CN110434857A - A kind of robot control method based on edge calculations and compatible multi-motion instruction - Google Patents
A kind of robot control method based on edge calculations and compatible multi-motion instruction Download PDFInfo
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- CN110434857A CN110434857A CN201910817543.5A CN201910817543A CN110434857A CN 110434857 A CN110434857 A CN 110434857A CN 201910817543 A CN201910817543 A CN 201910817543A CN 110434857 A CN110434857 A CN 110434857A
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- 230000036316 preload Effects 0.000 claims description 3
- 238000011161 development Methods 0.000 abstract description 11
- 238000005516 engineering process Methods 0.000 description 3
- 210000001072 colon Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
A kind of robot control method based on edge calculations and compatible multi-motion instruction, comprising: the first step formulates stereotyped command framework agreement, and the movement instruction of the robot of different manufacturers is centralized and unified, carries out the expression of canonical form；Second step writes the C++ program library communicated with robot；The canonical form title of the first step is sent to the robotic end in second step by C++ program library by third step；4th step installs analysis program in robotic end, is the movement instruction title of robot in second step by the canonical form name translation in third step, controls the movement of robot.The present invention is by formulating framework agreement, it can be centralized and unified by the control movement instruction of the robot of different manufacturers, enormously simplify the development process of robot control program, improve the readability of code, and solves the problems such as the excessively high using threshold of robot, programming difficulty, overall process flow is optimized, the development of robot industry is facilitated.
Description
Technical field
It is especially a kind of based on edge calculations and compatible multi-motion instruction the present invention relates to technical field of robot control
Robot control method.
Background technique
Robot Control Technology is the key technology in the fields such as robot application, industrial automation, and the purpose is to pass through to compile
Robot manufacturing cell is write, allows the robot to be intended to go to take action according to the mankind automatically, accurately, has and complete certain people
The ability of class work frees the mankind from repeatability, physical strength, mechanical work, goes to put into substitute the mankind
Into more creative work.A kind of good robot control method is the basis of robot application, is to realize industry 4.0
Important prerequisite is of great immediate significance.And existing robot control method is that each producer, robot has oneself
A kind of programming language, and standard incompatible, ununified mutually, this has resulted in some difficulties, as programming process is too numerous
Trivial, code is readable poor, and since the application scenarios of robot are various, and technique requires to be also different, so, control language
Flexibility be difficult to meet its requirement, furthermore, because the producer of production machine people is more, but respectively between do not seek unity of standard,
So will lead to the at high cost of study, inefficiency, and the time wasted is also grown.The above-mentioned existing robot that is present in produced
The problems in journey can all cause the threshold of robot application to improve, and be unfavorable for the development of industry, and the low efficiency developed and disposed
Under.In this way, the energy of Developmental Engineer just can be only placed in the basic exercise control of robot, and thinking higher level can not be gone
Robot Control Technology, to achieve the purpose that optimization technological process, the development that will cause this field is gone no further.
So need to just design one kind can be compatible with multiple producers' differences in order to be simplified the control flow of robot
The control program of the robot of type and the robot control method for reducing learning cost and raising development efficiency.
Summary of the invention
It can fit it is an object of the invention to overcome the deficiencies of the prior art and provide a kind of raising code readability and preferably
The robot control method for answering several scenes and kinds of processes to require.
The present invention solves its technical problem and adopts the following technical solutions to achieve:
A kind of robot control method based on edge calculations and compatible multi-motion instruction, comprising the following steps:
The first step formulates stereotyped command framework agreement, and the movement instruction of the robot of different manufacturers is centralized and unified, carries out
The expression of canonical form；
Second step writes the C++ program library communicated with robot；
The canonical form title of the first step is sent to the robotic end in second step by C++ program library by third step；
4th step installs analysis program in robotic end, is in second step by the canonical form name translation in third step
The movement instruction title of robot, controls the movement of robot.
Preferably, the stereotyped command framework agreement in the first step be with C++ programming, each different manufacturers
The upper end of the movement instruction of robot is all made of same stereotyped command.
Preferably, the programming language mode of the C++ program library in the second step is C++API.
Preferably, it is by the communication mode that canonical form title is sent to each robotic end in the third step
socket。
Preferably, the robotic end in the third step is the client of server software, and the client is divided into
Command service, console service and status service.
Preferably, command information transmitted by the command service is to preload message, and the preloading message is in machine
Not feedback information after people end receives feeds back execution information when going to the contained order of the preloading message, and that is fed back holds
The form of row information is the stereotyped command in the first step.
Preferably, the transmitted console message of console service is to execute message immediately, and described holds immediately
Row message is immediately performed after robotic end receives and execution result back, and the form for the implementing result fed back is described
Stereotyped command in the first step.
