CN113043250B - Robot control system and method - Google Patents
Robot control system and method Download PDFInfo
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- CN113043250B CN113043250B CN202110431428.1A CN202110431428A CN113043250B CN 113043250 B CN113043250 B CN 113043250B CN 202110431428 A CN202110431428 A CN 202110431428A CN 113043250 B CN113043250 B CN 113043250B
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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
- B25J9/1628—Programme controls characterised by the control loop
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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
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Abstract
Provided herein are a robot control system and method, wherein the robot teaching system includes: the system comprises a mobile terminal, a server, a database and a plurality of robots; the mobile terminal is connected with the server and used for receiving a robot operation instruction input by an operator through a front-end interface and a plurality of coordinate information of an approach of the robot to an operation position and sending the robot operation instruction and the coordinate information to the server; the server is connected with the database, receives the robot operation instruction and the coordinate information through a back-end service program, stores the coordinate information of the robot operation position in the database, converts the robot operation instruction into an operation instruction recognized by the robot and then sends the operation instruction to the robot; the robot is used for acting according to the received control command. The robot control system can simplify the operation of the robot, improve the programming convenience of the robot in an application scene, and reduce the cost required to be invested in hardware.
Description
Technical Field
The present disclosure relates to the field of robots, and more particularly, to a robot control system and method.
Background
In the prior art, most of the operation control of an operator on a cooperative robot is realized by a teach pendant or other teaching tools, and in the specific implementation, a professional engineer writes a fixed program for a single task target through equipment such as the teach pendant, sets a coordinate sequence forming an operation track in the program, and stores the program and the coordinates in a storage medium of the cooperative robot controller. The control mode only enables the cooperative robot to complete a small number of preset action routes, once the action path or the task to be executed needs to be changed, a professional engineer is required to reprogram the cooperative robot, and the programming process of the robot generally needs to be completed by a professional. In addition, in some cases, a plurality of cooperative robots are required to cooperate to complete a complex task, and a separate program needs to be written for each robot, and each robot needs to be equipped with a corresponding teaching aid. All the above factors cause cost increase and waste of human resources.
Disclosure of Invention
The method is used for solving the problems that in the prior art, the programming of the cooperative robot wastes manpower, has high requirement on professional literacy of programmers, has high investment on hardware, is inconvenient to change the action line of the cooperative robot and is not beneficial to a plurality of cooperative robots to complete complex tasks.
In order to solve the above technical problem, a first aspect herein provides a robot teaching system including: the robot system comprises a mobile terminal, a server, a database and a plurality of robots, wherein the mobile terminal is provided with a front-end interface provided by the server, and the server is provided with a back-end service program;
the mobile terminal is connected with the server and is used for receiving a robot operation instruction input by an operator through the front-end interface and a plurality of coordinate information of an approach of the robot to an operation position and sending the robot operation instruction and the plurality of coordinate information of the approach of the robot to the operation position to the server;
the server is connected with the database, receives the robot operation instruction and the coordinate information of a plurality of paths of the robot to the operation position through a back-end service program, stores the coordinate information of the plurality of paths of the robot to the operation position in the database, converts the robot operation instruction into an operation instruction recognized by the robot and then sends the operation instruction to the robot;
the robot is used for acting according to the received operation instruction.
In a further embodiment of the present disclosure, the mobile terminal receives a robot operation instruction input by an operator through the front-end interface and a plurality of coordinate information of a process of the robot reaching an operation position, and sends the robot operation instruction and the plurality of coordinate information of the process of the robot reaching the operation position to the server, including:
the front-end interface receives a robot operation instruction input by an operator and sends the robot operation instruction to the server;
after the robot finishes the action, the front-end interface receives the current coordinate information of the robot input by an operator, and the current coordinate information of the robot is sent to the server as coordinate information of a path where the robot reaches an operation position; and repeating the two steps until the robot reaches the operation position.
In further embodiments herein, the robot operating instructions comprise: robot information to be taught, respective degrees of movement in the stepping direction, and respective joint stepping movement amounts.
In a further embodiment herein, the database comprises: a robot information database, a robot position database and a robot coordinate database;
the robot information database is used for storing a robot identifier, a robot IP address and a port identifier;
the robot position database is used for storing an operation position identifier, a robot identifier and terminal attitude information;
and the robot coordinate database is used for storing the coordinate identification, the coordinate serial number and the joint coordinate information of each operation position and path.
In a further embodiment of the present disclosure, after the robot finishes acting, the robot further sends an action result to the server;
and the server processes the action result and then sends the action result to a front-end interface of the mobile terminal for display.
In a further embodiment of the present disclosure, the mobile terminal further receives an operation position change instruction or an operation position and path coordinate information change instruction input by an operator through the front-end interface, and sends the change instruction to the server;
and the server changes the information in the database according to the change instruction.
A second aspect herein provides a robotic control system comprising: the robot teaching system comprises an upper computer and the robot teaching system of any one of the embodiments;
the upper computer is connected with the server and used for sending an operation task to the server, wherein the operation task at least comprises an operation position;
the server inquires the robot information corresponding to the operation position and the coordinate information of multiple positions corresponding to the operation position from the database according to the operation task; sending an operation instruction to a relevant robot according to the inquired information;
and the robot responds to the operation instruction to complete the operation task.
