CN109100988B - Industrial robot collaborative operation method and system - Google Patents
Industrial robot collaborative operation method and system Download PDFInfo
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- CN109100988B CN109100988B CN201810969402.0A CN201810969402A CN109100988B CN 109100988 B CN109100988 B CN 109100988B CN 201810969402 A CN201810969402 A CN 201810969402A CN 109100988 B CN109100988 B CN 109100988B
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Abstract
The invention discloses a method and a system for cooperative work of industrial robots, wherein the method comprises the following steps: detecting a pressure value acted on a deformation sensor by a user based on the deformation sensor on the first industrial robot; converting the pressure value into a corresponding pressure signal value; judging a signal value range in which the signal pressure value is based on the signal pressure value; and analyzing the corresponding user operation instruction based on the signal value range, and analyzing the instruction type of the user operation instruction. According to the method and the device, the change of the external pressure can be sensed through the deformation sensor on the industrial robot based on the cooperative operation instruction set by the user terminal based on the deformation sensor, so that a pressure signal value is obtained through detection of the pressure change, the corresponding cooperative operation instruction is analyzed based on the pressure signal value, cooperative operation between the industrial robot and the industrial robot is realized, and the networking state formed by the industrial robot is based on the networking state.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a system for cooperative work of industrial robots.
Background
With the continuous development of robotics, more and more robots are beginning to perform various tasks instead of humans. Robots are the common name for automatic control machines (Robot) that include all machines that simulate human behavior or thought and other creatures (e.g., machine dogs, machine cats, etc.). There are many taxonomies and controversy to define robots in a narrow sense, and some computer programs are even referred to as robots. In the modern industry, robots refer to artificial machines that automatically perform tasks to replace or assist human work. The ideal high-simulation robot is a product of advanced integrated control theory, mechano-electronics, computer and artificial intelligence, materials science and bionics, and is researched and developed in the current scientific community in the direction, but the robot is still imperfectly controlled remotely, the application of big data is not popularized yet, the data acquisition of the robot is still in an off-line state, and the deep learning of the robot is also from the storage of local data.
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology.
At present, industrial robots are widely applied to large-scale automatic production workshops, and all control of the related industrial robots can be completed by one microcomputer. The other is distributed control, that is, a plurality of microcomputers are adopted to share the control of the robot, for example, when the upper and lower two-stage microcomputers are adopted to jointly complete the control of the robot, the host is usually used for being responsible for the management, communication, kinematics and dynamics calculation of a system and sending instruction information to the lower microcomputer; each joint is corresponding to a CPU as a subordinate slave, and interpolation operation and servo control processing are performed to realize given movement and feed back information to the master. According to different requirements of work tasks, the control modes of the robot can be divided into point position control, continuous track control, force control and the like.
In a multi-industrial machine mode, due to the limitation of a communication operation mode, networking communication cannot be realized among multiple robots, and the networking communication can be completed only by one-way control of a main control device, so that how to realize networking among the multiple robots to embody one-key operation behavior, networking control under one network is realized, and the networking communication can be realized only by adopting a corresponding technology on the multiple robots under a platform.
Disclosure of Invention
The invention provides a method and a system for cooperative work of industrial robots, which realize one-key operation on simple cooperative work instructions and simplify the processing flow under a multiplex robot mechanism.
The invention provides a method for cooperative work of industrial robots, which comprises the following steps:
detecting a pressure value acted on a deformation sensor by a user based on the deformation sensor on the first industrial robot;
converting the pressure value into a corresponding pressure signal value;
judging a signal value range in which the signal pressure value is based on the signal pressure value;
analyzing a corresponding user operation instruction based on the signal value range, and analyzing an instruction type of the user operation instruction;
when the user operation instruction is analyzed to be a one-way cooperative operation instruction, acquiring an IP address corresponding to the one-way cooperative operation instruction based on the equipment information list, and sending the one-way cooperative operation instruction to a corresponding second industrial robot by adopting a set port and the IP address;
when the analyzed user operation instruction is a multi-direction cooperative operation instruction, the multi-direction cooperative operation instruction is generated into a UDP broadcast packet which can be broadcast by a WIFI technology, and the UDP broadcast packet is sent to a plurality of industrial robots needing cooperative operation based on the WiFi modules corresponding to the first industrial robots.
The user operation instruction is packaged with: industrial robot ID and collaborative work orders.
The method further comprises the following steps:
after the first industrial robot receives a UDP unicast or broadcast equipment information list sent by a WiFi hotspot, the first industrial robot caches the equipment information list; or
And after the first industrial robot receives the equipment information list sent by the WiFi hotspot next time in a UDP unicast or broadcast mode, the first industrial robot refreshes the equipment information list.
The device information list includes: connecting to all industrial robot IDs under the WiFi hotspot and connecting to the industrial robot IP addresses under the WiFi hotspot.
When the user operation instruction is analyzed to be a one-way cooperative operation instruction, acquiring an IP address corresponding to the one-way cooperative operation instruction based on the equipment information list, and sending the one-way cooperative operation instruction to the corresponding second industrial robot by adopting a set port and the IP address comprises the following steps:
when the first industrial robot resolves the user operation instruction into a one-way cooperative operation instruction, a second industrial robot corresponding to the industrial robot ID in the user operation instruction is resolved, the IP address of the second industrial robot is searched based on the equipment information list, and the one-way cooperative operation instruction is sent to the second industrial robot by adopting the set port and the IP address.
