CN113043250B - Robot control system and method - Google Patents

Abstract

This paper provides a robot control system and method, wherein the robot teaching system includes: a mobile terminal, a server, a database and multiple robots; the mobile terminal is connected to the server for receiving robot operation instructions input by an operator through a front-end interface, The robot reaches multiple coordinate information of the operation position, and sends the robot operation instruction and coordinate information to the server; the server connects to the database, receives the robot operation instruction and coordinate information through the back-end service program, and transmits the coordinate information of the robot operation position. It is stored in the database, and the robot operation instructions are converted into operation instructions recognized by the robot and sent to the robot; the robot is used to perform actions according to the received control instructions. This paper can simplify the operation of the robot, improve the convenience of programming in the application scenario of the robot, and reduce the cost of hardware investment.

Description

A robot control system and method

technical field

This paper relates to the field of robotics, in particular to a robotic control system and method.

Background technique

In the prior art, the action control of the collaborative robot by the operator is mostly realized by the teach pendant or other teaching tools. During the specific implementation, the professional engineer writes a fixed program for a single task target through the teach pendant and other equipment, and The sequence of coordinates that make up the motion trajectory is set in the program, and the program and coordinates are stored in the storage medium of the collaborative robot controller. This control method can only enable the collaborative robot to complete a small number of preset action routes. Once the action route or the task to be performed needs to be changed, professional engineers are required to reprogram, and the programming process of the robot generally needs to be completed by professionals. In addition, in some cases, multiple collaborative robots are required to complete complex tasks, and a separate program needs to be written for each robot, and each robot needs to be equipped with a corresponding teach pendant. The above factors will lead to increased cost and waste of human resources.

SUMMARY OF THE INVENTION

This paper is used to solve the problems of waste of manpower in the programming of collaborative robots in the existing technology, high requirements for the professional quality of programmers, high investment in hardware, inconvenient to change the action lines of collaborative robots, and unfavorable for multiple collaborative robots to cooperate to complete complex tasks. .

In order to solve the above technical problems, a first aspect of this paper provides a robot teaching system, including: a mobile terminal, a server, a database and multiple robots, wherein the mobile terminal is installed with a front-end interface provided by the server, so The back-end service program is installed in the server;

The mobile terminal is connected to the server, and is used to receive the robot operation instruction input by the operator through the front-end interface, and the coordinate information of the robot to reach the operation position. sending the location coordinate information to the server;

The server is connected to the database, receives the robot operation instruction and the multiple coordinate information of the robot's path to the operation position through the back-end service program, and stores the multiple coordinate information of the robot's path to the operation position in the database, Convert the robot operation instruction into an operation instruction recognized by the robot and send it to the robot;

The robot is used to act according to the received operation instruction.

In a further embodiment of this document, the mobile terminal receives the robot operation instruction input by the operator through the front-end interface, and the coordinate information of multiple locations that the robot has experienced to reach the operation position, and the robot operation instruction and the multiple locations experienced by the robot to reach the operation position are received. The coordinate information is sent to the server, including:

The front-end interface receives the robot operation instruction input by the operator, and sends the robot operation instruction to the server;

After the robot completes the action, the front-end interface receives the current coordinate information of the robot input by the operator, and sends the current coordinate information of the robot to the server as a coordinate information of the way the robot reaches the operating position; repeating the above two steps, until the robot reaches the operating position.

In a further embodiment of this document, the robot operation instruction includes: robot information to be taught, the step movement amount in the direction of each degree of freedom, and the step movement amount of each joint.

In further embodiments herein, the database includes: a robot information database, a robot position database, and a robot coordinate database;

The robot information database is used to store robot identification, robot IP address and port identification;

The robot position database is used to store the operation position identification, the robot identification and the terminal attitude information;

The robot coordinate database is used to store each coordinate identification, coordinate serial number, and coordinate information of each joint of each operation position path.

In a further embodiment of this paper, after the robot completes the action, the action result is also sent to the server;

The server processes the action result and sends it to the front-end interface of the mobile terminal for display.

In a further embodiment of this document, the mobile terminal also receives an operation position change instruction or an operation position route coordinate information change instruction input by the operator through the front-end interface, and sends the change instruction to the server;

The server modifies the information in the database according to the modification instruction.

A second aspect of this document provides a robot control system, including: a host computer and the robot teaching system described in any of the foregoing embodiments;

The upper computer is connected to the server, and is used for sending an operation task to the server, wherein the operation task at least includes an operation position;

According to the operation task, the server inquires the robot information corresponding to the operation position and the coordinate information corresponding to the operation position from the database; and sends an operation instruction to the relevant robot according to the inquired information;

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 corresponding to the operation position, the server further includes:

Detecting whether the number of coordinates corresponding to the operation position reaches the minimum value of the trajectory sequence;

If the judgment result is no, an alarm message will be issued.