Preferably, the status service is that robotic end timing is sent out status information, the status information packet
Robot I/O state, robot end position and joint of robot position are included, the status information is not required to feed back.
Preferably, command service foundation has command server, and the console service foundation has console clothes
Business device, the status service establish stateful server.
It preferably, include JavaScript and python language interface in the C++ program library of the second step.
The advantages and positive effects of the present invention are:
The present invention, can be centralized and unified by the control movement instruction of the robot of different manufacturers by formulating framework agreement,
The expression for carrying out canonical form, this greatly simplifies the development processes of robot control program, reduce robot control journey
The learning cost of sequence exploitation, improves the readability of code, and solve the excessively high using threshold of robot, programming difficulty etc.
Problem optimizes overall process flow, facilitates the development of robot industry and robot development engineer is helped to research and develop machine
Device people's deep layer technical field.
Detailed description of the invention
Fig. 1 is work step flow diagram of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it
It can be and be set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
The embodiment of the present invention is further described below in conjunction with attached drawing:
As shown in Figure 1, a kind of robot control based on edge calculations and compatible multi-motion instruction of the present invention
Method, comprising the following steps:
The first step formulates stereotyped command framework agreement, and the movement instruction of the robot of different manufacturers is centralized and unified, carries out
The expression of canonical form；
Second step writes the C++ program library communicated with robot, includes in the C++ program library
JavaScript and python language interface；
The canonical form title of the first step is sent to the robotic end in second step by C++ program library by third step；
4th step installs analysis program in robotic end, is in second step by the canonical form name translation in third step
The movement instruction title of robot, controls the movement of robot.
Further, the stereotyped command framework agreement in the first step be with C++ programming, each different manufacturers
The upper end of the movement instruction of robot is all made of same stereotyped command, is sent and is controlled to each robot by this stereotyped command
System order.
Further, the programming language mode of the C++ program library in the second step is C++API, and C++API can be compatible with
The programming language order of the robot of multiple producers.
Further, it is by the communication mode that canonical form title is sent to each robotic end in the third step
socket.Socket is a kind of programming mode based on ICP/IP protocol, originates from Unix, and programming communication mode is " to open
Open- reads and writes write/read- and closes close ", has for each interface and writes LISP program LISP exclusively for what it was formulated.
Further, the robotic end in the third step is the client of server software, and the client is divided into
Command service, console service and status service.The command service foundation has command server, the console clothes
Business, which is established, console server, and the status service establishes stateful server, command service, console service and state
Respective server is established in service respectively, it can be ensured that three service commands are not interfered mutually.
Further, command information transmitted by the command service is to preload message, and the preloading message is in machine
Not feedback information after people end receives feeds back execution information when going to the contained order of the preloading message, and that is fed back holds
The form of row information is the stereotyped command in the first step.
Further, the transmitted console message of console service is to execute message immediately, and described holds immediately
Row message is immediately performed after robotic end receives and execution result back, and the form for the implementing result fed back is described
Stereotyped command in the first step.
Further, the status service is that robotic end timing is sent out status information, the status information packet
Robot I/O state, robot end position and joint of robot position are included, the status information is not required to feed back.
In command service, console service and status service, all communications all use the transmission form of single message,
Every message all includes message header and message parameter two parts, between every message using branch "；" as separation, message header
Use colon ": " as separating with message parameter, if message parameter is sky, colon be can be omitted, different message parameters
Between use comma, " as separate.
When it is implemented, the framework agreement of stereotyped command is first made with C++API, by the fortune of the robot of different manufacturers
Dynamic instruction carries out the expression of centralized and unified canonical form, for example, the movement instruction of robot, A producer is " abc ", B producer machine
The movement instruction of device people is " 123 ", and the movement instruction of robot, C producer is " α β γ ", fortune performed by above-mentioned three kinds of robots
Dynamic instruction is identical, but because its programming language frame is different, and causes expression-form different, will increase user's in this way
Using difficulty, robot motion's instruction that user must grasp all producers could skillfully use various robots.And use C++
The stereotyped command that API is formulated can improve the above problem, since the movement instruction of the robot of all producers can be translated as
Stereotyped command, so, stereotyped command is equivalent to an intermediate " Interpreter Officer ", for realizing the order between user and robot
It links up, it is " ABC " that above-mentioned tri- kinds of producers of A, B, C, which are converted to stereotyped command, facilitates user to observe and use, user can not
Needing to be grasped multi-motion instruction can be operated a variety of different types of robots.User passes through C++ program library again and refers to standard
It enables " ABC " to be sent to robotic end, then, installs the program of parsing in robotic end, this analysis program is existing translation
Program, it is possible to use the translator of the framework agreement for the stereotyped command established in the first step, stereotyped command
" ABC " is converted to the movement instruction of each robot itself, to control the movement of robot.