Correspondingly, the invention also provides a system for industrial robot collaborative operation, wherein the system executes the method in any one of the above.
According to the method, near field communication is achieved between the industrial robot and the user terminal based on a BLE technology, then based on a cooperative operation instruction set by the user terminal based on a deformation sensor, changes of external pressure can be sensed through the deformation sensor on the industrial robot, a pressure signal value is obtained through detection of the pressure changes, the corresponding cooperative operation instruction is analyzed based on the pressure signal value, the industrial robot generates a corresponding WiFi data packet to be broadcasted, cooperative operation between the industrial robot and the industrial robot is achieved, based on a networking state formed by the industrial robot, related various cooperative operation information can be broadcasted to all group members or one group member, the control diversity of the industrial robot is enriched, good interaction embodiment and controllability of the industrial robot are met, and a user terminal where the industrial robot is located can also be met to master parameters and operation data of the industrial robot in real time And the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a system architecture for networking communications among a plurality of industrial robots in an embodiment of the present invention;
FIG. 2 is a flowchart of a method for a multi-robot networking to set up a WiFi hotspot in an embodiment of the invention;
FIG. 3 is a flowchart of a method for a multi-tasking robot to network and join a WiFi hotspot in an embodiment of the invention;
fig. 4 is a flowchart of a method of cooperative work by industrial robots in an embodiment of the present invention;
fig. 5 is a flowchart of a method for updating user information under a multi-robot networking in the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments 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 given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a system for networking communication among multiple industrial robots according to an embodiment of the present invention, which may include a plurality of user terminals, and industrial robots connected to the user terminals for communication, the user terminals, and the industrial robots communicate with each other by using BLE technology. Specifically, the first industrial robot and the first user terminal adopt a Bluetooth low energy BLE technology to realize data communication; the second industrial robot and the second user terminal adopt a Bluetooth low energy BLE technology to realize data communication; … …, respectively; an Nth industrial robot and an Nth user terminal.
Have BLE module on every industrial robot, the wiFi module, deformation sensor and treater, the device specifically can fix on industrial robot's robotic arm or base, user terminal adopts APP customer end mode to send various instructions to industrial robot, then the treater among the industrial robot carries out analytic processing to various instructions, then accomplish according to various instructions and realize various control process, for example trigger wiFi module and realize networking process, realize information interaction process (including the data communication between industrial robot, the data communication that needs the collaborative work, the parameter information of each industrial robot operation process) based on networking framework, control industrial robot user is the packet joining process between and so on. In the information interaction process, the corresponding information interaction process needs to be completed by means of the WiFi technology. The method comprises the steps of sending various instructions to an industrial robot by adopting an APP client mode, then analyzing and processing the various instructions by a processor in the industrial robot, and then completing various control processes according to the various instructions, for example, triggering a WiFi module to realize networking processes of a plurality of industrial robots, realizing information interaction processes (including data communication among the industrial robots and data communication in a collaborative operation process) based on a networking architecture, controlling grouping and joining processes among users of the industrial robot, and the like. In the information interaction process, the corresponding information interaction process needs to be completed by means of the WiFi technology.
The deformation sensor is positioned on the body equipment of the robot, the deformation sensor detects the pressure value acted on the deformation sensor by a user, the pressure value is converted into a corresponding pressure signal value, the pressure signal value range corresponds to the cooperative operation instructions of different industrial robots, the cooperative operation instructions can be set by a user terminal based on the user terminal, such as cooperative operation under simultaneous starting, cooperative operation of group magic dancing and simultaneous stopping, or cooperative operation of one industrial robot is controlled, such as the pressure signal value range triggered by pressing is 0-100, when N is assumed to be 4, the pressure signal value range from 0 to 100 can be uniformly distributed to 5-10 cooperative operation instructions, such as the range from 0 to 15 corresponds to a first cooperative operation instruction, the industrial robot is triggered to complete one cooperative operation, a range of 16 to 25 corresponds to the second cooperative operation, a range of 26 to 50 corresponds to the third cooperative operation instruction, a range of 51 to 75 corresponds to the fourth cooperative operation instruction, and a range of 76 to 100 corresponds to the fifth cooperative operation instruction, and by this matching relationship, a specific cooperative operation instruction and pressure signal value relationship can be obtained, thereby ensuring that the pressure range to the industrial robot based on the force of deformation obtained by the deformation sensor falls within this range.
The processor judges a signal value range in which the signal pressure value is based on the signal pressure value; and analyzing the corresponding user operation instruction based on the signal value range, analyzing the instruction type of the user operation instruction, and generating a corresponding WiFi data packet based on the instruction type.