In a further embodiment of this document, the server sends an operation instruction to the relevant robot according to the queried information and operation task, including:

According to the queried robot information, the server sends out operation sub-commands to the relevant robot in sequence according to the order of the coordinate information corresponding to the operation position;

The relevant robot moves according to the operation sub-command.

The third aspect of this paper provides a teaching method for a collaborative robot, including:

The mobile terminal receives the robot operation instruction input by the operator through the front-end interface, and sends the robot operation instruction to the server;

The server receives the robot operation instruction, converts the robot operation instruction into an operation instruction that the robot can recognize, and sends it to the robot;

The robot moves according to the received operation instruction;

After the robot moves, the mobile terminal receives the current coordinate information of the robot input by the operator through the front-end interface, and sends the current coordinate information of the robot to the server as a coordinate information of the way the robot reaches the operating position; the server sends the information to the server. The coordinate information of the path of the robot to the operating position is stored in the database.

A fourth aspect of this paper provides a robot control method, including:

Sending an operation task to the server from the upper computer, wherein the operation task at least includes an operation position;

According to the operation task, the server inquires the robot information corresponding to the operation position and the coordinate information corresponding to the operation position from the database; and sends an operation instruction to the relevant robot according to the inquired information;

The robot responds to the operation instruction to complete the operation task.

This paper provides a robot teaching system and method, and a robot control system and method. Aiming at the defects of complicated and repetitive operation and poor variability of the existing robot control method, the front-end interface + server + database is used to replace the teaching pendant. The front-end interface provides a friendly operation interface. The back-end service program is installed in the server, which can provide support for the front-end interface and control of the robot. The database provides a container for storing the operation position and its coordinate sequence. Operators can open the front-end interface through a mobile terminal (such as computer/mobile phone/tablet) anytime and anywhere to control and teach the robot, which simplifies the operation of the robot, reduces the complexity of multi-robot system management, and improves the change of robot action lines. The efficiency of the robot improves the programming convenience in the application scenario of the robot. And the container of the operation position and its coordinate sequence has changed from the storage medium of the robot body to the database set up in the network, which greatly facilitates the management of these information. At the same time, it no longer needs to be equipped with a dedicated teaching pendant, which reduces the cost of hardware investment.

In order to make the above-mentioned and other objects, features and advantages of this paper more obvious and easy to understand, preferred embodiments are hereinafter described in detail in conjunction with the accompanying drawings.

Description of drawings

In order to more clearly illustrate the embodiments or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that are used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only For some embodiments herein, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative effort.

Fig. 1 shows the structure diagram of the robot teaching system according to the embodiment of this paper;

FIG. 2A shows a schematic diagram of the operation instruction button interface in the front-end interface of the embodiment of this document;

FIG. 2B shows a schematic diagram of a location management interface in the front-end interface of the embodiment of this document;

2C shows a schematic diagram of the coordinate management interface in the front-end interface of the embodiment of this paper;

2D shows a schematic diagram of the interactive interface of adding coordinate information wizard in the front-end interface of the embodiment of this paper;

Fig. 3 shows the structure diagram of data storage in the database of this embodiment;

Fig. 4 shows the flow chart of the process of interaction between the front-end interface and the server according to the embodiment of this paper;

FIG. 5A shows a schematic diagram of the storage content of the robot information database according to the embodiment of this document;

FIG. 5B shows a schematic diagram of the storage content of the robot position database according to the embodiment of this document;

FIG. 5C shows a schematic diagram of the storage content of the robot coordinate database according to the embodiment of this paper;

Fig. 6 shows the structure diagram of the robot control system of the embodiment of this paper;

Fig. 7 shows the flow chart of the teaching method of the robot according to the embodiment of this paper;

Fig. 8 shows the flow chart of the robot teaching method according to the specific embodiment of this document;

Fig. 9 shows the flow chart of the robot control method of the embodiment of this paper;

Fig. 10 shows the flow chart of the robot control method according to the specific embodiment of this document;

FIG. 11 shows a structural diagram of a computer device according to an embodiment of this document.

Description of the symbols in the drawings:

110. Mobile terminal;

120. server;

130. database;

140. Robot;

150. Host computer;

1102. Computer equipment;

1104. processor;

1106. memory;

1108. Drive mechanism;

1110. Input/output module;

1112. Input device;

1114. Output device;

1116. Presentation equipment;

1118. Graphical operator interface;

1120. network interface;

1122. Communication link;

1124. A communication bus.

Detailed ways

The technical solutions in the embodiments herein will be clearly and completely described below with reference to the accompanying drawings in the embodiments herein. Obviously, the described embodiments are only a part of the embodiments herein, rather than all the embodiments. Based on the embodiments herein, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection herein.