In a further embodiment of this document, after the server queries the coordinate information of the plurality of positions corresponding to the operation position, the method further includes:
detecting whether the number of the coordinates at a plurality of positions corresponding to the operation position reaches the minimum value of the track sequence;
if the judgment result is negative, alarm information is sent out.
In a further embodiment of the present disclosure, the server sends an operation instruction to the relevant robot according to the queried information and operation task, including:
the server sends out operation sub-instructions to the relevant robots according to the inquired robot information and the sequence of the coordinate information at a plurality of positions corresponding to the operation positions;
and the related robots act according to the operation sub-instructions.
A third aspect herein provides a method of collaborative robot teaching comprising:
the method comprises the steps that a mobile terminal receives a robot operation instruction input by an operator through a front-end interface and sends the robot operation instruction to a server;
the server receives the robot operating instruction, converts the robot operating instruction into an operating instruction which can be identified by the robot and then sends the operating instruction to the robot;
the robot acts according to the received operation instruction;
after the robot acts, the mobile terminal receives the current coordinate information of the robot input by an operator through the front-end interface, and sends the current coordinate information of the robot to the server as coordinate information of a path where the robot reaches an operation position; and the server stores the coordinate information of the path of the robot to the operation position in the database.
In a fourth aspect of the present disclosure, there is provided a robot control method including:
sending an operation task to the server by an upper computer, wherein the operation task at least comprises an operation position;
the server inquires the robot information corresponding to the operation position and the coordinate information corresponding to the operation position from the database according to the operation task; sending an operation instruction to a relevant robot according to the inquired information;
and the robot responds to the operation instruction to complete the operation task.
The invention provides a robot teaching system and a method, and a robot control system and a method, aiming at the defects of complicated operation, repetition and poor variability of the existing robot control method, a mode of a front-end interface + a server + a database is adopted to replace a teaching machine. The front-end interface provides a friendly operation interface, the server is provided with a back-end service program which can provide support for the front-end interface and control for the robot, and the database provides a container for storing operation positions and coordinate sequences of the operation positions. An operator can open a front-end interface through a mobile terminal (such as a computer/a mobile phone/a tablet computer) at any time and any place to control and teach the robot, so that the operation of the robot is simplified, the complexity of multi-robot system management is reduced, the efficiency of changing the action line of the robot is improved, and the programming convenience of the robot in an application scene is improved. And the containers of the operation positions and the coordinate sequences thereof are changed from the storage medium of the robot body to a database erected in the network, thereby greatly facilitating the management and management of the information. Meanwhile, a special demonstrator is not needed, and the cost required to be invested in hardware is reduced.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 shows a block diagram of a robot teaching system according to embodiments herein;
FIG. 2A is a schematic diagram illustrating an operation instruction button interface in a front-end interface according to an embodiment of the present disclosure;
FIG. 2B is a schematic diagram illustrating a location management interface in a front-end interface according to an embodiment herein;
FIG. 2C is a schematic diagram illustrating a coordinate management interface in a front-end interface according to an embodiment herein;
FIG. 2D is a schematic diagram illustrating a coordinated information guide interactive interface in the front-end interface according to an embodiment of the present disclosure;
FIG. 3 is a block diagram illustrating a data store in a database according to an embodiment herein;
FIG. 4 is a flow diagram illustrating a process for a front-end interface interacting with a server according to an embodiment herein;
FIG. 5A is a diagram illustrating a robot information database storage according to an embodiment herein;
FIG. 5B is a diagram illustrating a robot location database store according to an embodiment herein;
FIG. 5C is a diagram illustrating robot coordinate database storage according to an embodiment herein;
FIG. 6 illustrates a block diagram of a robotic control system according to embodiments herein;
FIG. 7 shows a flow diagram of a robot teaching method of embodiments herein;
FIG. 8 illustrates a flow chart of a robot teaching method of embodiments herein;
FIG. 9 shows a flow chart of a robot control method of embodiments herein;
FIG. 10 illustrates a flow chart of a robot control method according to embodiments herein;
FIG. 11 shows a block diagram of a computer device according to an embodiment of the present disclosure.
Description of the symbols of the drawings:
110. a mobile terminal;
120. a server;
130. a database;
140. a robot;
150. an upper computer;
1102. a computer device;
1104. a processor;
1106. a memory;
1108. a drive mechanism;
1110. an input/output module;
1112. an input device;
1114. an output device;
1116. a presentation device;
1118. a graphical operator interface;
1120. a network interface;
1122. a communication link;
1124. a communication bus.
Detailed Description
The technical solutions in the embodiments of the present invention will be described below clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the embodiments described are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments herein without making any creative effort, shall fall within the scope of protection.
The present specification provides method steps as described in the examples or flowcharts, but may include more or fewer steps based on routine or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. When an actual system or apparatus product executes, it can execute sequentially or in parallel according to the method shown in the embodiment or the figures.
