Industrial robot remote cooperative control system, method and device based on Internet of Things

Abstract

The invention relates to an industrial robot remote cooperative control system, method and device based on the Internet of Things, and the system comprises a sensing set which is used for collecting the state information of each industrial robot; the single chip microcomputer is used for performing protocol conversion and encrypted transmission on the state information set; the server is used for estimating the state of each industrial robot according to the decrypted data stream to obtain a state estimation result; the controller is also used for receiving the control instruction and generating an industrial robot cooperation instruction according to the state estimation result and the control instruction; and the industrial personal computer is used for receiving and decrypting the industrial robot cooperation encryption instruction to obtain an industrial robot cooperation decryption instruction, and controlling each industrial robot in the industrial robot cluster to operate cooperatively according to the industrial robot cooperation decryption instruction. In the data transmission stage, an encryption mode is adopted for transmission, and the safety of the industrial robot is ensured; meanwhile, the state of each industrial robot is integrally considered, unified cooperative control is realized, and the cooperative control effect is optimized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot control, in particular to an industrial robot remote collaborative control system, method and device based on Internet of Things. BACKGROUND

[0002] With the development of science and technology, robot technology has attracted more and more attention in the global application, especially under the background of the increasingly mature Internet of Things technology, the remote control and collaborative work of robots are widely used.

[0003] However, in the existing industrial scene of robot collaborative work, due to the influence of factors such as large number of robots, complex tasks, network attacks, and obstacles in data interaction and information sharing between robots, it is often difficult to guarantee the accuracy and safety of control, and thus the effect of collaborative control is greatly discounted. SUMMARY

[0004] The present application provides an industrial robot remote collaborative control system, method and device based on Internet of Things to solve at least one of the above technical problems.

[0005] The technical solution of the present application to solve the above technical problems is as follows: an industrial robot remote collaborative control system based on Internet of Things, comprising a sensor set, a single-chip microcomputer, a server and an industrial computer; The sensor set is arranged in an industrial robot cluster and is used to collect state information of each industrial robot in the industrial robot cluster to obtain a state information set. The single-chip microcomputer is integrated with a network transmission unit and is connected to the sensor set, and is used to perform protocol conversion and encrypted transmission on the state information set to form an encrypted data stream. The server is connected to the single-chip microcomputer and is used to receive and decrypt the encrypted data stream to obtain a decrypted data stream, estimate the state of each industrial robot according to the decrypted data stream to obtain a state estimation result, receive a control instruction issued by a remote control center, and generate an industrial robot collaboration instruction according to the state estimation result and the control instruction. The single-chip microcomputer is further used to perform encrypted transmission on the industrial robot collaboration instruction to obtain an industrial robot collaboration encrypted instruction. The industrial computer is connected to the single-chip microcomputer and is used to receive and decrypt the industrial robot collaboration encrypted instruction to obtain an industrial robot collaboration decrypted instruction, and control each industrial robot in the industrial robot cluster to operate collaboratively according to the industrial robot collaboration decrypted instruction.

[0006] On the basis of the above technical solution, the present application can be further improved as follows.

[0007] Further, the server is specifically configured to:

[0008] Further, the server is specifically configured to: perform principal component analysis on the state estimation result based on the control instruction to obtain a principal component analysis result; simulate the principal component analysis result by using a pre-constructed instruction simulation model to obtain a simulation instruction; simulate a scene based on the simulation instruction to obtain a simulation result; determine whether the simulation result meets a cooperative operation safety condition, if not, adjust parameters of the instruction simulation model to re-simulate the principal component analysis result, and if yes, take the simulation instruction as the industrial robot cooperative instruction.

[0009] Further, the single-chip microcomputer is specifically configured to: encrypt each state information in the state information set by using a corresponding level of encryption algorithm according to the state information type; encapsulate the encrypted state information into data in a unified format and perform secure transmission by using an adaptive communication protocol to form an encrypted data stream.

[0010] Further, the network transmission unit comprises a wired network transmission unit and a wireless network transmission unit.

[0011] On the basis of the above-mentioned industrial robot remote cooperative control system based on Internet of Things, the application further provides an industrial robot remote cooperative control method based on Internet of Things.