This specification provides method operation steps as described in the embodiments or flow charts, but more or less operation steps may be included based on routine or non-creative work. The sequence of steps enumerated in the embodiments is only one of the execution sequences of many steps, and does not represent the only execution sequence. When an actual system or device product is executed, the methods shown in the embodiments or the accompanying drawings may be executed sequentially or in parallel.

The collaborative robot teaching system and method, and the robot control system and method described in this paper are suitable for teaching and controlling various robots, especially for collaborative robots. Collaborative robots include multi-axis robotic arms and end effectors. The end effector can realize data collection, processing, handling and other processes in various fields (such as biological field). For example, a collaborative robot is a robotic arm, which refers to a robot that cooperates with people to complete different tasks. A collaborative robot does not require human guards. It is an easy-to-integrate robot and has the following characteristics:

1) Lightweight: make collaborative robots easier to control and improve safety;

2) Friendliness: ensure that the surface and joints of the collaborative robot are smooth and flat, without sharp corners or gaps that easily pinch the operator;

3) Perception ability: enable collaborative robots to perceive the surrounding environment and change their actions and behaviors according to changes in the surrounding environment;

4) Human-robot cooperation: It has sensitive force feedback characteristics, and it will stop immediately when the set force is reached. After the risk assessment, there is no need to install a protective fence, so that humans and robots can work together.

These cobots often perform repetitive or unsafe tasks, while humans perform more valuable manual tasks upstream and downstream. In terms of cost, most cobots are cheaper than traditional industrial robots. In the prior art, the motion control and programming of collaborative robots are mostly completed through a teach pendant, a fixed program is written for a relatively single task target, and the coordinate sequence that constitutes the motion trajectory is set in the program, and the program and coordinates are stored in the in the storage medium of the collaborative robot controller. When the host computer needs to control the collaborative robot, it generally sends a simple message to control the robot to call the pre-stored motion trajectory to complete the work goal.

Based on the above-mentioned control and programming methods of the existing collaborative robots, the control and programming of the existing collaborative robots wastes manpower, requires high professional quality of programmers, is inconvenient to change the action lines of the collaborative robots, and is not conducive to the cooperation of multiple collaborative robots to complete complex tasks. The problem.

In order to solve the above technical problems of existing collaborative robots, in an embodiment of this paper, a robot teaching system is provided. As shown in FIG. 1 , the robot teaching system includes: a mobile terminal 110 , a server 120 , a database 130 and more A robot 140 is installed, wherein the front-end interface provided by the server 120 is installed in the mobile terminal 110 , and the back-end service program is installed in the server 120 .

The mobile terminal 110 is connected to the server 120 for receiving the robot operation instructions input by the operator through the front-end interface, and the multiple coordinate information (also referred to as the coordinate sequence) of the way the robot reaches the operation position. The coordinate information of the multiple locations is sent to the server 120 .

The server 120 is connected to the database 130, and is used to receive the robot operation instruction and the coordinate information of the robot to reach the operation position through the back-end service program, store the coordinate information of the robot to the operation position in the database 130, and operate the robot. The instructions are converted into robot-recognized operations and then sent to generate and send robot control instructions to the robot 140 .

The robot 140 is used to act according to the received operation instruction.

Specifically, one front-end interface and one back-end service program can correspond to multiple robots.

The robot mentioned in this article refers to the robot itself or the robot control cabinet (or controller), which can communicate with the server through the network. The robot motion is sent and executed by the robot following the built-in control protocol. The robot motion includes the movement of each degree of freedom, the movement of each joint, the movement to the specified space coordinates, and the movement to the specified joint coordinates. In specific implementation, the URL corresponding to the front-end interface of the teaching robot can be pasted on or near the robot, so as to help the operator to quickly locate the robot and start teaching. The control of the robot is not limited to the use of the control interface provided by the robot manufacturer, and the control program written by oneself can also be used to replace the control interface provided by the manufacturer. Actions. The basic principle of the control program writing is: the coordinates are all imported from the communication interface and are not directly stored in the local storage medium of the robot; all operation objectives can be completed without any changes to the program.

The mobile terminal interacts with the operator through the front-end interface, including but not limited to terminals that can access web pages, such as notebook computers, smart phones, and tablet computers. The front-end interface is a web-based graphical interface that can interact with the back-end service program running on the server. When implemented, the front-end interface can be developed using HTML (Hypertext Markup Language) + Vue.js (a progressive JavaScript framework for building operator interfaces). The front-end interface exchanges data with the back-end service program through the HTTP protocol (Hypertext Transfer Protocol).

