WO2017000783A1 - 一种实时控制调试***及调试方法 - Google Patents
一种实时控制调试***及调试方法 Download PDFInfo
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- WO2017000783A1 WO2017000783A1 PCT/CN2016/085906 CN2016085906W WO2017000783A1 WO 2017000783 A1 WO2017000783 A1 WO 2017000783A1 CN 2016085906 W CN2016085906 W CN 2016085906W WO 2017000783 A1 WO2017000783 A1 WO 2017000783A1
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- control
- debugging
- development
- remote end
- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- the invention relates to the technical field of control debugging of a robot device, in particular to a real-time control debugging system and a debugging method.
- a robot is a machine that automatically performs work. It can accept human command, run pre-programmed procedures, or act on principles that are based on artificial intelligence techniques. Its mission is to assist or replace the work of human work, such as production, construction, or dangerous work.
- it is usually necessary to receive joint control between the local program control terminal and the remote program control terminal. After the robot leaves the factory, in order to make the robot run better during the use of the robot, it is usually necessary to carry out secondary development and debugging of the control program of the robot.
- the present invention provides a real-time control debugging system and a debugging method with simple debugging and high debugging efficiency.
- the invention is achieved by the following method:
- a real-time control debugging system is applied to remotely control and debug a robot, which comprises: developing a control end, a remote end matching the robot and a communication unit, and the local control end is arranged in the robot;
- the development control terminal is disposed in a local processing system, and the development control terminal is prefabricated with a development environment, and the user sends a control debugging command to the remote end in the development environment through the development control terminal;
- the communication unit is configured to implement data interaction between the development control end and the remote end and the local control end,
- the remote end is independent of the robot and implements a wireless connection with the development control terminal, and the remote end receives the corresponding control debug command, so that the remote end combines the local control end with the control
- the robot controls the robot to perform an operation corresponding thereto, and forms a debugging result to return to the development control terminal.
- An instruction input unit configured to receive a control debugging instruction input by a user, and output to the remote end through the communication unit;
- the determining unit accepts the debugging result sent by the remote end, and determines, according to the debugging result, whether the control debugging instruction is debugged, and forms a determination result to be output to the remote end.
- remote end comprises:
- the first storage unit receives and stores the control debugging instruction, and deletes the control debugging instruction by a delete command;
- the control unit reads the control debug instruction stored in the first storage unit and executes, after the execution is completed, sends the delete command to the first storage unit, and forms a debug result to be sent to the development control end;
- the second storage unit reads and stores the control debugging instruction in the control unit that matches the determination result in a state that the determination result is that the debugging is completed.
- the instruction input unit further receives a stop debugging instruction input by a user, and the remote end stops the debugging operation under the action of the stop debugging instruction.
- the development control terminal further includes a login module for authenticating the user, and receiving the control debugging instruction input by the user after the user identity verification is passed.
- a real-time control debugging method is applied to remote control and debugging of a robot, which comprises developing a control terminal, a remote end matched with the robot, and a communication unit, wherein the robot internally includes a local control terminal.
- the development control terminal is disposed in a local processing system, and the development control terminal prefabricates a development environment, and the user sends a control debugging command to the remote end through the development control terminal;
- a communication unit configured to implement data interaction between the development control end and the remote end
- the real-time control debugging method specifically includes:
- Step S1 the user inputs a control debugging instruction through the development control terminal, and forms a control debugging data output that matches the remote end data format;
- step S2 the remote end performs an operation matching the control debug data according to the control debug data, and forms a debug result to be sent to the development control terminal.
- step S1 specifically includes:
- Step S11 the user selects the target robot through the development control terminal
- Step S12 the development control terminal receives the control debugging instruction input by the user, and the compiler
- the control debug instruction forms a compiled source code
- Step S12 generating a control debugger file according to the compiled source code
- Step S13 The development control terminal uploads the control debugger to a remote end corresponding to the target robot.
- step S2 specifically includes:
- Step S21 controlling the first storage unit to receive and store the control debugging instruction
- Step S22 the control unit reads the control debugging instruction stored in the first storage unit and executes, after the execution is completed, sends the deletion command to the first storage unit, and forms a debugging result to be sent to the Developing a control terminal;
- Step S23 the first storage unit receives the deletion command, and deletes the control debugging instruction
- Step S24 in a state that the determination result sent by the development control terminal is that the debugging is completed, the second storage unit reads and stores the control debugging instruction in the control unit that matches the determination result.
