CN106327952A - Demonstrator remote control method and demonstrator - Google Patents
Demonstrator remote control method and demonstrator Download PDFInfo
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- CN106327952A CN106327952A CN201610729578.XA CN201610729578A CN106327952A CN 106327952 A CN106327952 A CN 106327952A CN 201610729578 A CN201610729578 A CN 201610729578A CN 106327952 A CN106327952 A CN 106327952A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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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
- H04L67/10—Protocols in which an application is distributed across nodes in the network
- H04L67/104—Peer-to-peer [P2P] networks
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention relates to the field of robots, and discloses a demonstrator remote control method and a demonstrator. According to the demonstrator remote control method and the demonstrator, direct point-to-point wireless connection between a demonstrator and a control robot is established, and two error correction control algorithms are combined so as to realize control of a demonstration robot. With application of the demonstrator remote control method, the cable constraint between the demonstrator and the robot can be eliminated, wiring can be simplified and the reliability and the real-time performance of information transmission can be guaranteed.
Description
Technical field
The present invention relates to robot field, particularly to long-range control method and the demonstrator of demonstrator.
Background technology
Along with the development of smart machine, Intelligent office, intelligent tutoring are risen the most therewith.
At present, demonstrator and robot to be controlled are mainly entered by a kind of modal robot teaching method by cable
Row connects, and operator sends control information by the demonstrator being connected with robot to be controlled, it is achieved to robot to be controlled
Operation.
But, in realizing process of the present invention, inventor finds that in prior art, at least there are the following problems: due to currently
Demonstrator and robot to be controlled are attached by cable, and this results in wiring between demonstrator and robot to be controlled
Complex, and owing to being fettered by cable, operator is limited by very large with the spacing of robot to be controlled, causes
Operation underaction.
Therefore, how to break away from cable constraint, simplify the wiring between demonstrator and robot to be controlled, solve operator and
The restriction of the spacing of robot to be controlled, improves the motility of operation, it appears particularly important.
Summary of the invention
The purpose of embodiment of the present invention is to provide long-range control method and the demonstrator of a kind of demonstrator so that teaching
Break away from cable constraint between device and robot, simplified wiring, and be not intended to the distance of operator and robot, significantly carried
The high motility of operation, reduces cost.
For solving above-mentioned technical problem, embodiments of the present invention provide the long-range control method of a kind of demonstrator, tool
Body includes: set up the point-to-point wireless connections between demonstrator and robot to be controlled；Described demonstrator uses the first error correction control
Algorithm processed, by the point-to-point wireless connections of described foundation, sends control information to described robot to be controlled, and receives described
The feedback information of robot to be controlled；
Wherein, if the frequency of failure of the control information of the described first false detection algorithm transmission of described demonstrator employing is big
In pre-determined threshold, then the second false detection algorithm is used to transmit described control information；Described first false detection algorithm accurate
Degree is calculated less than described second false detection higher than described second false detection algorithm, the real-time of described first false detection algorithm
Method.
Embodiments of the present invention additionally provide a kind of demonstrator, specifically include: wireless connections module, are used for setting up teaching
Point-to-point wireless connections between device and robot to be controlled；Transmission control module is for using the first false detection algorithm, logical
Cross the point-to-point wireless connections of described foundation, send control information to described robot to be controlled, and receive described machine to be controlled
The feedback information of device people；
Wherein, described transmission control module is in the failure time of the control information using described first false detection algorithm transmission
When number is more than pre-determined threshold, the second false detection algorithm is used to transmit described control information；Described first false detection algorithm
Accuracy is higher than described second false detection algorithm, and the real-time of described first false detection algorithm is less than described second error correction control
Algorithm processed.
Embodiment of the present invention in terms of existing technologies, by set up demonstrator with control robot directly put right
Point wireless connections, and combined by two kinds of false detection algorithms, it is achieved the control to teaching robot.So that demonstrator and
Break away from cable constraint between robot, simplify wiring, and by by the first false detection algorithm and the second automatic error-correcting
Control algolithm combines, and reasonably make use of the first false detection algorithm information transmission accuracy high and the second false detection algorithm
The feature that information transfer efficiency is high, send thresholding by presetting preferred repetitive requests, and reasonably avoiding uses the
One false detection algorithm repeatedly can reduce real-time and the not high enough problem of the second false detection algorithm accuracy rate, thus is ensureing
The reliability of information biography and real-time.