Specifically, the first industrial robot is used for receiving a networking instruction initiated by the first user terminal, the networking instruction is generated by a user of the first user terminal based on an APP client interface, and the networking instruction comprises a first network name and a first network password; the network management system is used for identifying a networking command, starting a first WiFi module on a first industrial robot to establish a first WiFi hotspot, wherein the name of the first WiFi hotspot is a first network name in the networking command, and the password of the WiFi hotspot is a first network password in the networking command; the first user terminal is used for providing an APP client interface for a user to complete generation of a networking instruction and sending the networking instruction to the first industrial robot.
Specifically, the second industrial robot is used for receiving a WiFi hotspot joining instruction sent by a second user terminal, the WiFi joining instruction is generated by a user of the second user terminal based on an APP client interface, and the WiFi joining instruction includes a second network name and a second network password; starting a second WiFi module on a second industrial robot to search WiFi hotspots based on the WiFi adding instruction; the second WiFi module searches the corresponding WiFi hotspot based on the second network name and joins based on the second network password; and the second user terminal is used for providing an APP client interface for a user to complete the generation of the WiFi hotspot adding instruction, and sending the WiFi hotspot adding instruction to the second industrial robot.
Fig. 2 shows a flowchart of a method for setting up a WiFi hotspot by a multi-working robot networking according to an embodiment of the present invention, which specifically includes the following steps:
s201, a user generates a networking instruction based on an APP client on a first user terminal;
s202, the first user terminal sends a networking instruction to the first industrial robot by adopting a BLE technology;
s203, after the first industrial robot identifies the networking command, starting a first WiFi module on the first industrial robot to establish a WiFi hotspot;
and S204, after the first industrial robot establishes the WiFi hotspot, feeding back a WiFi hotspot success message to the first user terminal based on a BLE technology.
The system architecture based on networking of the multiplex robots firstly needs to complete a networking process based on the multiplex robots, so that coverage of WiFi hot spots is achieved, data receiving and sending among the multiplex robots are achieved, and the like.
Because the first industrial robot can set a specific WiFi hotspot, in the specific implementation process, the name or password of the WiFi hotspot can be changed according to the scene needs, the name or password modification is basically completed by the user operating on the first user terminal based on the APP client, then the first user terminal sends a hotspot rename instruction to the first industrial robot based on the BLE technology, the first industrial robot receives the hotspot rename instruction initiated by the first user terminal, the hotspot rename instruction is generated by the user of the first user terminal based on the APP client interface, and the hotspot rename instruction comprises modifying a network name and/or modifying a network password; after the first industrial robot identifies the hotspot correction instruction, starting a WiFi module on the first game terminal to rename the WiFi hotspot; and after the successful renaming of the WiFi hotspots, broadcasting WiFi signals outwards based on the first WiFi hotspot after renaming.
In a specific implementation process, the first industrial robot may further receive a hotspot closing instruction initiated by the first user terminal, where the hotspot closing instruction is generated by a user of the first user terminal based on the APP client interface; after the first industrial robot identifies the hotspot closing instruction, a WiFi module on the first game terminal is started to close the WiFi hotspot.
Fig. 3 shows a flowchart of a method for adding a WiFi hotspot by a multi-working robot networking according to an embodiment of the present invention, which specifically includes the following steps:
s301, the user generates a WiFi hotspot adding instruction based on an APP client on a second user terminal;
s302, the second user terminal sends a WiFi hotspot adding instruction to the second industrial robot by adopting a BLE technology;
s303, starting a WiFi module on the second industrial robot by the second industrial robot based on a WiFi adding instruction to search WiFi hotspots;
and S304, the WiFi module on the second industrial robot searches the corresponding WiFi hotspot based on the network name and joins based on the network password.
In a specific implementation process, in the process of searching for the WiFi hotspot, a WiFi module of a second industrial robot judges whether a first network name is the same as a second network name, and if the first network name is the same as the second network name, the first WiFi hotspot initiated by the first industrial robot is judged to be a WiFi hotspot needing to be added; and after the first WiFi hotspot initiated by the first industrial robot is judged to be the WiFi hotspot needing to be added, adding the first WiFi hotspot based on the second network password.
In a specific implementation process, if the second network password is the same as the first network password, the WiFi module of the second industrial robot acquires a WiFi hotspot joining success message and feeds the joining success message back to the APP where the second user terminal is located on the basis of the BLE technology; if the second network password is different from the first network password, the WiFi module on the second industrial robot acquires a WiFi hotspot joining failure message, and feeds the joining failure message back to the APP where the second user terminal is located on the basis of the BLE technology.
Based on the system shown in fig. 1, when there are multiple industrial robot devices to be networked (such as multiple industrial robots to participate in a cooperative mode or a shared mode), an initiator (assumed to be a user on a first user terminal) first performs "network creation" through an APP on the user terminal, and the network creation usually needs to specify a "name" and a "password" of the network. For authentication when other industrial robots join the network. The command of the "network creation" and the "name" and "password" of the network are transmitted to the industrial robot corresponding to the initiator by means of BLE. And after receiving the instruction, the WiFi module on the industrial robot starts a WiFi hotspot consistent with the name by using the received name. And the password of the WiFi hotspot is the received password value. After the creation is successful, the WiFi module can feed back the APP of the creator through BLE. After the APP receives the prompt of successful creation of the AP hotspot, the creator can tell the name and the password of the network created by other users, so that other users can conveniently join the AP hotspot. When the user on the other user terminal wants to join the network, the user directly inputs the network 'name' and 'password' notified by the creator through the APP interface, and clicks the 'join' button. The command can be transmitted to the corresponding industrial robot through BLE, the WiFi module of the industrial robot can start WiFi hotspot scanning after receiving the command, received network name and password are used for retrieving WiFi hotspots existing around, and if WiFi hotspots with the same names exist, the command is tried to be added through the password. And after the network is successfully added, feeding back to the corresponding APP through BLE to indicate that the network is successfully added.