- the invention it is not necessary to independently debug the local control end and the remote end of the robot separately, thereby greatly improving the debugging efficiency of the user, reducing the debugging cost and shortening the debugging time.
- the developing control terminal and the local control terminal and the remote terminal are developed.
- the wireless connection method is not restricted by the cable or other linear connection. During the control debugging process, even if the robot is not in the user's visible range, the user can still control and debug the robot and obtain the debugging result, and the degree of freedom is high. .
- FIG. 1 is a schematic structural diagram of a real-time control debugging system according to the present invention.
- FIG. 2 is a schematic flow chart of a real-time control debugging method according to the present invention.
- a real-time control debugging system is applied to a robot control debugging system, which includes: a development control end, a remote end matched with the robot, and a communication unit, and a local control end is disposed in the robot.
- a remote end can match several robots.
- the development control terminal is disposed in a local processing system, and the development control terminal is prefabricated with a development environment, and the user sends a control debugging command to the remote end through the development control terminal; wherein the local processing system can be a Computer, or other device with input control debugging.
- the communication unit is configured to implement data interaction between the development control end and the remote end.
- the communication unit can have an unlimited communication unit.
- the remote end is independent of the robot, and implements a wireless connection between the development control terminals, and the user sends a corresponding control debugging command to the remote end through the development control terminal, so that the remote end is combined with the local end.
- the control terminal controls the robot to perform a corresponding operation under the control of the debugging command, and forms a debugging result to return to the development control terminal.
- the working principle of the invention is that the development control terminal is set in a local processing system, and the communication unit is used to make the remote end, the local control end and the development control end in the same network environment.
- Implementing a wireless connection between the remote end and the development control terminal, and the user sends a corresponding control debugging command to the remote end at the development control end, so that the remote end is combined with the local
- the control terminal controls the robot to perform a corresponding operation under the control of the debugging command, and forms a debugging result to return to the development control terminal.
- the invention it is not necessary to independently debug the local control end and the remote end of the robot separately, thereby greatly improving the debugging efficiency of the user, reducing the debugging cost and shortening the debugging time.
- the developing control terminal and the local control terminal and the remote terminal are developed.
- the wireless connection method is not restricted by the cable or other linear connection. During the control debugging process, even if the robot is not in the user's visible range, the user can still control and debug the robot and obtain the debugging result, and the degree of freedom is high. .
- the instruction input unit is configured to receive a control debugging instruction input by the user; further, the instruction input unit may further receive a stop debugging instruction input by the user, and the control debugging instruction is configured to cause the robot to execute the control debugging instruction input by the user, and stop The debug command is to cause the robot to stop executing the control debug command input by the user.
- the determining unit receives the debugging result sent by the remote end, and the user determines, according to the debugging result, whether the debugging instruction is debugged, and forms a determination result to be output to the remote end.
- the control debugging instruction determines that the debugging is completed, it indicates that the control debugging instruction can control the robot to successfully perform the operation required by the user, and can be stored in the second storage unit for replacing the existing control of the robot.
- Debug instructions When the control debugging instruction determines that the debugging is not completed, it indicates that the control debugging instruction cannot control the robot to successfully perform the operation required by the user, and may not be stored in the second storage unit, and the changing robot is in use. The existing control debug instructions are still executed.
- remote end comprises:
- the first storage unit receives and stores the control debugging instruction, and deletes the control debugging instruction by a delete command; the first storage unit is a temporary storage unit, configured to temporarily store the control debugging instruction, and The space memory is released after the control debug instruction is executed.
- the control unit reads and executes the control debug instruction stored in the first storage unit, and sends the delete command to the first storage unit after the execution is completed, and simultaneously forms the debug result to be sent to the development
- the control end is used for the user to view, and judges the control debugging instruction according to the debugging result.
- the second storage unit reads and stores the control debugging instruction in the control unit that matches the determination result in a state that the determination result is that the debugging is completed.
- the development control terminal further includes a login module for authenticating the user, and receiving the control debugging instruction input by the user after the user identity verification is passed.
- a login module is provided to prevent the robot from being mishandled.
- a real-time control debugging method is applied to a robot control debugging system, which includes a control end and a remote end matched with the robot,
- the control terminal is disposed in a local processing system for performing a control debugging operation on the remote end;
- the real-time control debugging method specifically includes:
- Step S1 the user inputs a control debugging instruction through the development control terminal, and forms a control debugging data output that matches the remote end data format;
- step S2 the remote end performs an operation matching the control debug data according to the control debug data, and forms a debug result to be sent to the development control terminal.