It addition, described first false detection algorithm is automatic repeat request algorithm；Described second false detection algorithm is front
To error correction algorithm.By automatic repeat request algorithm and forward error correction algorithm are combined, reasonably make use of and automatically repeat to ask
Seek the feature that algorithm communication system equipment is simple, reliability is high and forward error correction algorithm efficiency of transmission is high, by presetting one
Individual preferred repetitive requests sends thresholding, and reasonably avoiding automatic repeat request repeatedly can reduce real-time and forward error correction
The problem that accuracy rate is not high enough, thus guarantee information pass reliability and real-time.
It addition, pre-determined threshold is arranged according to the requirement of real-time of described control information, it is achieved that according to current network feelings
Condition arranges corresponding pre-determined threshold, and does not affect the real-time of information transmission.
It addition, described demonstrator comprises the first central processing unit and the second central processing unit；Described first central processing unit
With the described second the most active and standby processor of central processing unit；When pending task is beyond the disposal ability of described primary processor
Time, start the described collaborative process of standby processor.By using dual-cpu structure, make two CPU co-ordinations, thus provide fortune
Line efficiency；And use Redundant Control, fault freedom rifle, improve stability.
It addition, the control information of described demonstrator transmission includes one below or its combination in any: motion control instruction, shape
State reads instruction, parameter setting instruction, process data.By allowing demonstrator be not involved in real-time task, only it is transmitted motion control
System instruction, state read the task that the requirement of real-times such as instruction, parameter setting instruction, process data are the highest, it is achieved that in communication
On the premise of reliability is guaranteed, system will not be run and have any impact by the delay of network transmission.
Accompanying drawing explanation
Fig. 1 is the long-range control method flow chart of according to the first embodiment of the invention demonstrator；
Fig. 2 be second embodiment of the invention in dual-cpu structure schematic diagram；
Fig. 3 is the structural representation according to third embodiment of the present invention demonstrator.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with the accompanying drawing each reality to the present invention
The mode of executing is explained in detail.But, it will be understood by those skilled in the art that in each embodiment of the present invention,
In order to make reader be more fully understood that, the application proposes many ins and outs.But, even if there is no these ins and outs and base
Many variations and amendment in following embodiment, it is also possible to realize the application technical scheme required for protection.
First embodiment of the present invention relates to the long-range control method of a kind of demonstrator, and idiographic flow is as shown in Figure 1.
In a step 101, the point-to-point wireless connections between demonstrator and robot to be controlled are set up.
Specifically, in present embodiment, the wireless point-to-point of employing is connected as point-to-point Socket (Socket abbreviation
Socket, for realizing on network the connection between client and server) communication modes, data are passed in the form of streaming
Pass, after getting complete data, and data are removed from stream, thus there is not data collision problem, and data pass
Defeated process reliability is high.
Such as, first in demonstrator and robot to be controlled, it is respectively provided with a wireless network card, begins to use machine
Before people's remote teaching, first open the wireless network card arranged in demonstrator and robot to be controlled, then good defined in demonstrator
One Socket, and in the Socket established, set demonstrator and the corresponding relation of robot to be controlled, by identical
Wireless network, between demonstrator and robot to be controlled, set up point-to-point wireless connections.
It should be noted that radio connection can use bluetooth, ZigBee etc. to be wirelessly transferred skill in actual applications
Art realizes.
In a step 102, demonstrator sends control information to robot to be controlled.
Specifically, in present embodiment, demonstrator is not involved in real-time task, and therefore the control information of demonstrator transmission is
The instruction the highest to requirement of real-time, particularly as follows: motion control instruction, state read instruction, parameter setting instruction, process data
One of them or its combination in any.
Such as, demonstrator and robot to be controlled by wireless network set up better to a wireless connections after, demonstrator
Entering duty with robot to be controlled, demonstrator is by the transmission control module in centrally disposed processor, to be controlled
Robot processed sends motion control instruction A.
In step 103, it is judged that whether control information sends successfully.
Specifically, demonstrator can be according to robot to be controlled after receiving control information, and feedback reception is successful
Feedback information judges, when demonstrator receives the feedback information of robot to be controlled, illustrates that control information sends into
Merit, this operating process terminates；When demonstrator does not receive the feedback information of robot to be controlled in the feedback time of regulation, say
Bright control information sends unsuccessfully, enters step 104.
At step 104, demonstrator uses the first false detection algorithm to resend control information to robot to be controlled.
Specifically, the first false detection algorithm used in present embodiment is automatic repeat request algorithm, automatically weighs
Request algorithm has the advantage that communication system equipment is simple, reliability is high again.
Such as, demonstrator is after sending the failure of motion control instruction A to robot to be controlled, and system is according to presetting setting
Error correction algorithm, initially with the first false detection algorithm, automatically resend motion control instruction A to robot to be controlled.