The operation position mentioned in this article refers to the position where the robot needs to complete the terminal operation. Each operation position corresponds to a coordinate sequence, and each coordinate sequence contains multiple coordinate information. Each coordinate information indicates the position of each joint of the robot, which needs to be determined after the robot completes the action according to the robot operation instruction. Each robot can correspond to multiple operating positions.

The front-end interface at least includes an operation command button interface, a position management interface and a coordinate management interface.

Among them, the operation instruction button interface is shown in Figure 2A, which is used for the operator to complete the input of the robot operation instruction by clicking the button of the corresponding operation instruction, and the front-end interface sends the robot operation instruction to the back-end service program in the server, and then The terminal service program processes the robot operation instructions according to the robot communication protocol and sends them to the robot, so as to achieve the purpose of controlling the robot. In some specific embodiments, the operation instruction button includes the robot information to be taught selected by the user (the robot information stored in the robot information database is displayed in the form of a list, so that the user can select the robot information to be taught), each The step movement in the degree direction, the step movement of each joint, the accelerated movement of each degree of freedom direction based on the key time, the accelerated movement of each joint based on the key time, and the state of the end effector controlled by the terminal IO. In specific implementation, the coordinate information of the operation position path can be realized in the following ways: after the operator remotely controls the robot to move, the operator obtains the coordinate information of the robot's position through the front-end interface; the operator can also manually drag the robot to move the robot. After dragging to a certain position, the operator can input the coordinate information of the robot's position through the front-end interface; the operator can also input the data after the micro-adjustment of the robot's current coordinate information through the front-end interface.

The location management interface is used for the operator to click the new button to realize the entry of the operation location information. The entered information includes but is not limited to the operation location name, robot name, usage attitude, etc. As shown in Fig. 2B, the location management interface is not only for the operator to input new operation location information, but also for the operator to retrieve the existing operation location information in the database, and the operator can change the retrieved operation location information according to the needs ( such as modify, delete, etc.).

The coordinate management interface can jump to the coordinate entry wizard interface for the operator to enter coordinate information and manage the entered coordinate information. As shown in FIG. 2C and FIG. 2D , FIG. 2C is a coordinate management interface, and FIG. 2D is a coordinate input wizard interface. The coordinate management interface allows the operator to click the new button to jump to the coordinate entry wizard interface, and complete the data entry through the coordinate entry wizard interface. The coordinate management interface not only allows the operator to enter new coordinate information, but also allows the operator to retrieve the database. The existing coordinate information corresponding to the operation position in the operation position (that is, the coordinate information of multiple places on the way to the operation position), the operator can change the retrieved coordinate information (such as modify, delete, etc.) according to the needs. The coordinate entry wizard interface is for the operator to input coordinate information, including but not limited to the operation position name, coordinate serial number, and the coordinates of each joint of the robot.

As the server of the front-end interface, the back-end service program is deployed in the server and is developed by Socker programmed in Java (an object-oriented programming language). It can add, delete, modify and query the database. The back-end service program exchanges data with the front-end interface through the HTTP protocol, and at the same time, it exchanges data with the robot through the encapsulated TCP/IP communication protocol. For example, if an operator performs a robot control operation on the front-end interface, the front-end interface will send the robot operation instructions to the back-end service program, and the back-end service program will receive the robot operation instructions and process the robot operation instructions into instructions that can directly control the robot. After sending it to the robot, the robot receives the operation command, completes the action and replies the data to the back-end service program. The actions performed by the robot include, but are not limited to, step movement in the direction of each degree of freedom, step movement of each joint, accelerated movement in each degree of freedom direction based on key time, accelerated movement of each joint based on key time, and control of the state of the end effector through the terminal IO.

The database can be deployed in the server, using MySQL (an open source relational database management system) database. Database and back-end service programs can be set up on different servers. In order to facilitate retrieval of information from the database, the database classifies and stores the information. In one embodiment, as shown in FIG. 3 , the database includes: a robot information database, a robot position database, and a robot coordinate database. Store the robot information table, the robot position table and the robot coordinate table respectively.

The robot information database is used to store robot-related information, as shown in FIG. 5A, including but not limited to the robot identification (“arm_id” and “arm_name” fields), robot IP address (“arm_ip” field) and port identification (“arm_port” "field) and other field information. The robot connected to the robot teaching system can be searched and determined through the robot information database. During specific implementation, the robot information database also stores information such as robot status (“arm_status” field).