- the invention provides a real-time control debugging method, and the working principle thereof is similar to the working principle of a real-time control debugging system, and details are not described herein.
- step S1 specifically includes:
- Step S11 the user selects the target robot through the development control terminal, because one remote end can match several robots, so it is necessary to select a target robot;
- Step S12 the development control terminal receives the control debugging instruction input by the user, and the compiler
- the control debug instruction forms a compiled source code
- Step S12 generating a control debugger file according to the compiled source code
- Step S13 The development control terminal uploads the control debugger to a remote end corresponding to the target robot.
- step S2 specifically includes:
- Step S21 controlling the remote storage first storage unit to receive and store the control debugging instruction
- Step S22 the control unit reads the control debugging instruction stored in the first storage unit and executes, after the execution is completed, sends the deletion command to the first storage unit, and forms a debugging result to be sent to the Developing a control terminal;
- Step S23 the first storage unit receives the deletion command, and deletes the control debugging instruction
- Step S24 in a state that the determination result sent by the development control terminal is that the debugging is completed, the second storage unit reads and stores the control debugging instruction in the control unit that matches the determination result.
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Abstract
一种机器人装置的实时控制调试***及调试方法。该***包括开发控制端、与机器人匹配的远程端、通讯单元,其中机器人内部包括一本地控制端,无需分别对机器人本地控制端和远程端进行独立调试,提高了用户的调试效率、降低调试成本以及缩短调试时间,开发控制端与本地控制端和远程端之间采用无线连接方式,不受电缆线或其他线性连接的约束,在控制调试过程中,即使机器人不在用户的可视范围内,用户依然可以对机器人进行控制调试并获得调试结果,自由度较高。
Description
本发明涉及一种机器人装置的控制调试技术领域,尤其涉及一种实时控制调试***及调试方法。
