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Internet-based robot long-distance control method

A remote control and robot technology, applied in the direction of manipulators, manufacturing tools, etc., can solve problems such as instability of the control system, uncertain changes in time delay, and difficulty in remote control

Inactive Publication Date: 2006-03-08
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Summary
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  • Claims
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AI Technical Summary

Problems solved by technology

), the network bandwidth and routing conditions of the Internet are different, and the communication between different remote control terminals and robot terminals has different transmission delays, and the change of delays is uncertain
The existence of this time delay and the uncertainty of its change will make remote control difficult to achieve, and will cause the instability of the control system
Therefore, the delay problem is a major problem that needs to be solved in the remote control of network robots.

Method used

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Embodiment Construction

[0012] The Internet-based robot remote control method of the present invention is mainly composed of three parts: a remote user computer, a robot control website and a mobile robot system. The network control part adopts browser / server network structure design. see figure 1 .

[0013] A user computer is any computer connected to the Internet, and the connection method can be any one of dial-up, ADSL and broadband. Users can control the robot by logging in to the machine access website with a common browser. There is no special requirement for the computer used by the remote user, no special client software needs to be installed, and the user does not need to have professional robot knowledge.

[0014] The robot control website is mainly implemented by a network server (one or more servers can be configured according to the amount of information that the system needs to process, and this system can be configured with one server to meet the requirements), which is logically d...

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Abstract

A robot remote control method based on Internet is disclosed. The remote user computer is connected to the robot control website through Internet, connected to the moving robot system via LAN. When the robot control website accesses in the control requirement of the remote user computer, the system detects the delay of the user by a delay-detection module, sends the result to the control selection module, provides responding control module such as direct control, prediction control or monitoring control to the user according to the delay type. The user accesses in responding control module and controls the moving of the robot through the control interface displayed on the user terminal.

Description

【Technical field】 [0001] The invention relates to a robot control method, in particular to an Internet-based robot remote control method. 【Background technique】 [0002] In the remote control system based on the Internet, the remote control system of the robot is the most complex, involving the real-time transmission of instructions, data, images and environmental information. One of the most important problems in remote control is the influence of time delay on control. There are generally two types of existing robot remote control methods, that is, the transmission delay is handled as a fixed delay or a variable delay. The fixed delay is to assume that the transmission delay is a certain fixed value or there is a variable upper bound on the delay. For a control system designed with a fixed delay, when the delay deviates greatly from a fixed value or varies between zero and the upper bound of the delay, it is difficult to guarantee the stability of the system and the accu...

Claims

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Application Information

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IPC IPC(8): B25J13/00B25J5/00
Inventor 孙启湲
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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