In step 105, it is judged that whether the control information using the first false detection algorithm to resend sends successfully.
Specifically, demonstrator is using the first false detection algorithm to resend control information to robot to be controlled
After, whether receive robot to be controlled according to demonstrator and receive successful feedback information, it is judged that whether control information is retransmitted into
Merit, when demonstrator receives the feedback information of robot to be controlled, illustrates that control information sends successfully, and this operating process is tied
Bundle；When demonstrator does not receive the feedback information of robot to be controlled in the feedback time of regulation, illustrate that control information sends
Failure, enters step 106.
In step 106, whether the frequency of failure of the control information of detection employing the first false detection algorithm transmission is more than
Pre-determined threshold.Wherein, pre-determined threshold can be configured according to the requirement of real-time of the information of control, such as, is arranged by pre-determined threshold
It is 3.
Specifically, in present embodiment, demonstrator uses the failure of the control information of the first false detection algorithm transmission
The pre-determined threshold of number of times is arranged according to current network conditions, is such as set to 3.Using the first false detection algorithm again
After sending the failure of control information, the frequency of failure being used the control information of the first false detection algorithm transmission by detection is the biggest
In pre-determined threshold, when more than pre-determined threshold.Then enter step 107；Otherwise return step 104, continue to use the first false detection
Algorithm sends control information to robot to be controlled.
It should be noted that pre-determined threshold is to arrange corresponding pre-determined threshold according to current network condition, by default door
It is on the premise of guarantee information transfer reliability that limit is set to 3, again will not be because of repeatedly retransmitting the real-time of reduction information transmission
Property preferably one value, certain pre-determined threshold it can also be provided that 4,5,6 or other numerical value, does not affect the real-time of information transmission
?.
Such as, demonstrator uses the first false detection algorithm and resends motor control to robot to be controlled and refer to
After making A, the most not receiving the successful feedback information of reception of robot to be controlled feedback, demonstrator needs to judge
Whether the frequency of failure once using the control information of the first false detection algorithm transmission is more than pre-determined threshold, without exceeding
Pre-determined threshold, demonstrator continues to use the first false detection algorithm to send motion control instruction A to robot to be controlled；If it is super
Having crossed pre-determined threshold, system uses the another kind of false detection algorithm preset to send motion control instruction A to robot to be controlled.
In step 107, demonstrator uses the second false detection algorithm to send control information to robot to be controlled.
Specifically, the second false detection algorithm in present embodiment is forward error correction algorithm, and forward error correction algorithm is believed
Breath efficiency of transmission is high, and by using the RS channel coding method that a kind of error correcting capability is strong, constructs convenient cyclic code, with suitable
For the channel characteristics undesirable wireless telecommunications correction to multiple burst errors, due to the error correcting capability of RS channel coding method
Be sized depending on code length, adjustment code length that therefore can be suitable, increase redundancy, on the premise of ensureing high efficiency of transmission,
Improve the reliability of forward error correction.
Present embodiment is by setting up the nothing of point-to-point socket communication mode between demonstrator and robot to be controlled
Line connects, and solves and is currently connected by cable, and wiring is complicated, and demonstrator is limited with the spacing of robot to be controlled, operation
Inflexible problem；And by automatic repeat request algorithm and forward error correction algorithm are combined, reasonably make use of automatically
The feature that repetitive requests algorithm communication system equipment is simple, reliability is high and forward error correction algorithm efficiency of transmission is high, by advance
Setting preferred repetitive requests and send thresholding, reasonably avoiding automatic repeat request repeatedly can reduce real-time and forward direction entangles
The problem that wrong method accuracy rate is not high enough, thus in the reliability of guarantee information transmission and real-time.
Second embodiment of the present invention relates to the long-range control method of a kind of demonstrator, and present embodiment is implemented first
Having done further improvement on the basis of mode, main improvements are: in present embodiment, demonstrator uses dual processors knot
Structure, concrete schematic diagram is as shown in Figure 2.
In the present embodiment, demonstrator performs step to the long-range control method of robot to be controlled and first embodiment
The most just the same, it is intended to by setting up the wireless company of point-to-point socket communication mode between demonstrator and robot to be controlled
Connecing, solve currently to be connected by cable, wiring is complicated, and demonstrator is limited with the spacing of robot to be controlled, malfunction
Problem, and by two kinds of false detection algorithms are combined guarantee information transmission reliability and real-time, do not exist
Repeat.The dual-cpu structure of only employing internal to demonstrator in present embodiment, illustrates below.