机器人(Robot)是自动执行工作的机器装置。它既可以接受人类指挥,又可以运行预先编排的程序,也可以根据以人工智能技术制定的原则纲领行动。它的任务是协助或取代人类工作的工作,例如生产业、建筑业,或是危险的工作。机器人的在执行动作过程中,通常需要接收本地程序控制端与远程程序控制端的联合控制。在机器人出厂之后,用户或者第三方在使用过程中,为了使机器人能够更好地运行,通常需要对机器人的控制程序进行二次开发与调试,现有的二次开发过程中,第三方开发者在对机器人开发的过程中需要连接一条数据线在电脑与机器人之间,使用USB协议进行数据交换,把编写完成的程序上传到机器人的本地程序控制端上并运行调试。而对该机器人在远程端对应的程序则需要在本地编写完成后,打包上传到云端,与此同时还需要对机器人的本地代码进行更新。即这种方式无法对该机器人在云端的代码进行编辑和调试,只能对机器人本地的代码有效,而对云端的代码则需要打包、上传后进行联调,这大大浪费掉开发者有限的研发时间,调试
难度大,效率低下。
发明内容
针对现有技术的不足,本发明提供一种调试简单、调试效率高的实时控制调试***及调试方法。
本发明通过如下方法实现:
一种实时控制调试***,应用于对机器人进行远程控制及调试,其中,包括:开发控制端、与所述机器人匹配的远程端及通讯单元,且所述机器人内设置有一本地控制端,
所述开发控制端设置于本地的处理***中,所述开发控制端预制有一开发环境,用户通过所述开发控制端于所述开发环境中对所述远程端发送控制调试命令;
所述通讯单元,用以实现所述开发控制端与所述远程端、所述本地控制端之间的数据交互,
所述远程端独立于所述机器人,并与所述开发控制端之间实现无线连接,所述远程端接收相应的所述控制调试命令,以使所述远程端结合本地控制端于所述控制调试命令作用下控制所述机器人执行与之相应的操作,并形成一调试结果返回至所述开发控制端。
上述的实时控制调试***,其中,所述开发控制端包括,
指令输入单元,用以接收用户输入的控制调试指令,并通过所述通讯单元输出至所述远程端;
判断单元,接受所述远程端发送的所述调试结果,并根据所述调试结果判断所述控制调试指令是否调试完成,形成一判断结果输出至所述远程端。
上述的实时控制调试***,其中,所述远程端包括:
第一存储单元,接收并存储所述控制调试指令,并于一删除命令的作用下删除所述控制调试指令;
控制单元,读取所述第一存储单元中存储的所述控制调试指令并执行,于执行完毕后向所述第一存储单元发送所述删除命令,同时形成一调试结果发送至所述开发控制端;
第二存储单元,于所述判断结果为调试完成的状态下,读取并存储所述控制单元中与所述判断结果相匹配的所述控制调试指令。
上述的实时控制调试***,其中,所述指令输入单元还接收用户输入的停止调试指令,于所述停止调试指令作用下,所述远程端停止调试操作。
上述的实时控制调试***,其中,所述开发控制端还包含登陆模块,用以对用户进行身份验证,于用户身份验证通过后,接收用户输入的所述控制调试指令。
一种实时控制调试方法,应用于对机器人进行远程控制及调试,其中,包括开发控制端、与机器人匹配的远程端、通讯单元,其中所述机器人内部包括一本地控制端,
所述开发控制端设置于本地的处理***中,所述开发控制端预制有一开发环境,用户通过所述开发控制端对所述远程端发送控制调试命令;
通讯单元,用以实现所述开发控制端与所述远程端之间的数据交互;
所述远程端与所述开发控制端之间实现无线连接,用户通过所述开发控制端性所述远程端发送相应的控制调试命令,以使所述远程端控制所述机器人执行与之相应的操作,所述实时控制调试方法具体包括:
步骤S1,用户通过所述开发控制端输入控制调试指令,并形成一与所述远程端数据格式相匹配的控制调试数据输出;
步骤S2,远程端根据所述控制调试数据执行与之相匹配的操作,并形成一调试结果发送至所述开发控制端。
上述的实时控制调试方法,其中,所述步骤S1具体包括:
步骤S11,用户通过所述开发控制端选择目标机器人;
步骤S12,所述开发控制端接收用户输入的所述控制调试指令,编译所
述控制调试指令形成编译源代码;
步骤S12,根据所述编译源代码生成控制调试程序文件;
步骤S13,所述开发控制端上传所述控制调试程序至与所述目标机器人相对应的远程端。
上述的实时控制调试方法,其中,所述步骤S2具体包括:
步骤S21,控制第一存储单元,接收并存储所述控制调试指令;
步骤S22,控制单元读取所述第一存储单元中存储的所述控制调试指令并执行,于执行完毕后向所述第一存储单元发送所述删除命令,同时形成一调试结果发送至所述开发控制端;
步骤S23,所述第一存储单元接收所述删除命令,并删除所述控制调试指令;
步骤S24,于所述开发控制端发出的一判断结果为调试完成的状态下,第二存储单元读取并存储所述控制单元中与所述判断结果相匹配的所述控制调试指令。
与现有技术相比,本发明的优点是:
本发明中,无需分别对机器人本地控制端和远程端进行独立调试,大大提高了用户的调试效率、降低调试成本以及缩短调试时间,同时本发明中,开发控制端与本地控制端和远程端之间采用无线连接方式,不受电缆线或其他线性连接的约束,在控制调试过程中,即使机器人不在用户的可视范围内,用户依然可以对机器人进行控制调试并获得调试结果,自由度较高。
图1为本发明一种实时控制调试***结构示意图;