The cooperative robot teaching system and method, and the robot control system and method are suitable for teaching and control of various robots, particularly for cooperative robots, wherein the cooperative robot comprises a multi-axis mechanical arm and an end effector, and the cooperative robot can realize data acquisition, processing, carrying and other processes in various fields (such as biological fields) by matching with different end effectors. The cooperative robot is, for example, a mechanical arm, and refers to a robot that cooperates with a human to complete different tasks, and the cooperative robot is a robot that is easy to integrate without human supervision, and has the following characteristics:
1) and (3) lightening: the cooperative robot is easier to control, and the safety is improved;
2) and (3) friendliness: the surface and joints of the cooperative robot are smooth and flat, and no sharp corner or gap which is easy to clamp and hurt an operator is formed;
3) perception capability: the cooperative robot can sense the surrounding environment and change the action behavior of the cooperative robot according to the change of the surrounding environment;
4) man-machine cooperation: the robot has sensitive force feedback characteristic, can stop immediately when reaching the set force, does not need to be provided with a protection fence after risk assessment, and enables the robot and the human body to work cooperatively.
These collaborative robots often perform repetitive or unsafe tasks, while human labor performs more valuable manual tasks upstream and downstream. Most collaborative robots are cheaper in terms of cost than traditional industrial robots. In the prior art, motion control and programming of a cooperative robot are mostly finished through a demonstrator, a fixed program is written for a relatively single task object, a coordinate sequence forming a motion track is set in the program, and the program and the coordinates are stored in a storage medium of a cooperative robot controller. When the upper computer needs to control the cooperative robot, the upper computer generally controls the robot to call the prestored action track to complete the work target by sending a simple message.
Based on the control and programming method of the existing cooperative robot, the control and programming of the existing cooperative robot have the problems of manpower waste, high requirement on professional literacy of programmers, inconvenience in changing the action line of the cooperative robot and inconvenience for a plurality of cooperative robots to cooperatively complete complex tasks.
In order to solve the above technical problems of the prior collaborative robot, in an embodiment of the present disclosure, a robot teaching system is provided, as shown in fig. 1, the robot teaching system including: the system comprises a mobile terminal 110, a server 120, a database 130 and a plurality of robots 140, wherein a front-end interface provided by the server 120 is installed in the mobile terminal 110, and a back-end service program is installed in the server 120.
The mobile terminal 110 is connected to the server 120, and configured to receive a robot operation instruction input by an operator through a front-end interface and multiple pieces of coordinate information (also referred to as a coordinate sequence) of a path where the robot reaches an operation position, and send the robot operation instruction and the multiple pieces of coordinate information of the path where the robot reaches the operation position to the server 120.
The server 120 is connected to the database 130, and configured to receive the robot operation instruction and the coordinate information of multiple paths where the robot reaches the operation position through the back-end service program, store the coordinate information of multiple paths where the robot reaches the operation position in the database 130, convert the robot operation instruction into an operation recognized by the robot, and send the operation recognized by the robot to the robot 140.
The robot 140 is configured to operate according to the received operation instruction.
In detail, one front-end interface and one back-end service program can correspond to a plurality of robots.
The robot as described herein refers to the robot itself or a robot control cabinet (or controller), and may communicate with a server through a network. Robot motions are transmitted and executed by the robot following a built-in control protocol, and include direction movements of respective degrees of freedom, movements of respective joints, movements to designated space coordinates, movements to designated joint coordinates, and the like. During specific implementation, a website corresponding to a front-end interface of the teaching robot can be pasted on the robot or a position near the robot, so that an operator can be helped to quickly position the robot and learn teaching by hands. The control of the robot is not limited to the use of the control interface provided by the robot manufacturer, and a self-written control program can be used to replace the control interface provided by the manufacturer, and the control program can complete the same actions as the actions in the case of the control program according to the message sent by the back-end service program. The basic principle of writing the control program is as follows: the coordinates are all transmitted from the communication interface and are not directly stored in a local storage medium of the robot; all operational objectives can be accomplished without requiring any changes to the program.
The mobile terminal interacts with an operator through a front-end interface, and the mobile terminal includes but is not limited to a notebook computer, a smart phone, a tablet computer and other terminals capable of accessing a webpage. The front-end interface is a graphical interface based on a webpage and can interact with a back-end service program running on a server. In implementation, the front-end interface can be developed by using HTML (hypertext markup language) + vue. The front-end interface performs data interaction with the back-end service program through an HTTP (hyper text transfer protocol).
The operation position refers to a position where the robot is required to complete end operation, each operation position corresponds to a coordinate sequence, each coordinate sequence comprises a plurality of coordinate information, each position refers to a position of a path to reach the operation position, each coordinate information indicates the position of each joint of the robot, and the position is required to be determined after the robot performs operation according to a robot operation command. Each robot can correspond to a plurality of operation positions.
The front-end interface at least comprises an operation instruction key interface, a position management interface and a coordinate management interface.