As an example in FIG. 5A , only two robots are managed, and the names are respectively the main island and the sub-island. In specific implementation, multiple robots can be managed at the same time. The "arm_id" field is the robot ID, the "arm_name" field is the robot name, the "arm_statue" field is the robot status, the "arm_ip" field is the robot IP address, and the "arm_port" field is the robot port number. During specific implementation, other fields may also be set according to the application scenario of the robot, which is not limited in this article.

The robot position table is used to store information related to the operation position, as shown in Figure 5B, including but not limited to the operation position identification ("id" and "name" fields), the robot identification ("arm" field), the terminal attitude information and other fields information. A robot can correspond to multiple operating positions, and each operating position corresponds to a coordinate sequence.

Figure 5B, as an example, manages dozens of operation positions named "plateReader", etc. In the figure, the "id" field is the position number, the "name" field is the position name, the "usePosture" field is the operation parameter, and the "arm" field is the operation parameter. For the owning robot, eg the position "plateReader" belongs to the position managed by the robot named "hansArmPrime". During specific implementation, other fields may also be set according to the application scenario of the robot, which is not limited in this article.

The robot coordinate table is used to store coordinate-related information, as shown in Figure 5C, including but not limited to the coordinate identifier ("point_id", "point_name", and "order_num" fields) corresponding to each operation position, the operation position identifier ("position_name") field), coordinate serial number ("order_num" field), each joint coordinate information ("p1-p6" field), path type ("move_type" field) and other field information. Among them, the coordinate number records the sequence from the waiting coordinate to the end coordinate, and each operation position corresponds to at least one waiting coordinate (the first coordinate in the coordinate sequence) and one end coordinate (that is, the coordinate for completing the operation). During specific implementation, other fields may also be set according to the application scenario of the robot, which is not limited in this article.

FIG. 5C shows dozens of coordinates, for example, "plateReader_M0", etc. The coordinate "plateReader_M0" is the 0th coordinate named "plateReader" coordinate, that is, the waiting coordinate. In the figure, the "point_id" field is the coordinate number, the "point_name" field is the coordinate name, the "position_name" field is the operation position to which the coordinate belongs, the "order_num" field is the coordinate number, and the "p1-p6" field is the coordinate value of the six degrees of freedom. , the "move_type" field is the path type.

At present, the robot usually has two operation modes, one is the linear operation mode, and the other is the joint operation mode. There are two ways to save the coordinates according to the different operation modes. For the linear operation mode, the coordinate information of each joint refers to the X, Y, Z, θ _x , θ _y , and θ _z of the end coordinates, that is, the three-axis linear coordinate and the corresponding rotation coordinate (L type). In the joint motion mode, each joint coordinate information refers to the angle data (J type) of the six mechanical axes.

This paper provides a robot teaching system. Aiming at the defects of complicated and repetitive operation and poor variability of the existing robot control methods, the front-end interface + server + database is used to replace the teaching pendant. The front-end interface provides a friendly operation interface. The back-end service program is installed in the server, which can provide support for the front-end interface and control of the robot. The database provides a container for storing the operation position and its coordinate sequence. The operator can open the front-end interface through the mobile terminal anytime and anywhere to control and teach the robot, which simplifies the operation of the robot, improves the efficiency of changing the robot's action line, and improves the programming convenience in the application scenario of the robot. And the container of the operation position and its coordinate sequence has changed from the storage medium of the robot body to the database set up in the network, which greatly facilitates the management of these information. At the same time, it no longer needs to be equipped with a dedicated teaching pendant, which reduces the cost of hardware investment.

In an embodiment of this paper, as shown in FIG. 4 , the mobile terminal receives the robot operation instruction input by the operator through the front-end interface, and the coordinate information of the multiple locations that the robot has experienced to reach the operation position, and the robot operation instruction and the multiple locations experienced by the robot to reach the operation position are received. The process of sending the coordinate information to the server includes:

Step 401, the front-end interface receives the robot operation instruction input by the operator, and sends the robot operation instruction to the server. So that the server converts the robot operation instruction into an operation instruction recognized by the robot and sends it to the robot, and the robot moves according to the received operation instruction.

In detail, as shown in Figure 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, gripper, turntable control, etc.

Step 402: After the robot completes the action, the front-end interface receives the current coordinate information of the robot input by the operator, and sends the current coordinate information of the robot to the server as a coordinate information of the way the robot reaches the operating position. So that the server stores the coordinate information of the way the robot reaches the operation position in the database. Return to step 401 and continue to execute until the robot reaches the operating position.

In this step, each coordinate information includes: robot operation position name, coordinate name and coordinate information.