The present invention, can be centralized and unified by the control movement instruction of the robot of different manufacturers by formulating framework agreement,
The expression for carrying out canonical form, this greatly simplifies the development processes of robot control program, reduce robot control journey
The learning cost of sequence exploitation, improves the readability of code, and solve the excessively high using threshold of robot, programming difficulty etc.
Problem optimizes overall process flow, facilitates the development of robot industry and robot development engineer is helped to research and develop machine
Device people's deep layer technical field.
It is emphasized that embodiment of the present invention be it is illustrative, without being restrictive, therefore the present invention is simultaneously
It is not limited to embodiment described in specific embodiment, it is all to be obtained according to the technique and scheme of the present invention by those skilled in the art
Other embodiments, also belong to the scope of protection of the invention.
Claims (10)
1. a kind of robot control method based on edge calculations and compatible multi-motion instruction, which is characterized in that including following
Step:
The first step formulates stereotyped command framework agreement, and the movement instruction of the robot of different manufacturers is centralized and unified, carries out standard
The expression of form；
Second step writes the C++ program library communicated with robot；
The canonical form title of the first step is sent to the robotic end in second step by C++ program library by third step；
4th step installs analysis program in robotic end, is machine in second step by the canonical form name translation in third step
The movement instruction title of people, controls the movement of robot.
2. a kind of robot control method based on edge calculations and compatible multi-motion instruction according to claim 1,
It is characterized by: the stereotyped command framework agreement in the first step is with C++ programming, the machine of each different manufacturers
The upper end of the movement instruction of people is all made of same stereotyped command.
3. a kind of robot control method based on edge calculations and compatible multi-motion instruction according to claim 1,
It is characterized by: the programming language mode of the C++ program library in the second step is C++API.
4. a kind of robot control method based on edge calculations and compatible multi-motion instruction according to claim 1,
It is characterized by: canonical form title to be sent to the communication mode of each robotic end for socket in the third step.
5. a kind of robot control method based on edge calculations and compatible multi-motion instruction according to claim 4,
It is characterized by: the robotic end in the third step is the client of server software, the client is divided into order
Service, console service and status service.
6. a kind of robot control method based on edge calculations and compatible multi-motion instruction according to claim 5,
It is characterized by: command information transmitted by the command service is to preload message, the preloading message is in robotic end
Not feedback information after receiving feeds back execution information when going to the contained order of the preloading message, and that is fed back executes letter
The form of breath is the stereotyped command in the first step.
7. a kind of robot control method based on edge calculations and compatible multi-motion instruction according to claim 5,
It is characterized by: console message transmitted by the console service is to execute message immediately, the instant execution disappears
Breath is immediately performed after robotic end receives and execution result back, and the form for the implementing result fed back is described first
Stereotyped command in step.
8. a kind of robot control method based on edge calculations and compatible multi-motion instruction according to claim 5,
It is characterized by: the status service is that robotic end timing is sent out status information, the status information includes machine
Device people I/O state, robot end position and joint of robot position, the status information are not required to feed back.
9. a kind of robot control method based on edge calculations and compatible multi-motion instruction according to claim 5,
It is characterized by: the command service foundation has command server, the console service foundation has console server,
The status service establishes stateful server.
10. a kind of robot control method based on edge calculations and compatible multi-motion instruction according to claim 1,
It is characterized by: including JavaScript and python language interface in the C++ program library of the second step.
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| CN103227779A (en) * | 2013-03-27 | 2013-07-31 | 安科智慧城市技术（中国）有限公司 | Communication control method, system and device for building equipment |
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2019
- 2019-08-30 CN CN201910817543.5A patent/CN110434857A/en active Pending
Patent Citations (4)
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|---|---|---|---|---|
| US7269833B2 (en) * | 2001-12-12 | 2007-09-11 | Sun Microsystems, Inc. | Scriptable plug-in application programming interface |
| CN103227779A (en) * | 2013-03-27 | 2013-07-31 | 安科智慧城市技术（中国）有限公司 | Communication control method, system and device for building equipment |
| CN108667924A (en) * | 2018-04-18 | 2018-10-16 | 大连理工大学 | A method for establishing a gateway device providing edge computing services |
| CN109474633A (en) * | 2018-12-28 | 2019-03-15 | 深圳和而泰数据资源与云技术有限公司 | Method for converting protocol, calculates equipment and computer storage medium at device |
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