The operation instruction key interface is as shown in fig. 2A, and is used for an operator to complete input of a robot operation instruction by clicking a key of a corresponding operation instruction, the robot operation instruction is sent to a back-end service program in the server through the front-end interface, and the robot operation instruction is sent to the robot after being processed according to a robot communication protocol by the back-end service program, so that the purpose of controlling the robot is achieved. In some embodiments, the operation instruction keys include robot information to be taught selected by a user (the robot information stored in the robot information database is presented in a list form for the user to select the robot information to be taught), step movement in each degree of freedom direction, step movement in each joint, acceleration movement in each degree of freedom direction based on key time, acceleration movement in each joint based on key time, control of the state of the end effector through an end IO, and the like. In specific implementation, the coordinate information of the operation position path can be realized by the following modes: after an operator remotely controls the robot to move, the operator acquires coordinate information of the position of the robot through a front-end interface; the operator can also manually drag the robot, and after the robot is dragged to a certain position, the operator inputs the coordinate information of the position where the robot is located through the front-end interface; the operator can also input the data after the current coordinate information of the robot is finely adjusted through the front-end interface.
The position management interface is used for inputting operation position information by clicking the newly added button by an operator, and the input information comprises but is not limited to an operation position name, a robot name, a use posture and the like. As shown in fig. 2B, the position management interface is provided for the operator to enter new operation position information and also for the operator to retrieve existing operation position information in the database, and the operator can change (for example, modify, delete, etc.) the retrieved operation position information as required.
The coordinate management interface can jump to a coordinate entry guide interface for an operator to enter coordinate information and manage the entered coordinate information. As shown in fig. 2C and 2D, fig. 2C is a coordinate management interface, and fig. 2D is a coordinate entry guide interface. The coordinate management interface can be used for an operator to click the newly added button to jump to the coordinate entry guide interface, data entry is completed through the coordinate entry guide interface, the coordinate management interface not only can be used for the operator to enter new coordinate information, but also can be used for the operator to retrieve coordinate information corresponding to the existing operation position in the database (namely, coordinate information of multiple positions arriving at the operation position path), and the operator can change the retrieved coordinate information (such as modification, deletion and the like) according to requirements. And the coordinate input guide interface is used for an operator to input coordinate information, including but not limited to operation position names, coordinate serial numbers, coordinates of each joint of the robot and the like.
The back-end service program is used as a service end of a front-end interface, is deployed in a server and is developed by adopting a socket programmed by Java (one-door object-oriented programming language), and can be used for performing addition, deletion, modification and query operations on the database. The back-end service program performs data interaction with the front-end interface through an HTTP protocol, and performs data interaction with the robot through an encapsulated TCP/IP communication protocol. For example, an operator performs robot control operation on a front-end interface, the front-end interface sends a robot operation instruction to a back-end service program, the back-end service program receives the robot operation instruction, processes the robot operation instruction into an instruction capable of directly controlling the robot and sends the instruction to the robot, and the robot receives the operation instruction, completes an action and replies data to the back-end service program. The robot performs actions including, but not limited to, stepping movement in directions of respective degrees of freedom, stepping movement of respective joints, acceleration movement of respective directions of degrees of freedom based on key press time, acceleration movement of respective joints based on key press time, and control of end effector state by end IO.
The database may be deployed in a server, using MySQL (an open source relational database management system) database. The database and the back-end service program can be arranged on different servers. In order to facilitate retrieving information from the database, the database stores the information in a classified manner, and in one embodiment, as shown in fig. 3, the database includes: a robot information database, a robot position database and a robot coordinate database. And respectively storing a robot information table, a robot position table and a robot coordinate table.
The robot information database is used to store robot related information, as shown in fig. 5A, and includes, but is not limited to, field information such as a robot identifier ("arm _ id" and "arm _ name" fields), a robot IP address ("arm _ IP" field), and a port identifier ("arm _ port" field). And the robot accessed in the robot teaching system can be searched and determined through the robot information database. In specific implementation, the robot information database further stores information such as a robot state (an "arm _ status" field).
Fig. 5A illustrates an example in which only two robots are managed, namely, a main island and a sub-island, and in the case of implementation, a plurality of robots can be managed simultaneously. The "arm _ id" field is the robot number, the "arm _ name" field is the robot name, the "arm _ status" field is the robot state, the "arm _ IP" field is the robot IP address, and the "arm _ port" field is the robot port number. In specific implementation, other fields may be set according to an application scenario of the robot, which is not limited herein.
The robot position table is used for storing operation position related information, as shown in fig. 5B, including but not limited to operation position identifiers ("id" and "name" fields), belonging robot identifiers ("arm" field), terminal attitude information, and other field information. One robot can correspond to a plurality of operation positions, and each operation position corresponds to a coordinate sequence.
Fig. 5B manages tens of operation positions, and has a name of "placereader", etc., where the "id" field in the figure is the position number, the "name" field is the position name, the "usepos" field is the operation parameter, and the "arm" field is the belonging robot, for example, the position "placereader" belongs to the position managed by the robot named "hansArmPrime". In specific implementation, other fields may be set according to an application scenario of the robot, which is not limited herein.