After a plurality of industrial robots form networking communication based on WiFi hotspots, the communication process between user terminal equipment and the communication process between the industrial robot equipment and the industrial robot equipment can be established, so that the sharing of user information and industrial robot information under the same networking mode can be realized, the running data of each industrial robot collected by each industrial robot based on a processor can be broadcasted in time, the user reference on each user terminal in a group can be provided, the operation of users is facilitated, and a corresponding decision basis is provided for a follow-up cooperative operation mode.
Therefore, near field communication is achieved between the industrial robot and the user terminal based on the BLE technology, the WiFi module on the industrial robot is controlled based on the user terminal, and the WiFi hotspot is started, so that networking processes of multiple robots in a certain area are achieved, the possibility of interconnection and intercommunication among all industrial robots under WiFi coverage is achieved, and follow-up networking based on the WiFi technology, adding of new equipment and information interaction among all industrial robots based on the WiFi technology are guaranteed.
BLE, Bluetooth Low Technology is a Low power consumption Bluetooth Technology developed from conventional Bluetooth, and is a relatively common near field communication method due to its fast connection speed, Low power consumption for transmission/reception, small data transmission amount, and moderate communication distance, and is widely used in smart phones.
BLE devices can be generally divided into a central device (Center) and a Peripheral device (Peripheral), wherein the former plays a role as a host in the connection process of the devices, and generally the role is a user terminal device such as a mobile terminal; the latter plays the role of a slave during the connection of the device, typically a BLE device with certain special functions, such as a BLE bracelet, a BLE sensor, etc.
The data communication mode of BLE is divided into two types, namely connection-based communication and non-connection-based communication, wherein the former scenario is that after connection is established between BLE master equipment and BLE slave equipment, the communication between the BLE master equipment and the BLE slave equipment is connection-based communication; the latter occurs in a scenario where BLE sends broadcast information out from the device actively, and the broadcast information usually carries some extra information of the device, such as the name of the device or some data structure customized by the developer.
Adopt BLE's mode to carry out communication connection between user terminal and the industrial robot, when user terminal launches group communication or the collaborative work between the multi-device, transmit industrial robot for through BLE's mode, industrial robot sends away the instruction that user terminal sent based on WIFI technique broadcast or point-to-point. BLE is as a short distance (within 20 m), low-speed, low-power consumption's communication mode, accords with wireless control requirement very much, therefore, joins BLE device at industrial robot end for communicate with user's user terminal, make the user realize through BLE equipment that control actual equipment carries out the interactive action between industrial robot equipment, for example the operating mode information of each industrial robot, the update information that each equipment joined. When a first user and a second user are present, the first user controls the first industrial robot through the first user terminal, and the second user controls the second industrial robot through the second user terminal. The user terminal and the industrial robot are communicated in a BLE mode (the user terminal serves as a BLE master device, and the device end serves as a BLE slave device). When a first user wants to know the state of each industrial robot device, the user sends state acquisition information through man-machine interaction of an APP interface of a first user terminal, and the instruction is transmitted to the first industrial robot through BLE in a wireless mode. After receiving the instruction from the BLE, the first industrial robot encodes the instruction into WIFI information and sends the WIFI information. If the WIFI module of the second industrial robot receives the WiFI information sent by the first industrial robot, the second industrial robot extracts effective data from the WiFi information and sends the effective data to the second user terminal through BLE, and after the second user terminal receives the effective data, the effective data can be displayed, reminded or specially-effective on APP. Such a procedure enables a first industrial robot of a first user to visually see data information on a first industrial robot after sending the information to a second industrial robot of a second user.
Near field communication is realized between industrial robot and user terminal based on BLE technique, then generates corresponding wiFi information broadcast or one-way transmission out based on user terminal to realized the data sharing between each industrial robot and the possibility of information propagation under the networking mode, richened the variety that industrial robot controlled. After being analyzed by the user terminal, effective information in the WiFi information can be timely broadcasted to the user terminal where each industrial robot is located, so that each user under networking can know the running state, parameter performance and user behavior of the industrial robot related to the condition of each user, and corresponding decision and basis can be provided for the user terminal. Correspondingly, in the embodiment of the present invention, a User Datagram Protocol (UDP) packet with a special instruction is constructed based on a WiFi technology, when a User (for example, a first User) wants a multidirectional cooperative work instruction, the User sends the multidirectional cooperative work instruction to the communicated industrial robot through BLE of a User terminal, and after receiving the instruction, the industrial robot broadcasts a UDP broadcast packet through the WiFi technology and sends the UDP broadcast packet to all WiFi-connected industrial robots. When one of the industrial robots (such as the second industrial robot to the nth industrial robot) receives the broadcast packet, it indicates that the one of the industrial robots receives the multi-directional cooperative work instruction, and completes the corresponding controlled process based on the cooperative work instruction.