[0012] The industrial robot remote cooperative control method based on Internet of Things comprises: collecting state information of each industrial robot in an industrial robot cluster to obtain a state information set; performing protocol conversion on the state information set and performing encrypted transmission to form an encrypted data stream; receiving and decrypting the encrypted data stream to obtain a decrypted data stream, estimating the state of each industrial robot according to the decrypted data stream to obtain a state estimation result, receiving a control instruction sent by a remote control center, and generating an industrial robot cooperative instruction according to the state estimation result and the control instruction; performing encrypted transmission on the industrial robot cooperative instruction to obtain an industrial robot cooperative encrypted instruction; receiving and decrypting the industrial robot cooperative encrypted instruction to obtain an industrial robot cooperative decrypted instruction, and controlling each industrial robot in the industrial robot cluster to cooperatively operate according to the industrial robot cooperative decrypted instruction.

[0013] Based on the technical solution, the application can be further improved as follows.

[0014] Further, the state of each industrial robot is estimated according to the decrypted data stream, specifically, the decrypted data stream is input into a pre-constructed state observer to estimate the system state and total disturbance, and then the state estimation result of each industrial robot is obtained.

[0015] Further, the industrial robot cooperation instruction is generated according to the state estimation result and the control instruction, specifically including: The state estimation result is subjected to principal component analysis based on the control instruction to obtain a principal component analysis result; The principal component analysis result is simulated by using a pre-constructed instruction simulation model to obtain a simulation instruction; The simulation instruction is subjected to scene simulation to obtain a simulation result; It is judged whether the simulation result meets the cooperative operation safety condition, if not, the parameters of the instruction simulation model are adjusted to re-simulate the principal component analysis result, if yes, the simulation instruction is taken as the industrial robot cooperation instruction.

[0016] Further, the state information set is subjected to protocol conversion and encrypted transmission, specifically including: Each state information in the state information set is encrypted by using a corresponding level of encryption algorithm according to the state information type; The encrypted state information is encapsulated into data in a unified format and is subjected to secure transmission by using an adaptive communication protocol to form an encrypted data stream.

[0017] Based on the above-mentioned industrial robot remote cooperation control method based on the Internet of Things, the application further provides an industrial robot remote cooperation control device based on the Internet of Things.

[0018] The industrial robot remote cooperation control device based on the Internet of Things comprises a processor, a memory and a computer program stored in the memory, and the computer program is executed by the processor to realize the above-mentioned industrial robot remote cooperation control method based on the Internet of Things.

[0019] The beneficial effects of this invention are as follows: The IoT-based remote collaborative control system, method, and device for industrial robots uses encryption during data transmission, which can effectively resist external network attacks and ensure the security of industrial robots. Simultaneously, in scenarios involving multiple industrial robots and complex tasks, this invention collects the status information of each industrial robot in the industrial robot cluster to estimate the status of each robot. Combined with control commands issued by the remote control center, it generates collaborative commands for the industrial robots, taking into account the overall status of each robot to achieve unified collaborative control. This effectively avoids obstacles to data interaction and information sharing between industrial robots, optimizing the collaborative control effect. Attached Figure Description

[0020] Figure 1 This is a structural block diagram of the IoT-based remote collaborative control system for industrial robots according to the present invention. Figure 2 This is a flowchart of the IoT-based remote collaborative control method for industrial robots according to the present invention; Figure 3 This is a structural block diagram of the IoT-based remote collaborative control device for industrial robots according to the present invention. Detailed Implementation

[0021] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0022] Implementation 1: like Figure 1 As shown, the IoT-based remote collaborative control system for industrial robots includes a sensor array, a microcontroller, a server, and an industrial computer. The sensor set is set in the industrial robot cluster and is used to collect the status information of each industrial robot in the industrial robot cluster to obtain a status information set. The microcontroller integrates a network transmission unit, which is connected to the sensor set and is used to perform protocol conversion and encrypted transmission of the status information set to form an encrypted data stream. The server, connected to the microcontroller, is used to receive and decrypt the encrypted data stream to obtain a decrypted data stream, and to estimate the state of each industrial robot based on the decrypted data stream to obtain a state estimation result; it is also used to receive control commands issued by the remote control center, and to generate industrial robot collaboration commands based on the state estimation result and the control commands. The microcontroller is also used to encrypt and transmit the industrial robot collaboration instructions to obtain encrypted industrial robot collaboration instructions. The industrial computer is connected with the single-chip microcomputer, and is used for receiving and decrypting the industrial robot cooperation encrypted instruction to obtain an industrial robot cooperation decrypted instruction, and controlling each industrial robot in the industrial robot cluster to operate cooperatively according to the industrial robot cooperation decrypted instruction.