The robot coordinate table is used for storing coordinate related information, as shown in fig. 5C, and includes, but is not limited to, a coordinate identification ("point _ id", "point _ name", "order _ num" field), an operation position identification ("position _ name" field), a coordinate number ("order _ num" field), joint coordinate information ("p 1-p 6" field), a path type ("move _ type" field), and other field information corresponding to each operation position. The coordinate serial number records the sequence from the waiting coordinate to the end point coordinate, and each operation position at least corresponds to one waiting coordinate (the first coordinate in the coordinate sequence) and one end point coordinate (namely the coordinate for completing the operation). In specific implementation, other fields may be set according to an application scenario of the robot, which is not limited herein.
In fig. 5C, tens of coordinates are shown, for example, "placereader _ M0" or the like, and the coordinate "placereader _ M0" is the coordinate No. 0 named "placereader" coordinate, i.e., the waiting coordinate. In the figure, a field of 'point _ id' is a coordinate number, a field of 'point _ name' is a coordinate name, a field of 'position _ name' is an operation position to which a coordinate belongs, a field of 'order _ num' is a coordinate number, a field of 'p 1-p 6' is a coordinate value of six degrees of freedom, and a field of 'move _ type' is a path type.
At present, a robot generally has two operation modes, one is a linear operation mode, the other is a joint operation mode, and corresponding to the difference of the operation modes, there are two storage modes for coordinates. For the linear operation mode, the joint coordinate information refers to X, Y, Z, theta of the terminal coordinate x ，θ y ，θ z I.e. the three-axis linear coordinates and the corresponding rotational coordinates (L type). For the joint motion pattern, each piece of joint coordinate information refers to angle data (J type) of six mechanical axes.
The robot teaching system provided by the invention is used for replacing a teaching machine by adopting a mode of a front-end interface, a server and a database aiming at the defects of complicated operation, repeatability and poor variability of the existing robot control method. The front-end interface provides a friendly operation interface, the server is provided with a back-end service program which can provide support for the front-end interface and control for the robot, and the database provides a container for storing operation positions and coordinate sequences of the operation positions. An operator can open a front-end interface through the mobile terminal at any time and any place to control and teach the robot, so that the operation of the robot is simplified, the efficiency of changing the action line of the robot is improved, and the programming convenience of the robot in an application scene is improved. And the containers of the operation positions and the coordinate sequences thereof are changed from the storage medium of the robot body to a database erected in the network, thereby greatly facilitating the management and management of the information. Meanwhile, a special demonstrator is not required to be equipped any more, and the cost required to be invested in hardware is reduced.
In an embodiment of this document, as shown in fig. 4, the step of receiving, by a mobile terminal, a robot operation instruction input by an operator through a front-end interface and multiple pieces of coordinate information of a process of the robot when the robot reaches an operation position, and sending the robot operation instruction and the multiple pieces of coordinate information of the process of the robot when the robot reaches the operation position to the server includes:
Specifically, as shown in fig. 2A, the following information can be set through the front-end interface: robot information to be taught, stepping mode, position control, attitude control, joint control, clamping jaw, turntable control, etc.
In this step, each coordinate information includes: the robot operating position name, the coordinate name and the coordinate information.
After the robot finishes the action, the operator determines whether the coordinate information of the operation position of the robot needs to be input, and if the operator determines not to input the coordinate information of the operation of the robot, the operator returns to the interface shown in fig. 2A to continuously input the operation command of the robot. If an operator determines to input the coordinate information of the operation position of the robot, the operator can jump to a coordinate input guide interface of fig. 2D through a coordinate management interface of fig. 2C to input the coordinate information, the name of the operation position and the name of the coordinate in the coordinate information need to be manually input, the coordinate data of the robot can be acquired by triggering a robot coordinate acquisition button (getL, getJ button) by the operator, after the operator triggers the robot coordinate acquisition button, a front-end interface sends a robot coordinate query request to a server, the server forwards the request to the robot, so that the robot coordinate information is acquired, and the acquired robot coordinate information is sent to the front-end interface to be displayed. Besides the coordinate information input mode, the coordinate information of the robot can be calculated through an external vision system or other auxiliary teaching tools and directly imported into a coordinate database.
The operator may enter the operation position information (including the operation position name and the name of the robot) in advance through the interface shown in fig. 2B, and may also perform operations such as modifying, deleting, exporting, and the like on the entered operation position information.
In an embodiment of this document, the server, in addition to forwarding and storing information, also provides database services according to information stored in the database, and the services include adding, deleting, modifying, and querying data in the database. Specifically, the mobile terminal also receives an operation position query instruction, a change instruction (deletion or modification) or an operation position and path coordinate information query instruction or a change instruction input by an operator through the front-end interface, and sends the query instruction and the change instruction to the server; the server acquires corresponding information from the database according to the query instruction, and the server changes the information in the database according to the change instruction.
In an embodiment of this document, as shown in fig. 6, a robot control system is further provided, which includes an upper computer 150 and the robot teaching system shown in fig. 1. After the robot teaching system finishes inputting coordinate information of multiple places of the way of the robot reaching the operation position, the robot can be controlled through the upper computer.
The upper computer 150 is connected to the server 120, and is configured to send an operation task to the server 120, where the operation task at least includes an operation position.
The server 120 queries the robot information corresponding to the operation position and the coordinate information (i.e., the coordinate sequence) corresponding to the operation position from the database 130 according to the operation task; and sending an operation instruction to the relevant robot according to the inquired information.