图2为本发明一种实时控制调试方法流程示意图。
下面结合附图和具体实施例对本发明作进一步说明,但不作为本发明的限定。
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有作出创造性劳动的前提下所获得的所有其他实施例,都属于本发明保护的范围。
需要说明的是,在不冲突的情况下,本发明中的实施例及实施例中的特征可以相互组合。
下面结合附图和具体实施例对本发明作进一步说明,但不作为本发明的限定。
如图1所示,一种实时控制调试***,应用于机器人控制调试***,其中,包括:开发控制端、与所述机器人匹配的远程端及通讯单元,且所述机器人内设置有一本地控制端,通常一个远程端可以匹配若干个机器人。
所述开发控制端设置于本地的处理***中,所述开发控制端预制有一开发环境,用户通过所述开发控制端对所述远程端发送控制调试命令;其中所述本地的处理***可以为一个计算机,或者其他具有输入控制调试功能的装置。
所述通讯单元,用以实现所述开发控制端与所述远程端之间的数据交互。其中通讯单元可以无限通讯单元。
所述远程端独立于所述机器人,并于所述开发控制端之间实现无线连接,用户通过所述开发控制端向所述远程端发送相应的控制调试命令,以使所述远程端结合本地控制端于所述控调试命令作用下控制所述机器人执行与之相应的操作,并形成一调试结果返回至所述开发控制端。
本发明的工作原理是:所述开发控制端设置于本地的处理***中,利用它通讯单元使得所述远程端、本地控制端以及开发控制端处于同一网络环境
中实现数据的交互,且所述远程端与所述开发控制端之间实现无线连接,用户于所述开发控制端向所述远程端发送相应的控制调试命令,以使所述远程端结合本地控制端于所述控调试命令作用下控制所述机器人执行与之相应的操作,并形成一调试结果返回至所述开发控制端。
本发明中,无需分别对机器人本地控制端和远程端进行独立调试,大大提高了用户的调试效率、降低调试成本以及缩短调试时间,同时本发明中,开发控制端与本地控制端和远程端之间采用无线连接方式,不受电缆线或其他线性连接的约束,在控制调试过程中,即使机器人不在用户的可视范围内,用户依然可以对机器人进行控制调试并获得调试结果,自由度较高。
上述的实时控制调试***,其中,所述开发控制端包括
指令输入单元,用以接收用户输入的控制调试指令;进一步地,指令输入单元还可接收用户输入的停止调试指令,控制调试指令用以使得所述机器人执行用户输入的所述控制调试指令,停止调试指令用以使得所述机器人停止执行用户输入的所述控制调试指令。
判断单元,接受所述远程端发送的所述调试结果,用户根据所述调试结果判断所述控制调试指令是否调试完成,形成一判断结果输出至所述远程端。当所述控制调试指令判断为调试完成时,则表示所述控制调试指令能够控制所述机器人成功地执行用户所需的操作,则可存储于第二存储单元,用于替换机器人现有的控制调试指令。当所述控制调试指令判断为调试未完成时,则表示所述控制调试指令不能够控制所述机器人成功地执行用户所需的操作,则不可存储于第二存储单元,换机器人在使用过程中仍然执行现有的控制调试指令。
上述的实时控制调试***,其中,所述远程端包括:
第一存储单元,接收并存储所述控制调试指令,并于一删除命令的作用下删除所述控制调试指令;第一存储单元为临时存储单元,用以临时存储所述控制调试指令,并于该控制调试指令执行完毕后释放该空间内存。
控制单元,读取所述第一存储单元中存储的所述控制调试指令并执行,于执行完毕后向所述第一存储单元发送所述删除命令,同时形成所述调试结果发送至所述开发控制端;所述调试结果用以供用户查看,并根据该调试结果对所述控制调试指令做判断。
第二存储单元,于所述判断结果为调试完成的状态下,读取并存储所述控制单元中与所述判断结果相匹配的所述控制调试指令。
上述的实时控制调试***,其中,所述开发控制端还包含登陆模块,用以对用户进行身份验证,于用户身份验证通过后,接收用户输入的所述控制调试指令。设置有登陆模块,用以避免所述机器人被误操作。
如图2所示,一种实时控制调试方法,应用于机器人控制调试***,其中,包括控制端和与机器人匹配的远程端,
所示控制端设置于本地的处理***中,用于对所述远程端执行控制调试操作;
所述远程端与所述开发控制端之间实现无线连接,用户通过所述开发控制端性所述远程端发送相应的控制调试命令,以使所述远程端控制所述机器人执行与之相应的操作,所述实时控制调试方法具体包括:
步骤S1,用户通过所述开发控制端输入控制调试指令,并形成一与所述远程端数据格式相匹配的控制调试数据输出;
步骤S2,远程端根据所述控制调试数据执行与之相匹配的操作,并形成一调试结果发送至所述开发控制端。
本发明提供的一种实时控制调试方法,其工作原理与一种实时控制调试***工作原理相似,此处不做赘述。
上述的实时控制调试方法,其中,所述步骤S1具体包括:
步骤S11,用户通过所述开发控制端选择目标机器人,因一个远程端可以匹配若干个机器人,所以需要选择一个目标机器人;