[0023] The industrial robot remote cooperative control system based on the Internet of Things can effectively resist external network attacks and ensure the safety of the industrial robot by using an encryption mode for transmission in the data transmission stage. Meanwhile, in the scene of multiple industrial robots and complex tasks, the state information of each industrial robot in the industrial robot cluster is collected to estimate the state of each industrial robot, and the control instruction issued by the remote control center is combined to generate an industrial robot cooperation instruction, which considers the state of each industrial robot as a whole to realize unified cooperative control, effectively avoiding obstacles in data interaction and information sharing between industrial robots, and optimizing the cooperative control effect.

[0024] In some embodiments, the server is specifically configured to: input the decrypted data stream into a pre-constructed state observer to estimate the system state and total disturbance, and further obtain the state estimation result of each industrial robot.

[0025] Specifically, the state observer is an extended state observer (ESO), a sliding mode observer or an improved nonlinear extended state observer. The improved nonlinear ESO replaces the fixed linear gain of the third-order ESO with a nonlinear function adaptive to the error to obtain better convergence and robustness. The above type of state observer is a commonly used state observer in industrial control, which can accurately estimate the state of the industrial robot at the next moment based on the current state.

[0026] In some embodiments, the server is specifically configured to: perform principal component analysis on the state estimation result based on the control instruction to obtain a principal component analysis result; simulate the principal component analysis result by using a pre-constructed instruction simulation model to obtain a simulation instruction; simulate the simulation instruction to obtain a simulation result; determine whether the simulation result meets the cooperative operation safety condition, if not, adjust the parameters of the instruction simulation model to re-simulate the principal component analysis result, and if yes, use the simulation instruction as the industrial robot cooperation instruction.

[0027] Specifically, the control instruction contains a target control object (the target control object refers to a specific industrial robot);Therefore, based on the principal component analysis of the state estimation result, the main state estimation of the target control object can be analyzed. Then, according to the main state estimation of the target control object, the instruction simulation is carried out, and the simulation instruction is back calculated, which contains the control instruction of the target control object and the control instruction of the collaborative control object working with the target control object. Then, the simulation instruction is simulated in a simulated manner to determine whether the simulation instruction meets the collaborative operation safety condition (for example, whether the set target is completed, whether collision occurs, etc.) in the case of realizing the target action;When the collaborative operation safety condition is not met, the parameters of the instruction simulation model are adjusted to re-simulate the principal component analysis result. Finally, the simulation instruction meeting the collaborative operation safety condition is used as the industrial robot collaboration instruction to control the collaborative work of each robot, ensuring the accuracy of control and improving the effect of industrial robot collaborative work.

[0028] In some embodiments, the single-chip microcomputer is specifically used for: According to the type of state information, a corresponding level of encryption algorithm is used to encrypt each state information in the state information set; The encrypted state information is packaged into a unified format data and transmitted securely using an adaptive communication protocol to form an encrypted data stream.

[0029] Specifically, according to the type of state information, a corresponding level of encryption algorithm is used to encrypt each state information in the state information set. When the state information is very important, a high-level encryption strategy is used for encryption. When the state information is moderately important, a medium-level encryption strategy is used for encryption. When the state information is not important, a low-level encryption strategy is used for encryption or no encryption. At the same time, by adapting to multiple communication protocols, the secure transmission of data is realized. The present application not only improves the security of data, but also optimizes the encryption process, reduces resource consumption, and improves the real-time performance and efficiency of the system.

[0030] In addition, the present application uses a single-chip microcomputer to encrypt each state information in the state information set, which is not only low in cost but also high in security and easy to implement.

[0031] In some embodiments, the network transmission unit includes a wired network transmission unit and a wireless network transmission unit.

[0032] Specifically, the present application uses a hybrid network transmission method of wireless and wired, which can adapt to different application scenarios.