In Fig. 2, the first central processing unit 201 and the second the most active and standby processor of central processing unit 202, specifically, shows
Religion device for robot to be controlled send control information transmission control mould be disposed on soon on central processing unit, therefore when
Demonstrator is when the information task to be controlled that robot to be controlled sends exceeds the disposal ability of primary processor, and system starts automatically
Standby processor is collaborative to be processed.
It should be noted that in actual applications, demonstrator can pass through two independent wireless connections modules, builds respectively
The vertical connection with robot to be controlled, arranged by the redundancy of wireless connections, it is to avoid occurs asking a wireless connections module
During topic, interrupting occurs in information transmission, and affect the demonstrator problem such as transmission to robot to be controlled control information.
Present embodiment is controlled robot at the current demonstrator of solution with band and is connected by cable, and wiring is complicated, demonstrator
Limited with the spacing of robot to be controlled, the problem of malfunction, and guarantee information transmission reliability and real-time
In the case of, demonstrator uses dual-cpu structure, by two CPU co-ordinations, thus substantially increases operational efficiency, it is ensured that
The demonstrator real-time to robot remote teaching to be controlled.
The step of the most various methods divides, and is intended merely to describe clear, it is achieved time can merge into a step or
Some step is split, is decomposed into multiple step, as long as comprising identical logical relation, all at the protection domain of this patent
In；To adding inessential amendment in algorithm or in flow process or introducing inessential design, but do not change its algorithm
With the core design of flow process all in the protection domain of this patent.
Third embodiment of the present invention relates to a kind of demonstrator, and concrete structure schematic diagram is as shown in Figure 3.
Demonstrator 300 includes: wireless connections module 301, transmission control module 302.
Wireless connections module 301, for setting up the point-to-point wireless connections between demonstrator 300 and robot to be controlled.
It should be noted that the wireless connections module 301 that demonstrator 300 includes is two, by arranging two wireless companies
Connection module 301, it is ensured that the connection between demonstrator and robot to be controlled so that signal transmission is relatively reliable, it is to avoid
When wherein any one wireless connections module 301 goes wrong, interrupting occurs in information transmission, and affects demonstrator to machine to be controlled
People controls the transmission of information.
Transmission control module 302, for using the first false detection algorithm, the point set up by unlimited link block 301
To a wireless connections, send control information to robot to be controlled, and receive the feedback information of robot to be controlled；
Wherein, transmission control module 302 is big in the frequency of failure of the control information using the first false detection algorithm transmission
When pre-determined threshold, use the second false detection algorithm transmission control information；The accuracy of the first false detection algorithm is higher than the
Two false detection algorithms, the real-time of the first false detection algorithm is less than the second false detection algorithm.
It should be noted that the first false detection algorithm is automatic repeat request algorithm, automatic repeating algorithm has communication
The advantage that system equipment is simple, reliability is high, demonstrator can be according to the requirement of real-time of the information of control to using the first error correction
The pre-determined threshold of the frequency of failure of the control information of control algolithm transmission is configured；Second false detection algorithm is forward error correction
Algorithm, forward error correction algorithm information transfer efficiency is high, and by using the RS channel coding method that a kind of error correcting capability is strong, structure
Make convenient cyclic code, to be applicable to the channel characteristics undesirable wireless telecommunications correction to multiple burst errors, owing to RS believes
The error correcting capability of road coded system be sized depending on code length, adjustment code length that therefore can be suitable, increase redundancy, protecting
On the premise of card high efficiency of transmission, improve the reliability of forward error correction.
It should be noted that in present embodiment, demonstrator 300 may be used without dual-cpu structure, is i.e. provided with in demonstrator
First central processing unit and the second central processing unit.
Wherein, the first central processing unit and the most active and standby processor of the second central processing unit, and each central processing unit
In be designed with a transmission control module 302, by two CPU co-ordinations, improve operational efficiency, improve fault freedom
Operational stability with demonstrator；And demonstrator 300 is not involved in real-time task, only robot to be controlled is sent motor control
Instruction, state obtain the task that the requirement of real-times such as instruction, parameter setting instruction are the highest, before communication reliability is guaranteed
Put, it is ensured that system will not be run and have any impact by the delay of network transmission.
Demonstrator in present embodiment, by using wireless connections so that demonstrator and robot to be controlled can put
Off-line cable fetters, and simplifies wiring；Internal employing dual-cpu structure, by the co-ordination of two CPU, improves operational efficiency；Logical
Cross and two wireless connections modules are set, it is ensured that the wireless connections between demonstrator and robot to be controlled, and be transmitted across
In journey, transmission control module is by by the reasonable combination of two kinds of error correction algorithms, effective guarantee demonstrator and robot to be controlled it
Between information transmission reliability and real-time.