Fig. 4 shows a flowchart of a method for collaborative work under a networking of a plurality of industrial robots in an embodiment of the present invention, which specifically includes the following steps:
s401, detecting a pressure value acted on a deformation sensor by a user based on the deformation sensor on the industrial robot;
s402, converting the pressure value into a corresponding pressure signal value, and judging a signal value range in which the signal pressure value is located based on the signal pressure value;
specifically, the deformation sensor is located on the body device of the robot, the deformation sensor detects a pressure value applied to the deformation sensor by a user, and converts the pressure value into a corresponding pressure signal value, the pressure signal value range corresponds to cooperative operation instructions of different industrial robots, the cooperative operation instructions can be set by a user terminal based on the user terminal, for example, cooperative operation under simultaneous start, cooperative operation under simultaneous group magic dancing, cooperative operation under simultaneous stop, or cooperative operation of controlling one industrial robot, for example, a pressure signal value range triggered by pressing is 0-100, and assuming that N takes a value of 4, the deformation sensor can uniformly distribute a pressure signal value range of 0 to 100 to 5-10 cooperative operation instructions, for example, a range of 0 to 15 corresponds to a first cooperative operation instruction, and trigger the industrial robot to complete one cooperative operation, a range of 16 to 25 corresponds to the second cooperative operation, a range of 26 to 50 corresponds to the third cooperative operation instruction, a range of 51 to 75 corresponds to the fourth cooperative operation instruction, and a range of 76 to 100 corresponds to the fifth cooperative operation instruction, and by this matching relationship, a specific cooperative operation instruction and pressure signal value relationship can be obtained, thereby ensuring that the pressure range to the industrial robot based on the force of deformation obtained by the deformation sensor falls within this range. The industrial robot judges a signal value range in which the signal pressure value is based on the signal pressure value; and analyzing the corresponding user operation instruction based on the signal value range, analyzing the instruction type of the user operation instruction, and generating a corresponding WiFi data packet based on the instruction type.
S403, analyzing a corresponding user operation instruction based on the signal value range, analyzing an instruction type of the user operation instruction, and generating a corresponding WiFi data packet based on the instruction type;
in a specific implementation process, when the user operation instruction is analyzed to be a one-way cooperative operation instruction, acquiring an IP address corresponding to the one-way cooperative operation instruction based on the equipment information list, and sending the one-way cooperative operation instruction to a corresponding second industrial robot by adopting a set port and the IP address; when the analyzed user operation instruction is a multi-direction cooperative operation instruction, the multi-direction cooperative operation instruction is generated into a UDP broadcast packet which can be broadcast by a WIFI technology, and the UDP broadcast packet is sent to a plurality of industrial robots needing cooperative operation based on the WiFi modules corresponding to the first industrial robots.
In a specific implementation process, the user operation instruction is packaged with: industrial robot ID and collaborative work orders. The cooperative operation instruction can be realized by user operation behaviors, such as a plurality of robot controlled user operation instructions to complete group magic dancing, or trigger a time sequence pipeline operation process, or perform group controllable test behaviors, and the like.
In a specific implementation process, after the first industrial robot receives a UDP unicast or broadcast equipment information list sent by a WiFi hotspot, the first industrial robot caches the equipment information list; or after the first industrial robot receives the equipment information list sent by the WiFi hotspot next time in a UDP unicast or broadcast mode, the first industrial robot refreshes the equipment information list. The device information list includes: connecting to all industrial robot IDs under the WiFi hotspot and connecting to the industrial robot IP addresses under the WiFi hotspot.
In the specific implementation process, when the first industrial robot resolves the user operation instruction into a one-way cooperative operation instruction, a second industrial robot corresponding to the industrial robot ID in the user operation instruction is resolved, the IP address of the second industrial robot is searched based on the equipment information list, and the one-way cooperative operation instruction is sent to the second industrial robot by adopting the set port and the IP address.
S404, sending out a WiFi data packet based on a WiFi module on the first industrial robot;
in a specific implementation process, when a multi-directional cooperative operation instruction is identified, the user control instruction is generated into a corresponding WiFi data packet, and the first industrial robot broadcasts the WiFi data packet to industrial robots networked by WiFi hotspots based on a WiFi technology; and when the unidirectional cooperative work instruction is identified, sending the unidirectional cooperative work instruction to the corresponding second industrial robot by adopting the established port and the IP address.
S405, the second industrial robot receives a WiFi data packet generated by the first industrial robot based on a WiFi module on the second industrial robot;
in the multi-directional collaborative work instruction mode, other industrial robot devices on the WiFi hotspot all receive the WiFi data packet generated by the first industrial robot and receive the WiFi data packet in the form of UDP broadcast.
And under the unidirectional cooperative work instruction mode, the second industrial robot receives the WiFi data packet generated by the first industrial robot by adopting a set port and IP address and a WiFi technology.