[0033] Embodiment two: On the basis of the above-mentioned industrial robot remote collaborative control system based on Internet of Things, the present application also provides an industrial robot remote collaborative control method based on Internet of Things.

[0034] As Figure 2 shown, the remote collaborative control method of the industrial robot based on the Internet of Things comprises: Collecting state information of each industrial robot in the industrial robot cluster to obtain a state information set; Converting the state information set into a protocol and transmitting it in an encrypted manner to form an encrypted data stream; Receiving and decrypting the encrypted data stream to obtain a decrypted data stream, estimating the state of each industrial robot according to the decrypted data stream to obtain a state estimation result, receiving a control instruction issued by a remote control center, and generating an industrial robot collaborative instruction according to the state estimation result and the control instruction; Transmitting the industrial robot collaborative instruction in an encrypted manner to obtain an industrial robot collaborative encrypted instruction; Receiving and decrypting the industrial robot collaborative encrypted instruction to obtain an industrial robot collaborative decrypted instruction, and controlling the collaborative operation of each industrial robot in the industrial robot cluster according to the industrial robot collaborative decrypted instruction.

[0035] In some embodiments, the state of each industrial robot is estimated according to the decrypted data stream, specifically: the decrypted data stream is input into a pre-constructed state observer to estimate the system state and total disturbance, thereby obtaining the state estimation result of each industrial robot.

[0036] Specifically, the state observer is specifically an extended state observer (ESO) or a sliding mode observer or an improved nonlinear extended state observer. The improved nonlinear ESO replaces the fixed linear gain of the third-order ESO with a nonlinear function that adapts to the error to obtain better convergence and robustness. The above type of state observer is a commonly used state observer in industrial control, which can accurately estimate the state of the industrial robot at the next time based on the current state.

[0037] In some embodiments, the industrial robot collaborative instruction is generated according to the state estimation result and the control instruction, specifically including: Performing principal component analysis on the state estimation result based on the control instruction to obtain a principal component analysis result; Simulating the principal component analysis result using a pre-constructed instruction simulation model to obtain a simulation instruction; Simulating the simulation instruction to obtain a simulation result; Judging whether the simulation result meets the collaborative operation safety condition. If not, adjusting the parameters of the instruction simulation model to re-simulate the principal component analysis result. If yes, the simulation instruction is taken as the industrial robot collaborative instruction.

[0038] Specifically, the control instruction contains a target control object (the target control object refers to a specific industrial robot); therefore, based on the principal component analysis of the state estimation result, the estimation of the main state of the target control object can be analyzed. Then, according to the estimation of the main state of the target control object, instruction simulation is performed, and simulation instructions are back calculated, which contain the control instructions of the target control object and the control instructions of the collaborative control object working with the target control object. Then, the simulation instructions are simulated in a simulated manner to determine whether the simulation instructions meet the collaborative operation safety conditions (for example, whether the set target is completed, whether collision occurs, etc.) in the case of implementing the target action; when the collaborative operation safety conditions are not met, the parameters of the instruction simulation model are adjusted to re-simulate the principal component analysis result. Finally, the simulation instructions meeting the collaborative operation safety conditions are used as the industrial robot collaborative instructions to control the collaborative work of each robot, thereby ensuring the accuracy of control and improving the effect of the collaborative work of the industrial robots.

[0039] In some embodiments, the state information set is protocol-converted and encrypted for transmission, specifically including: According to the state information type, a corresponding level of encryption algorithm is used to encrypt each state information in the state information set; The encrypted state information is encapsulated into data in a unified format and is securely transmitted using an adapted communication protocol to form an encrypted data stream.

[0040] Specifically, according to the state information type, a corresponding level of encryption algorithm is used to encrypt each state information in the state information set; when the state information is very important, a high-level encryption strategy is used for encryption; when the state information is moderately important, a medium-level encryption strategy is used for encryption; when the state information is not important, a low-level encryption strategy is used for encryption or no encryption; at the same time, by adapting multiple communication protocols, the secure transmission of data is realized; the present application not only improves the security of data, but also optimizes the encryption process, reduces resource consumption, and improves the real-time performance and efficiency of the system.

[0041] Embodiment three: On the basis of the above-mentioned industrial robot remote collaborative control method based on the Internet of Things, the present application further provides an industrial robot remote collaborative control device based on the Internet of Things.