It is seen that, present embodiment is the system embodiment corresponding with the second embodiment, and present embodiment can be with
Second embodiment is worked in coordination enforcement.The relevant technical details mentioned in second embodiment the most still has
Effect, in order to reduce repetition, repeats no more here.Correspondingly, the relevant technical details mentioned in present embodiment is also applicable in
In second embodiment.
It is noted that each module involved in present embodiment is logic module, in actual applications, one
Individual logical block can be a physical location, it is also possible to be a part for a physical location, it is also possible to multiple physics lists
The combination of unit realizes.Additionally, for the innovative part highlighting the present invention, will be with solution institute of the present invention in present embodiment
The unit that the technical problem relation of proposition is the closest introduces, but this is not intended that in present embodiment the list that there is not other
Unit.
It will be appreciated by those skilled in the art that all or part of step realizing in above-described embodiment method can be by
Program instructs relevant hardware and completes, and this program is stored in a storage medium, including some instructions with so that one
Individual equipment (can be single-chip microcomputer, chip etc.) or processor (processor) perform method described in each embodiment of the application
All or part of step.And aforesaid storage medium includes: USB flash disk, portable hard drive, read only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
It will be understood by those skilled in the art that the respective embodiments described above are to realize the specific embodiment of the present invention,
And in actual applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (10)
1. the long-range control method of a demonstrator, it is characterised in that including:
Set up the point-to-point wireless connections between demonstrator and robot to be controlled；
Described demonstrator uses the first false detection algorithm, by the point-to-point wireless connections of described foundation, to described to be controlled
Robot sends control information, and receives the feedback information of described robot to be controlled；
Wherein, if described demonstrator uses the frequency of failure of the control information of described first false detection algorithm transmission more than pre-
If thresholding, then the second false detection algorithm is used to transmit described control information；The accuracy of described first false detection algorithm is high
In described second false detection algorithm, the real-time of described first false detection algorithm is less than described second false detection algorithm.
The long-range control method of demonstrator the most according to claim 1, it is characterised in that
Described first false detection algorithm is automatic repeat request algorithm；
Described second false detection algorithm is forward error correction algorithm.
The long-range control method of demonstrator the most according to claim 2, it is characterised in that
Described pre-determined threshold is arranged according to the requirement of real-time of described control information.
The long-range control method of demonstrator the most according to claim 1, it is characterised in that described demonstrator comprises in first
Central processor and the second central processing unit；
Described first central processing unit and the described second the most active and standby processor of central processing unit；
When pending task is beyond the disposal ability of described primary processor, start the described collaborative process of standby processor.
The long-range control method of demonstrator the most according to any one of claim 1 to 4, it is characterised in that described teaching
The control information of device transmission includes one below or its combination in any:
Motion control instruction, state read instruction, parameter setting instruction, process data.
6. a demonstrator, it is characterised in that including:
Wireless connections module, for setting up the point-to-point wireless connections between demonstrator and robot to be controlled；
Transmission control module, for using the first false detection algorithm, by the point-to-point wireless connections of described foundation, to described
Robot to be controlled sends control information, and receives the feedback information of described robot to be controlled；
Wherein, described transmission control module is big in the frequency of failure of the control information using described first false detection algorithm transmission
When pre-determined threshold, the second false detection algorithm is used to transmit described control information；Described first false detection algorithm accurate
Degree is calculated less than described second false detection higher than described second false detection algorithm, the real-time of described first false detection algorithm
Method.
Demonstrator the most according to claim 6, it is characterised in that
Described first false detection algorithm is automatic repeat request algorithm；
Described second false detection algorithm is forward error correction algorithm.
Demonstrator the most according to claim 7, it is characterised in that
Described pre-determined threshold is arranged according to the requirement of real-time of described control information.
Demonstrator the most according to claim 6, it is characterised in that described demonstrator comprises the first central processing unit and second
Central processing unit；
Described first central processing unit and the described second the most active and standby processor of central processing unit.
10. according to the demonstrator according to any one of claim 6 to 9, it is characterised in that described control information includes with purgation
One or its combination in any:
Motion control instruction, state read instruction, parameter setting instruction, process data.
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| CN108052198A (en) * | 2017-10-16 | 2018-05-18 | 广州音视控通科技有限公司 | A kind of body-sensing teaching terminal and teaching method |
| CN108656109A (en) * | 2018-05-07 | 2018-10-16 | 中国科学院力学研究所 | A kind of remote-operated training method and system |
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