After the robot completes the action, the operator decides whether to input the coordinate information of the robot operation position. If the operator decides not to input the coordinate information of the robot operation, the operator returns to the interface shown in FIG. 2A and continues to input the robot operation command. If the operator decides to input the coordinate information of the robot operating position, the operator can jump to the coordinate input wizard interface in Figure 2D to enter the coordinate information through the coordinate management interface in Figure 2C. The operation position name and coordinate name in the coordinate information need to be entered manually. The coordinate data can be obtained by the operator by triggering the robot coordinate acquisition button (getL, getJ button). After the operator triggers the robot coordinate acquisition button, the front-end interface will send a robot coordinate query request to the server, and the server will forward the request to the robot. Robot coordinate information, send the obtained robot coordinate information to the front-end interface for display. In addition to this method of inputting coordinate information, the coordinate information of the robot can also be calculated through an external vision system or other auxiliary teaching tools and directly imported into the coordinate database.

The operator can pre-enter the operation position information (including the name of the operation position and the name of the robot to which it belongs) through the interface shown in FIG. 2B , and can also modify, delete, and export the entered operation position information.

In an embodiment of this document, in addition to forwarding and storing information, the server also provides database services according to the information stored in the database, and the services include adding, deleting, modifying, and querying data in the database. Specifically, the mobile terminal also receives the operation position query instruction, the change instruction (deletion or modification) or the operation position route coordinate information query instruction or the change instruction input by the operator through the front-end interface, and sends the query instruction and the change instruction to the server; The server obtains the 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 also provided, including the upper computer 150 and the robot teaching system shown in FIG. 1 . After the robot teaching system completes the input of multiple coordinate information on the way the robot reaches the operating position, the robot can be controlled by the host computer.

The upper computer 150 is connected to the server 120 for sending an operation task to the server 120, wherein the operation task at least includes an operation position.

The server 120 searches the database 130 for the robot information corresponding to the operation position and the coordinate information (ie, coordinate sequence) corresponding to the operation position from the database 130 according to the operation task;

The robot 140 responds to the operation instruction to complete the operation task.

In detail, the upper computer described herein includes but is not limited to computer equipment, servers, and the like. The host computer and the robot teaching system can be set up in the same local area network or in the cloud (World Wide Web). The communication between each device is not limited to network cable connection or wireless network connection, but also cellular network.

The operation task can be summarized as moving along a certain trajectory to the operation position, and completing a certain terminal action. In addition to the operation position, it can also include the target operation to be performed.

The server 120 queries the database for robot information and a coordinate sequence corresponding to the operation position according to the operation position. According to the robot information and the target operation to be performed, the operation sub-commands are sent to the robot through the TCP/IP communication protocol according to the coordinate sequence in the coordinate sequence, so that the robot can move to all coordinate points. Each operation sub-command includes a coordinate information in the coordinate sequence and the target operation to be executed.

The robot moves according to the coordinate information in the operation sub-command, and when it reaches the last coordinate information, it operates according to the target operation to be executed. After the robot completes the operation, it will return from the end point coordinates to the waiting coordinates according to the reverse sequence of the coordinate sequence, the task is completed, and the completion status of the host computer will be returned.

In a specific embodiment of this article, the robot can select the Elfin E05 collaborative manipulator of Han's Robot, and insert the network cable connected with the server LAN into the Ethernet interface in the control cabinet during use. During implementation, other types of robots can also be selected, and the model of the robot is not specifically limited in this paper.

In an embodiment of this document, in order to ensure the accuracy of the coordinate sequence, after the server 120 inquires about the coordinate information corresponding to the operation position, it further includes:

Detect whether the number of coordinates corresponding to the operation position reaches the minimum value of the trajectory sequence; if the judgment result is no, an alarm message is issued to remind the user that the coordinates queried are incomplete and the coordinate information corresponding to the operation position needs to be re-entered.

In an embodiment of this document, a robot teaching method is also provided. As shown in FIG. 7 , the robot teaching method includes:

Step 701, the mobile terminal receives the robot operation instruction input by the operator through the front-end interface, and sends the robot operation instruction to the server;

Step 702, the server receives the robot operation instruction, converts the robot operation instruction into an operation instruction that the robot can recognize, and sends it to the robot;

Step 703, the robot moves according to the received operation instruction;

Step 704, after the robot moves, the mobile terminal receives the current coordinate information of the robot input by the operator through the front-end interface, and sends the current coordinate information of the robot to the server as a coordinate information of the way the robot reaches the operating position;

Step 705, the server stores the coordinate information of the path of the robot to the operation position in the database.