The robot 140 responds to the operation instructions to complete the operation task.
In detail, the host computer described herein includes, but is not limited to, a computer device, a server, and the like. The upper computer and the robot teaching system can be erected in the same local area network and can also be erected in a cloud (world wide web), and communication among all devices is not limited to network connection or wireless network connection and can also use a cellular network.
The operation task can be summarized as moving to the operation position along a certain track, completing a certain end action, and including the target operation to be executed besides the operation position.
The server 120 queries the robot information and the coordinate sequence corresponding to the operation position from the database according to the operation position. And according to the robot information and the target operation to be executed, sequentially sending an operation sub-instruction to the robot through a TCP/IP communication protocol according to the coordinate sequence in the coordinate sequence so as to enable the robot to act to all coordinate points. Each operation sub-instruction comprises coordinate information in the coordinate sequence and target operation to be executed.
And the robot acts according to the coordinate information in the operation sub-instruction, and operates according to the target operation to be executed when the robot acts to the last coordinate information. And after the robot finishes the operation, returning to the waiting coordinate from the end point coordinate according to the reverse order of the coordinate sequence, finishing the task and returning to the finishing state of the upper computer.
In one embodiment herein, the robot may use a cooperating robotic arm of the family of robots, Elfin E05 model, to plug a network cable connected to the server lan into an ethernet interface in the control cabinet during use. In practice, other types of robots may be used, and the type of the robot is not specifically limited herein.
In this embodiment, in order to ensure the accuracy of the coordinate sequence, after the server 120 queries a plurality of coordinate information corresponding to the operation position, the method further includes:
detecting whether the number of the coordinates at a plurality of positions corresponding to the operation position reaches the minimum value of the track sequence; if the judgment result is negative, sending alarm information to remind the user that the inquired coordinates are incomplete and coordinate information corresponding to the operation position needs to be input again.
In an embodiment herein, there is also provided a robot teaching method, as shown in fig. 7, the robot teaching method including:
703, the robot acts according to the received operation instruction;
Specifically, as shown in fig. 8, the process of inputting the robot operation command by the operator through the front-end interface in step 701 includes:
firstly, an operator opens a front-end interface, at the moment, the front-end interface sends a robot query request to a back-end service program of a server, the back-end service program forwards the robot query request to a robot information database to obtain robot information from the robot information database, the database sends the robot information to the back-end server program, the back-end service program sends the robot information to the front-end interface in a list form, the front-end interface displays the robot list on an operation instruction key interface in a drop-down frame form, and as shown in fig. 2A, the operator selects a robot to be taught;
secondly, an operator performs robot control operation on an operation instruction key interface, and inputs a robot operation instruction by clicking each button in the operation instruction key interface by using a mouse or a touch screen, wherein the robot operation instruction comprises step movement in each degree of freedom direction, step movement of each joint, acceleration movement of each degree of freedom direction based on key time, acceleration movement of each joint based on key time and control of the state of an end effector by terminal IO;
and finally, the operator clicks a remote control button in the operation instruction key interface to enable the front-end interface to send the robot operation instruction to the back-end service program of the server.
In the step 702, the server backend service program receives the robot operation instruction, processes the robot operation instruction into an instruction capable of directly controlling the robot, and sends the instruction to the robot.
In step 703, after the robot completes the action according to the instruction, the robot returns the data to the back-end service program, and the back-end service program processes the received data and returns the robot completion status to the front-end interface.
Whether the above step 704 is performed or not is determined by the operator according to the requirements. If the operator decides to record the coordinates of the robot, the operator may click a new button in the coordinate management interface shown in fig. 2C, at this time, the management interface may jump to the coordinate entry guide interface shown in fig. 2D, and the operator may enter the coordinate information of the operation position in the interface shown in fig. 2D, including: coordinate number, operation position name, robot, serial number in the track, and coordinate data of each joint. And the coordinate data of each joint can be input by a rear-end service program to inquire the current coordinate input front end of each joint from the robot by clicking a getL button and a getJ button, and clicking confirmation is carried out to finish the input of the current coordinate.
Each operating position includes at least one waiting coordinate and one end coordinate. After the step 705 is executed, an operator determines whether coordinate information corresponding to the operation position needs to be continuously entered, if the coordinate information needs to be continuously entered, the operator needs to continuously enter the robot operation instruction, and the step is repeatedly executed until the coordinate information in the operation position is completely entered.
In the robot teaching process, an operator can also input operation position information, inquire or change (delete or modify) the operation position information through a position management interface shown in fig. 2B. The coordinate management interface shown in fig. 2C is invoked to search for or change the stored coordinate information. And the back-end service program responds to all the operations of the front end to complete the change of the data in the database.
According to the embodiment, an operator controls the robot through a web page responding to the operation of the operator, the robot is separated from a traditional demonstrator, any number of robots can be managed by a single mobile terminal, the operator can open a front-end interface through the mobile terminal (such as a computer/a mobile phone/a tablet computer) at any time and any place, the robot is controlled and taught, the operation of the robot is simplified, the efficiency of changing the action line of the robot is improved, and the programming convenience of the robot in the application scene is improved. And the storage container of the operation position and the coordinate sequence thereof is changed from the storage medium of the robot body to a database erected in a network, thereby greatly facilitating the management and management of the information. Meanwhile, a special demonstrator is not required to be equipped any more, and the cost required to be invested in hardware is reduced.