步骤S12,所述开发控制端接收用户输入的所述控制调试指令,编译所
述控制调试指令形成编译源代码;
步骤S12,根据所述编译源代码生成控制调试程序文件;
步骤S13,所述开发控制端上传所述控制调试程序至与所述目标机器人相对应的远程端。
上述的实时控制调试方法,其中,所述步骤S2具体包括:
步骤S21,控制所述远程端第一存储单元接收并存储所述控制调试指令;
步骤S22,控制单元读取所述第一存储单元中存储的所述控制调试指令并执行,于执行完毕后向所述第一存储单元发送所述删除命令,同时形成一调试结果发送至所述开发控制端;
步骤S23,所述第一存储单元接收所述删除命令,并删除所述控制调试指令;
步骤S24,于所述开发控制端发出的一判断结果为调试完成的状态下,第二存储单元读取并存储所述控制单元中与所述判断结果相匹配的所述控制调试指令。
以上所述仅为本发明较佳的实施例,并非因此限制本发明的实施方式及保护范围,对于本领域技术人员而言,应当能够意识到凡运用本发明说明书及图示内容所作出的等同替换和显而易见的变化所得到的方案,均应当包含在本发明的保护范围内。
Claims (8)
- 一种实时控制调试***,应用于对机器人进行远程控制及调试,其特征在于,包括:开发控制端、与所述机器人匹配的远程端及通讯单元,且所述机器人内设置有一本地控制端,所述开发控制端设置于本地的处理***中,所述开发控制端预制有一开发环境,用户通过所述开发控制端的所述开发环境对所述远程端发送控制调试命令;所述通讯单元,用以实现所述开发控制端与所述远程端、所述本地控制端之间的数据交互,所述远程端独立于所述机器人,并与所述开发控制端之间实现无线连接,所述远程端接收所述控制调试命令,以使所述远程端结合本地控制端于所述控制调试命令作用下控制所述机器人执行与之相应的操作,并形成一调试结果返回至所述开发控制端。
- 根据权利要求1所述的实时控制调试***,其特征在于,所述开发控制端包括,指令输入单元,用以接收用户输入的控制调试指令,并通过所述通讯单元输出至所述远程端;判断单元,接受所述远程端发送的所述调试结果,用户根据所述调试结果判断所述控制调试指令是否调试完成,形成一判断结果输出至所述远程端。
- 根据所述权利要求1所述的实时控制调试***,其特征在于,所述远程端包括:第一存储单元,接收并存储所述控制调试指令,并于一删除命令的作用下删除所述控制调试指令;控制单元,读取所述第一存储单元中存储的所述控制调试指令并执行,于执行完毕后向所述第一存储单元发送所述删除命令,同时形成所述调试结果发送至所述开发控制端;第二存储单元,于所述判断结果为调试完成的状态下,读取并存储所述控制单元中与所述判断结果相匹配的所述控制调试指令。
- 根据所述权利要求2所述的实时控制调试***,其特征在于,所述指令输入单元还接收用户输入的停止调试指令,于所述停止调试指令作用下,所述远程端停止调试操作。
- 根据所述权利要求1所述的实时控制调试***,其特征在于,所述开发控制端还包含登陆模块,用以对用户进行身份验证,用以于用户身份验证通过后,接收用户输入的所述控制调试指令。
- 一种实时控制调试方法,应用于机器人控制调试***,其特征在于,包括开发控制端和与机器人匹配的远程端,所示控制端设置于本地的处理***中,所述开发控制端预制有一开发环境,用户通过所述开发控制端对所述远程端发送控制调试命令;所述远程端与所述开发控制端之间实现无线连接,用户通过所述开发控制端向所述远程端发送相应的控制调试命令,以使所述远程端控制所述机器人执行与之相应的操作,所述实时控制调试方法具体包括:步骤S1,用户通过所述开发控制端输入控制调试指令,并形成一与所述远程端数据格式相匹配的控制调试数据输出;步骤S2,远程端根据所述控制调试数据执行与之相匹配的操作,并形成一调试结果发送至所述开发控制端。
- 根据权利要求6所述的实时控制调试方法,其特征在于,所述步骤S1具体包括:步骤S11,用户通过所述开发控制端选择目标机器人;步骤S12,所述开发控制端接收用户输入的所述控制调试指令,编译所述控制调试指令形成编译源代码;步骤S12,根据所述编译源代码生成控制调试程序文件;步骤S13,所述开发控制端上传所述控制调试程序至与所述目标机器人相对应的远程端。
- 根据权利要求6所述的实时控制调试方法,其特征在于,所述步骤S2具体包括:步骤S21,控制所述远程端的第一存储单元,接收并存储所述控制调试指令;步骤S22,控制单元读取所述第一存储单元中存储的所述控制调试指令并执行,于执行完毕后向所述第一存储单元发送所述删除命令,同时形成一调试结果发送至所述开发控制端;步骤S23,所述第一存储单元接收所述删除命令,并删除所述控制调试指令;步骤S24,于所述开发控制端发出的一判断结果为调试完成的状态下,第二存储单元读取并存储所述控制单元中与所述判断结果相匹配的所述控制调试指令。
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