In detail, as shown in FIG. 8 , in step 701, the process for the operator to input the robot operation instruction through the front-end interface includes:

First, the operator opens the front-end interface. At this time, the front-end interface will send a robot query request to the server's back-end service program. The back-end service program forwards the robot query request to the robot information database to obtain robot information from the robot information database. Send the robot information to the back-end server program, the back-end service program sends the robot information to the front-end interface in the form of a list, and the front-end interface displays the robot list in the form of a drop-down box on the operation command button interface, as shown in Figure 2A, by The operator selects the robot that he wants to teach;

Secondly, the operator performs the robot control operation on the operation instruction button interface. The operator inputs the robot operation instructions by clicking each button in the operation instruction button interface with the mouse or touch screen, including the step movement of each degree of freedom direction, the step movement of each joint Movement, the direction of each degree of freedom is accelerated based on the key time, each joint is accelerated based on the key time, and the state of the end effector is controlled through the terminal IO;

Finally, the operator clicks the remote control button in the operation instruction button interface, so that the front-end interface sends out the robot operation instruction to the back-end service program of the server.

In the above 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 it to the robot.

In the above step 703, after the robot completes the action according to the instruction, it also returns data to the back-end service program, and the back-end service program processes the received data and returns the completion status of the robot to the front-end interface.

Whether the above step 704 is executed is determined by the operator according to requirements. If the operator decides to record the coordinates of the robot, the operator can first click the new button in the coordinate management interface shown in Figure 2C. At this time, the management interface will jump to the coordinate input wizard interface shown in Figure 2D, and the operator can In the interface shown in FIG. 2D , the coordinate information of the operation position is entered, including: coordinate number, name of the operation position, the robot to which it belongs, the serial number in the trajectory, and the coordinate data of each joint. Among them, the coordinate data of each joint can be entered into the front-end by clicking the getL and getJ buttons to let the back-end service program query the robot for the current coordinates of each joint, and click OK to complete the entry of the current coordinates.

Each operation position includes at least one waiting coordinate and one end point coordinate. After the above-mentioned step 705 is performed, the operator determines whether to continue to enter the coordinate information corresponding to the operation position. If it is necessary to continue to enter the coordinate information, the operator needs to continue to enter the robot operation instruction, and repeat the above steps until the coordinate information in the operation position is completely entered. .

During the robot teaching process, the operator can also enter the operation position information, query or change (delete, modify) the operation position information by calling the position management interface shown in FIG. 2B . Query or change the saved coordinate information by calling the coordinate management interface shown in FIG. 2C . The back-end service program responds to all the operations of the front-end and completes the data changes in the database.

This embodiment enables the operator to control the robot through the web page that responds to the operator's operation, without the traditional teaching pendant, a single mobile terminal can manage any number of robots, and the operator can use the mobile terminal (such as computer/mobile phone/tablet) anytime and anywhere. To open the front-end interface, control and teach the robot, simplify the operation of the robot, improve the efficiency of changing the robot's action line, and improve the programming convenience in the robot application scenario. And the storage container of the operation position and its coordinate sequence has changed from the storage medium of the robot body to the database set up in the network, which greatly facilitates the management of these information. At the same time, it no longer needs to be equipped with a dedicated teaching pendant, which reduces the cost of hardware investment.

After completing the teaching of the coordinates related to the operation position, the upper computer can be used to control the robot. In an embodiment of this paper, as shown in FIG. 9 , the robot control method includes:

Step 901, the upper computer sends an operation task to the server, wherein the operation task at least includes an operation position;

Step 902, the server inquires the robot information corresponding to the operation position and the multiple coordinate information (i.e. the coordinate sequence) corresponding to the operation position from the database according to the operation task; according to the inquired information, sends an operation instruction to the relevant robot;

Step 903, the robot responds to the operation instruction to complete the operation task.

Specifically, the operation task is used to instruct the robot to go to the operation position A to complete the operation and return, and can be set manually.

In this embodiment, the server sends an operation instruction to the robot, which can avoid writing these data into the robot's own program or storage medium. The robot, host computer, mobile terminal, server, and database are connected to each other through the network, and can work independently of each other without interfering with each other. For example, the mobile terminal does not need to be bound to a robot, and a set of mobile terminal, host computer, server , The database can serve multiple robots.

As shown in FIG. 10 , the specific process performed in the above step 902 includes: firstly accepting the operation task sent by the host computer, querying the corresponding robot name from the robot position database according to the operation position A in the operation task; then, according to the queried robot name Query parameter information such as the robot IP address from the robot information database, and query the coordinate sequence related to the operation position A from the coordinate database according to the operation position A in the operation task; then, according to the parameter information such as the robot IP address and the coordinate sequence, through TCP The /IP communication protocol sends operation instructions to the robot, controls the robot to move to the first coordinate in the coordinate sequence, and controls the robot to move to all coordinate points according to the coordinate number in the coordinate sequence.

