence.
8. A robot comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, carries out the steps of the method of any one of claims 1 to 6.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
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