After the teaching of the relevant coordinates of the operation position is completed, the robot can be controlled by using an upper computer, and in an embodiment of the disclosure, as shown in fig. 9, the robot control method includes:
and step 903, the robot responds to the operation instruction to complete the operation task.
Specifically, the operation task is to instruct the robot to perform the operation at the operation position a and return the operation, and may be set manually.
In the embodiment, the server sends the operation instruction to the robot, so that the data can be prevented from being written into the program or the storage medium of the robot. The robot, the upper computer, the mobile terminal, the server and the database are connected with one another through a network and can work independently without interference, for example, the mobile terminal does not need to be bound with a certain robot, and one set of the mobile terminal, the upper computer, the server and the database can serve multiple robots.
As shown in fig. 10, the specific process executed in step 902 includes: firstly, receiving an operation task sent by an upper computer, and inquiring a corresponding robot name from a robot position database according to an operation position A in the operation task; then, parameter information such as a robot IP address is inquired from a robot information database according to the inquired robot name, and a coordinate sequence related to an operation position A is inquired from a coordinate database according to the operation position A in the operation task; and then, according to parameter information such as the IP address of the robot and the coordinate sequence, sending an operation instruction to the robot through a TCP/IP communication protocol, controlling the robot to move to a first coordinate in the coordinate sequence, and controlling the robot to move to all coordinate points according to the coordinate serial number in the coordinate sequence.
In the above step 903, when the robot reaches the last coordinate in the coordinate sequence, the operation is completed, and meanwhile, the completion status is returned to the back-end service program. And when the back-end service program judges that the robot reaches the final coordinate, the operation task is completed, and a completion signal is sent to the upper computer.
In specific implementation, after the robot completes the operation task, the robot returns to the initial point from the end point according to the reverse order of the coordinate sequence.
According to the robot teaching system and method and the robot control system and method, the mode of a front-end interface, a server and a database is adopted to replace a demonstrator, so that the control of the robot can be separated from the demonstrator, the demonstrator can be completely abandoned, and the cost of the robot system is reduced. The front-end interface provides a friendly operation interface, the server is provided with a back-end service program which can provide support for the front-end interface and control for the robot, and the database provides a container for storing operation positions and coordinate sequences of the operation positions. The front-end interface can be opened by an operator through a mobile terminal (such as a computer/a mobile phone/a tablet computer) at any time and any place, the robot is controlled and taught, the operation of the robot is simplified, the efficiency of changing the action line of the robot is improved, the programming convenience of the robot under the application scene is improved, the operator does not need to spend a large amount of time to learn a complex programming system of the robot, and only the teaching of coordinates needs to be concentrated. The method reduces the threshold of operators, and can master the teaching and control capabilities of the robot only through simple training.
In an embodiment herein, the mobile terminal, server, etc. may also be a computer device running a front-end interface or back-end service, and as shown in fig. 11, the computer device 1102 may include one or more processors 1104, such as one or more Central Processing Units (CPUs), each of which may implement one or more hardware threads. The computer device 1102 may also include any memory 1106 for storing any kind of information such as code, settings, data etc. For example, and without limitation, memory 1106 may include any one or more of the following in combination: any type of RAM, any type of ROM, flash memory devices, hard disks, optical disks, etc. More generally, any memory may use any technology to store information. Further, any memory may provide volatile or non-volatile retention of information. Further, any memory may represent fixed or removable components of computer device 1102. In one case, when the processor 1104 executes the associated instructions, which are stored in any memory or combination of memories, the computer device 1102 can perform any of the operations of the associated instructions. The computer device 1102 also includes one or more drive mechanisms 1108, such as a hard disk drive mechanism, an optical disk drive mechanism, etc., for interacting with any memory.
Embodiments herein also provide a computer readable storage medium having stored thereon a computer program, which when executed by a processor performs the steps performed by a front-end interface or a back-end server program.
Embodiments herein also provide computer readable instructions, wherein the program, when executed by a processor, causes the processor to perform the steps of a front-end interface or a back-end server program.
It should be understood that, in various embodiments herein, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments herein.
It should also be understood that, in the embodiments herein, the term "and/or" is only one kind of association relation describing an associated object, meaning that three kinds of relations may exist. For example, a and/or B, may represent: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided herein, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments herein.
In addition, functional units in the embodiments herein may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present invention may be implemented in a form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
The principles and embodiments of this document are explained herein using specific examples, which are presented only to aid in understanding the methods and their core concepts; meanwhile, for the general technical personnel in the field, according to the idea of this document, there may be changes in the concrete implementation and the application scope, in summary, this description should not be understood as the limitation of this document.