In the above step 903, the robot completes the operation when it reaches the last coordinate in the coordinate sequence, and at the same time returns the completion status to the back-end service program. When the back-end service program determines that the robot has reached the final coordinate, it completes the operation task and sends a completion signal to the host computer.

In specific implementation, after the robot completes the operation task, it also returns from the end point to the initial point according to the reverse order of the coordinate sequence.

The robot teaching system and method, and the robot control system and method provided in this paper use the front-end interface + server + database to replace the teaching pendant, which can separate the control of the robot from the teaching pendant and completely abandon the teaching pendant. , reducing the cost of robotic systems. The front-end interface provides a friendly operation interface. The back-end service program is installed in the server, which can provide support for the front-end interface and control of the robot. The database provides a container for storing the operation position and its coordinate sequence. The operator can open the front-end interface through a mobile terminal (such as computer/mobile phone/tablet) anytime and anywhere to control and teach the robot, which simplifies the operation of the robot and improves the efficiency of changing the action line of the robot. The convenience of programming, the operator does not need to spend a lot of time to learn the complex programming system of the robot, and only needs to focus on the teaching of coordinates. This paper lowers the threshold for operators, and only needs simple training to master the skills of robot teaching and control.

In an embodiment of this document, the mobile terminal and server may also be a computer device, and the computer device runs a front-end interface or a back-end service program. As shown in FIG. 11 , the computer device 1102 may include one or more processors 1104 , such as one or more processors 1104 . A central processing unit (CPU), each of which can 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, and the like. By way of non-limiting example, memory 1106 may include any one or a combination of the following: any type of RAM, any type of ROM, flash memory devices, hard disks, optical disks, and the like. More generally, any memory can use any technology to store information. Further, any memory can provide volatile or non-volatile retention of information. Further, any memory may represent a fixed or removable component of computer device 1102. In one instance, when the processor 1104 executes the associated instructions stored in any memory or combination of memories, the computer device 1102 may perform any operation of the associated instructions. The computer device 1102 also includes one or more drive mechanisms 1108 for interacting with any memory, such as a hard disk drive mechanism, an optical disk drive mechanism, and the like.

Computer device 1102 may also include an input/output module 1110 (I/O) for receiving various inputs (via input device 1112 ) and for providing various outputs (via output device 1114 ). A specific output mechanism may include presentation device 1116 and associated graphical operator interface 1118 (GUI). In other embodiments, the input/output module 1110 (I/O), the input device 1112 and the output device 1114 may not be included, and only serve as a computer device in the network. Computer device 1102 may also include one or more network interfaces 1120 for exchanging data with other devices via one or more communication links 1122 . One or more communication buses 1124 couple together the components described above.

Communication link 1122 may be implemented in any manner, eg, through a local area network, a wide area network (eg, the Internet), a point-to-point connection, etc., or any combination thereof. Communication links 1122 may include any combination of hardwired links, wireless links, routers, gateway functions, name servers, etc. governed by any protocol or combination of protocols.

The embodiments herein also provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by the processor, the steps performed by the front-end interface or the back-end server program are executed.

Embodiments herein also provide computer-readable instructions, wherein when a processor executes the instructions, the program therein causes the processor to perform steps of a front-end interface or a back-end server program.

It should be understood that, in the various embodiments herein, the size of the sequence numbers of the above-mentioned processes does not mean the sequence of execution, and the execution sequence of each process should be determined by its functions and internal logic, rather than the implementation of the embodiments herein. The process constitutes any qualification.

It should also be understood that, in the embodiments herein, the term "and/or" is only an association relationship for describing associated objects, indicating that there may be three kinds of relationships. For example, A and/or B can mean that A exists alone, A and B exist at the same time, and B exists alone. In addition, the character "/" in this document generally indicates that the related objects are an "or" relationship.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. Interchangeability, the above description has generally described the components and steps of each example in terms of function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this document.

Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above may refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

In the several embodiments provided herein, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may also be electrical, mechanical or other forms of connection.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solutions in the embodiments herein.

In addition, each functional unit in each of the embodiments herein may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The integrated unit, if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solutions in this article are essentially or make contributions to the prior art, or all or part of the technical solutions can be embodied in the form of software products, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments herein. The aforementioned storage medium includes: U disk, removable hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

The principles and implementations of this paper are described by using specific examples in this paper. The descriptions of the above examples are only used to help understand the methods and core ideas of this paper; , there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to this article.

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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