S406, analyzing the cooperative operation instruction in the WiFi data packet, and completing a corresponding cooperative operation process;
s407, sending the cooperative job instruction to a second user terminal;
s408, the second user terminal analyzes the cooperative operation instruction based on the APP client, and characteristic parameters of the cooperative operation are displayed to a user on the second user terminal;
and S409, the second user terminal sends out the state that the second user completes the cooperative operation in a UDP broadcast packet mode based on the WiFi module on the second industrial robot.
And the second industrial robot sends out the information of the second user for completing the cooperative work in a UDP broadcast packet mode based on the WiFi module on the second industrial robot so that each user covered by the WiFi hotspot receives the information of the second user for completing the cooperative work.
Therefore, for the industrial robot shown in fig. 4, under the user-controlled behavior, a unidirectional cooperative work instruction and a multidirectional cooperative work instruction can be realized, the instructions of these cooperative works can be set by the user based on the user terminal, and are stored in the command library of the industrial robot, some operation steps are simplified, and a UDP packet of a special instruction needs to be constructed under the networking model, when a certain user (for example, a first user) wants to realize that a plurality of industrial robots complete cooperative work or a single robot completes a cooperative work process, it sends the user operation instruction to the industrial robot through BLE of the user terminal, after receiving the instruction, the industrial robot end sends the user operation instruction to an industrial robot device with WiFi connection through WiFi technology, and when a certain industrial robot receives the WiFi information, the corresponding cooperative work process can be completed. Before the first industrial robot and the second industrial robot start cooperative operation, an initiator (a first user) starts WiFi on the first industrial robot firstly and enables the first industrial robot to start an AP hotspot, meanwhile, the second user enables WiFi on the second industrial robot to be connected to the WiFi hotspot of the first industrial robot as STA, and after connection is successful, the first industrial robot can perform wireless communication with the second industrial robot through WiFi technology. The user needs to cooperate the cooperation of the second industrial robot to carry out cooperative work based on the first industrial robot, and at the moment, the WiFi module on the first industrial robot broadcasts the WiFi information to all connected devices under the AP hotspot or a one-way protocol sending mode through a UDP broadcast packet. After receiving the UDP broadcast packet, the WiFi of the second industrial robot analyzes the data, finds that the data packet contains contents needing cooperative operation, completes the corresponding cooperative operation process, sends the data packet to the second user terminal in a BLE mode, and displays the data packet on the APP page by the second user terminal according to the data packet information, so that the first user can successfully realize the cooperative operation process of the industrial robots based on the first industrial robot.
In a specific implementation process, a system implemented by the method is generally provided with a plurality of industrial robots, for example, a first user terminal and a first industrial robot, which implement data communication by using a bluetooth low energy BLE technology, wherein: the first industrial robot is used for receiving a user operation instruction sent by the first user terminal, and the user operation instruction is generated by a user of the first user terminal based on an APP client interface; after the first industrial robot user operation instruction is received, the user operation instruction is generated into a corresponding WiFi data packet, and the WiFi data packet is sent out based on a WiFi module on the first industrial robot; the first user terminal is used for providing an APP client interface for a user to complete generation of a user operation instruction, and sending the user operation instruction to the first industrial robot. Second industrial robot and second user terminal, adopt bluetooth low energy consumption BLE technique to realize data communication between this second user terminal and second industrial robot, wherein: the second industrial robot is used for receiving the WiFi data packet generated by the first industrial robot based on the WiFi module on the second industrial robot; analyzing the cooperative work in the WiFi data packet, and sending the state after the cooperative work instruction is completed to a second user terminal based on a BLE technology; and the second user terminal is used for analyzing the states, parameters and other performances of the industrial robots after cooperative operation based on the APP client, and displaying the controlled characteristic parameters to the user on the second user terminal.
Near field communication is realized between the industrial robot and the user terminal based on BLE technology, then based on the cooperative operation instruction set by the user terminal based on the deformation sensor, the deformation sensor on the industrial robot can sense the change of the external pressure, thereby obtaining a pressure signal value through the detection of the pressure change, resolving a corresponding cooperative operation instruction based on the pressure signal value, generating a corresponding WiFi data packet by the industrial robot and broadcasting the WiFi data packet, thereby realizing the cooperative operation between the industrial robots, and based on the networking state formed by one industrial robot, the related information of various cooperative operations can be broadcasted to all the group members or one group member, the diversity that industrial robot controlled has been richened, has satisfied that industrial robot is good mutual embodiment and controllability, also can satisfy the user side at each industrial robot place and control each industrial robot's parameter and operational data etc. in real time.