Claims (7)
1. A robot control system, comprising: an upper computer and a robot teaching system;
the robot teaching system comprises a mobile terminal, a server, a database and a plurality of robots, wherein a front-end interface provided by the server is installed in the mobile terminal, and a back-end service program is installed in the server;
the mobile terminal is connected with the server, positions the robot to be taught in a mode of accessing a website which is pasted on the robot and corresponds to a front-end interface of the robot to be taught, is used for receiving a robot operation instruction which is input by an operator through the front-end interface and multi-position coordinate information of an approach of the robot to an operation position, and sends the robot operation instruction and the multi-position coordinate information of the approach of the robot to the operation position to the server;
the server is connected with the database, receives the robot operation instruction and the coordinate information of a plurality of paths of the robot to the operation position through a back-end service program, stores the coordinate information of the plurality of paths of the robot to the operation position in the database, converts the robot operation instruction into an operation instruction recognized by the robot and then sends the operation instruction to the robot;
the robot is used for acting according to the received operation instruction;
the upper computer is connected with the server and used for sending an operation task to the server, wherein the operation task at least comprises an operation position;
the server inquires the robot information corresponding to the operation position and the coordinate information corresponding to the operation position in the operation task from the database according to the operation task; detecting whether the number of the coordinates at a plurality of positions corresponding to the inquired operation position reaches the minimum value of the track sequence; if the judgment result is negative, sending alarm information; if the judgment result is yes, sending an operation instruction to the relevant robot according to the inquired information; the coordinate information of the multiple positions is a coordinate sequence and comprises coordinate information from a waiting coordinate to an end point coordinate;
the robot responds to the operation instruction to complete an operation task; and after the robot finishes the operation task, returning to the waiting coordinate from the terminal coordinate in a reverse order according to the inquired coordinate information, and recovering the finishing state of the upper computer.
2. The robot control system according to claim 1, wherein the mobile terminal receives a robot operation command and a plurality of coordinate information of a robot arriving at an operation position, which are input by an operator through the front-end interface, and transmits the robot operation command and the plurality of coordinate information of the robot arriving at the operation position to the server, and the method comprises:
the front-end interface receives a robot operation instruction input by an operator and sends the robot operation instruction to the server;
after the robot finishes the action, the front-end interface receives the current coordinate information of the robot input by an operator, and the current coordinate information of the robot is used as coordinate information of a path of the robot to reach an operation position and is sent to the server;
and repeating the two steps until the robot reaches the operation position.
3. The robot control system of claim 1, wherein the robot operating instructions comprise at least: robot information to be taught, respective degrees of movement in the stepping direction, and respective joint stepping movement amounts.
4. The robot control system of claim 1, wherein the database comprises: a robot information database, a robot position database and a robot coordinate database;
the robot information database is used for storing a robot identifier, a robot IP address and a port identifier;
the robot position database is used for storing an operation position identifier, a robot identifier and terminal attitude information;
and the robot coordinate database is used for storing the coordinate identification, the coordinate serial number and the joint coordinate information of each operation position and path.
5. The robot control system according to claim 4, wherein the mobile terminal further receives an operation position change instruction or an operation position route coordinate information change instruction input by an operator through the front-end interface, and transmits the change instruction to a server;
and the server changes the information in the database according to the change instruction.
6. The robot control system according to claim 1, wherein the server issues an operation command to the relevant robot according to the inquired information, including:
the server sends out operation sub-instructions to the relevant robots according to the inquired robot information and the sequence of the coordinate information at a plurality of positions corresponding to the operation positions;
and the related robot acts according to the operation sub-instruction.
7. A robot control method, comprising:
the method comprises the steps that a mobile terminal positions a robot to be taught in a mode of accessing a website which is pasted on the robot and corresponds to a front-end interface of the teaching robot, receives a robot operation instruction input by an operator through the front-end interface, and sends the robot operation instruction to a server;
the server receives the robot operation instruction, converts the robot operation instruction into an operation instruction which can be identified by the robot and then sends the operation instruction to the robot;
the robot acts according to the received operation instruction;
after the robot acts, the mobile terminal receives the current coordinate information of the robot input by an operator through the front-end interface, and sends the current coordinate information of the robot to the server as coordinate information of a path where the robot reaches an operation position; the server stores the coordinate information of the path of the robot to the operation position in a database;
sending an operation task to a server by an upper computer, wherein the operation task at least comprises an operation position;
the server inquires the robot information corresponding to the operation position and the coordinate information corresponding to the operation position in the operation task from a database according to the operation task; detecting whether the number of the coordinates at a plurality of positions corresponding to the inquired operation position reaches the minimum value of the track sequence; if the judgment result is negative, sending alarm information; if the judgment result is yes, sending an operation instruction to the relevant robot according to the inquired information; the coordinate information of the multiple positions is a coordinate sequence and comprises coordinate information from a waiting coordinate to an end point coordinate;
the robot responds to the operation instruction to complete an operation task; and after the robot finishes the operation task, returning to the waiting coordinate from the terminal coordinate in a reverse order according to the inquired coordinate information, and recovering the finishing state of the upper computer.
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| CN115781635B (en) * | 2022-11-04 | 2024-08-06 | 北京镁伽机器人科技有限公司 | Robot teaching method and device, electronic device, and storage medium |
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