Because the networking system of the industrial robot relates to interactivity under various information, networking under a specific application mode is required to be realized, WiFi hotspot establishment is completed based on one industrial robot, and interactivity of each industrial robot device is required to be realized based on the WiFi hotspot, fig. 5 is a flow chart of a method for updating user information under the multiplexing robot networking in the embodiment of the invention, and the method specifically comprises the following steps:
s501, a user generates a WiFi hotspot adding instruction based on an APP client on a second user terminal;
s502, the second user terminal sends a WiFi hotspot adding instruction to the second industrial robot by adopting a BLE technology;
s503, the second industrial robot starts a WiFi module on the second industrial robot to search WiFi hotspots based on a WiFi adding instruction;
s504, the WiFi module on the second industrial robot searches for the corresponding WiFi hotspot based on the second network name and joins the WiFi hotspot based on the network password;
in the specific implementation process, the WiFi joining instruction comprises a second network name and a second network password, a second WiFi module on the second industrial robot is started to search WiFi hotspots based on the WiFi joining instruction, and the WiFi hotspots created by the first industrial robot are added, wherein the WiFi hotspots include: after the second industrial robot receives a WiFi adding instruction based on a BLE technology, starting a WiFi module on the second industrial robot to search WiFi hotspots based on the WiFi adding instruction; the second WiFi module searches the corresponding WiFi hotspot based on the second network name and joins based on the second network password.
In the specific implementation process, the WiFi module on the second industrial robot searches the corresponding WiFi hotspot based on the second network name, and the adding based on the second network password comprises the following steps: in the process of searching the WiFi hotspots by the WiFi module on the second industrial robot, judging whether the second network name is the same as the network name of the WiFi hotspot, and if the network name of the WiFi hotspot is judged to be the same as the second network name, judging that the WiFi hotspot created by the first industrial robot is the WiFi hotspot to be added; and after the WiFi hotspot created by the first industrial robot is judged to be the WiFi hotspot needing to be added, adding the WiFi hotspot based on the second network password.
In a specific implementation process, the joining the WiFi hotspot based on the second network password comprises: if the second network password is the same as the network password of the WiFi hotspot, the second WiFi module acquires a WiFi hotspot joining success message and feeds the joining success message back to the APP where the second user terminal is located on the basis of the BLE technology; and if the second network password is different from the network password of the WiFi hotspot, the second WiFi module acquires a WiFi hotspot joining failure message and feeds the joining failure message back to the APP where the second user terminal is located on the basis of the BLE technology.
S505, establishing UDP communication between the second industrial robot and the first industrial robot based on a WiFi technology;
s506, the first industrial robot sends all equipment information connected to the WiFi hotspot to the second industrial robot based on the WiFi module on the first industrial robot;
after the second industrial robot joins the WiFi hotspot, the first industrial robot can reproduce the user and the equipment and the like on the whole multi-working robot system, and all the equipment information comprises: all industrial robot IDs connected to the WiFi hotspot, group grouping options connected to the WiFi hotspot, user IDs connected to the WiFi hotspot, industrial robot IP addresses connected to the WiFi hotspot, and collaborative work group grouping options.
S507, the second industrial robot sends all the equipment information to a second user terminal based on a BLE technology;
s508, the second industrial robot receives a cooperative role command sent by a second user terminal;
because the first industrial robot sends the related information under all systems to the second industrial robot, the second user terminal can complete corresponding cooperative role setting based on the APP client, namely, a cooperative role instruction is generated by a user of the second user terminal based on an APP interface, the user presents all equipment information sent by the second industrial robot based on the APP interface and selects a corresponding cooperative role, and the cooperative role comprises grouping selection and cooperative type selection.
S509, the second industrial robot sends the cooperative role command to the first industrial robot based on a WiFi technology;
s510, after receiving a cooperative role instruction sent by a second industrial robot, the first industrial robot updates the cooperative role instruction into a maintained equipment information list;
and S511, notifying all the industrial robots connected to the WiFi hotspot in a UDP (user datagram protocol) broadcast mode, so that the users corresponding to the industrial robots complete information updating.
In a specific implementation process, after receiving a cooperative role command sent by a second industrial robot, a first industrial robot updates the cooperative role command to a maintained equipment information list and informs all industrial robots connected to the WiFi hotspot in a UDP (user datagram protocol) broadcast mode, so that information updating of users corresponding to the industrial robots is completed.
It should be noted that, in the networking and team organizing process, for example, the second industrial robot joins in a game system established in a whole WiFi hotspot, the second industrial robot receives a WiFi hotspot joining instruction sent by a second user terminal, the WiFi joining instruction is generated by a user of the second user terminal based on an APP client interface, and the second user terminal and the second industrial robot implement data communication by using a bluetooth low energy BLE technology; after the second industrial robot receives a WiFi adding instruction based on a BLE technology, a second WiFi module on the second industrial robot is started to search WiFi hotspots based on the WiFi adding instruction, and the WiFi hotspots are added to the WiFi hotspots created by the first industrial robot; after the second industrial robot joins the WiFi hotspot created by the first industrial robot, the second industrial robot and the first industrial robot establish UDP communication based on the WiFi technology; the first industrial robot sends all equipment information connected to the WiFi hotspot to the second industrial robot based on the WiFi module on the first industrial robot; the second industrial robot sends all device information to the second user terminal based on BLE technology.
For example, after the second industrial robot where the second user is located successfully joins the network of the creator, the second industrial robot of the second user immediately establishes a UDP communication connection with the WiFi hotspot created by the first industrial robot. After successful establishment, the WiFi hotspot will send all device information that has been connected to the hotspot to the second industrial robot on the second user. These pieces of information include:
ID of devices connected to the AP hotspot;
connecting to the selected group of devices under the AP hotspot;
a "username" of a device connected under the AP hotspot;
and connecting to the IP address of the device under the AP hotspot.
This information is used to identify the "identity" of each industrial robot device communicating under the local area network. After receiving the information, the second industrial robot sends the information to the APP where the second user is located through BLE, and after receiving the information, the APP displays the information and grouping conditions of the users who have joined the network on a user interface. At the moment, the APP can prompt a user whether to join a certain group or a cooperative operation group, if the user confirms the joining, information which is the same as the 'identity' information of the equipment is generated according to the group selected by the user and is sent to the second industrial robot, the second industrial robot receives the information and then sends the information to the first industrial robot, at the moment, the first industrial robot can add the information of the second industrial robot into a previously maintained equipment information list and simultaneously inform all industrial robots connected to the network in a UDP (user datagram protocol) broadcast mode to update the information.
Near field communication is realized between an industrial robot and a user terminal based on BLE technology, user updating is realized based on WiFi hot spots, real-time updating of the industrial robot and the user under WiFi network points in the environment of a multiplex robot is guaranteed, multi-collaborative group selection can be provided and a corresponding collaborative operation mode can be set according to user adding behaviors, and controllability of overall collaborative operation is guaranteed. The whole system relates to interactivity under various information, team formation or cooperative work is required to be matched with the whole assembly line work, the expandability of the whole system and the possibility of cooperative work are realized, WiFi hot spot establishment is completed based on one industrial robot, the interactivity of various devices is required to be realized based on the WiFi hot spot, and great convenience is obtained for cooperative work instructions, various user operation behaviors and the like.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by instructions associated with hardware via a program, which may be stored in a computer-readable storage medium, and the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
The method and system for cooperative work of industrial robots provided by the embodiment of the present invention are described in detail above, and the principle and the embodiment of the present invention are explained herein by applying specific examples, and the description of the above embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (6)
1. A method for industrial robot cooperative operation is characterized in that a system for networking communication among a plurality of industrial robots comprises: the system comprises a plurality of user terminals, industrial robots connected with the user terminals and communicating with the user terminals, wherein the user terminals and the industrial robots communicate by adopting a BLE technology, and each industrial robot is provided with a BLE module, a WiFi module, a deformation sensor and a processor; the method comprises the following steps that a user terminal sends various instructions to an industrial robot by adopting an APP client mode, a processor in the industrial robot analyzes the various instructions, and then various control processes are achieved according to the various instructions; the deformation sensor is positioned on the body equipment of the robot, detects the pressure value acted on the deformation sensor by a user, converts the pressure value into a corresponding pressure signal value, the pressure signal value range corresponds to the cooperative operation instruction of different industrial robots, and the cooperative operation instruction is set by a user terminal based on the user terminal;
the method comprises the following steps:
detecting a pressure value acted on a deformation sensor by a user based on the deformation sensor on the first industrial robot;
converting the pressure value into a corresponding pressure signal value;
judging a signal value range in which the pressure signal value is located based on the pressure signal value;
analyzing a corresponding user operation instruction based on the signal value range, and analyzing an instruction type of the user operation instruction;
when the user operation instruction is analyzed to be a one-way cooperative operation instruction, acquiring an IP address corresponding to the one-way cooperative operation instruction based on the equipment information list, and sending the one-way cooperative operation instruction to a corresponding second industrial robot by adopting a set port and the IP address;
when the analyzed user operation instruction is a multi-directional cooperative operation instruction, the multi-directional cooperative operation instruction is generated into a UDP broadcast packet which can be broadcast by a WIFI technology, and the UDP broadcast packet is sent to a plurality of industrial robots needing cooperative operation based on the WiFi modules corresponding to the first industrial robots.
2. A method of industrial robot collaborative work according to claim 1, wherein the user operation instruction is packaged with: industrial robot ID and collaborative work orders.
3. A method of industrial robot collaborative work according to claim 2, wherein the method further comprises:
after the first industrial robot receives a UDP unicast or broadcast equipment information list sent by a WiFi hotspot, the first industrial robot caches the equipment information list; or
And after the first industrial robot receives the equipment information list sent by the WiFi hotspot next time in a UDP unicast or broadcast mode, the first industrial robot refreshes the equipment information list.
4. A method of industrial robot collaborative work according to claim 3, wherein the device information list includes: connecting to all industrial robot IDs under the WiFi hotspot and connecting to the industrial robot IP addresses under the WiFi hotspot.
5. The method for industrial robot cooperative work according to claim 4, wherein when the user operation command is analyzed to be a one-way cooperative work command, acquiring an IP address corresponding to the one-way cooperative work command based on the device information list, and sending the one-way cooperative work command to the corresponding second industrial robot by using the predetermined port and IP address comprises:
when the first industrial robot resolves the user operation instruction into a one-way cooperative operation instruction, a second industrial robot corresponding to the industrial robot ID in the user operation instruction is resolved, the IP address of the second industrial robot is searched based on the equipment information list, and the one-way cooperative operation instruction is sent to the second industrial robot by adopting the set port and the IP address.
6. A system for collaborative work by industrial robots, wherein the system performs the method of any of claims 1 to 5.
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