[0042] As shown in Figure 3 The industrial robot remote collaborative control device based on the Internet of Things includes a processor, a memory, and a computer program stored in the memory, and the computer program is executed by the processor to implement the above-mentioned industrial robot remote collaborative control method based on the Internet of Things.

[0043] In one optional embodiment, an IoT-based remote collaborative control device for industrial robots is provided, such as... Figure 3 As shown. Figure 3 The illustrated remote collaborative control device for industrial robots includes a processor and a memory. The processor and memory are connected, for example, via a bus. Optionally, the remote collaborative control device may further include a transceiver, which can be used for data interaction between the IoT-based remote collaborative control device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver is not limited to one unit, and the structure of this remote collaborative control device does not constitute a limitation on the embodiments of the present invention.

[0044] The processor can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), a PLC (Programmable Logic Controller), a FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. The processor can also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0045] A bus can include a pathway for transmitting information between the aforementioned components. The bus can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0046] The memory may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited to these.

[0047] The memory stores application code (computer program) that executes the present invention, and its execution is controlled by a processor. The processor executes the application code stored in the memory to implement the content shown in the foregoing method embodiments.

[0048] Among them, the IoT-based industrial robot remote collaborative control device can also be a terminal device. The terminal device can be any device that can install applications, including at least one of smartphones, tablets, laptops, desktop computers, smart speakers, smartwatches, smart TVs, and smart vehicle devices.

[0049] It should be noted that, Figure 3 The illustrated remote collaborative control device for industrial robots is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An industrial robot remote collaborative control system based on Internet of Things, characterized in that, The sensor set, the single-chip microcomputer, the server and the industrial computer are included. The sensor set is arranged in the industrial robot cluster and is used to collect state information of each industrial robot in the industrial robot cluster to obtain a state information set. The single-chip microcomputer is integrated with a network transmission unit and is connected to the sensor set and used to perform protocol conversion and encrypted transmission on the state information set to form an encrypted data stream. The server is connected to the single-chip microcomputer and used to receive and decrypt the encrypted data stream to obtain a decrypted data stream, estimate the state of each industrial robot according to the decrypted data stream to obtain a state estimation result, receive a control instruction sent by a remote control center and generate an industrial robot cooperation instruction according to the state estimation result and the control instruction. The single-chip microcomputer is further used to perform encrypted transmission on the industrial robot cooperation instruction to obtain an industrial robot cooperation encrypted instruction. The industrial computer is connected to the single-chip microcomputer and used to receive and decrypt the industrial robot cooperation encrypted instruction to obtain an industrial robot cooperation decrypted instruction and control each industrial robot in the industrial robot cluster to operate cooperatively according to the industrial robot cooperation decrypted instruction.

2. The IoT-based remote collaborative control system of industrial robots as claimed in claim 1 wherein, The server is specifically used to input the decrypted data stream into a pre-constructed state observer to estimate the system state and total disturbance and further obtain the state estimation result of each industrial robot.

3. The IoT-based remote collaborative control system of industrial robots as claimed in claim 1 wherein, The server is specifically used to: perform principal component analysis on the state estimation result based on the control instruction to obtain a principal component analysis result; simulate the principal component analysis result by using a pre-constructed instruction simulation model to obtain a simulation instruction; simulate a scene of the simulation instruction to obtain a simulation result; determine whether the simulation result meets a cooperative operation safety condition, if not, adjust parameters of the instruction simulation model to re-simulate the principal component analysis result, and if yes, take the simulation instruction as the industrial robot cooperation instruction.

4. The IoT-based remote collaborative control system of industrial robots as claimed in claim 1 wherein, The single-chip microcomputer is specifically used to: encrypt each state information in the state information set by using a corresponding level of encryption algorithm according to the state information type; encapsulate the encrypted state information into data in a unified format and perform secure transmission by using an adaptive communication protocol to form the encrypted data stream.

5. The IoT-based remote collaborative control system of industrial robots as claimed in claim 1 wherein, The network transmission unit includes a wired network transmission unit and a wireless network transmission unit.

6. A method for remote collaborative control of industrial robots based on Internet of Things, characterized in that, The method includes: collecting state information of each industrial robot in an industrial robot cluster to obtain a state information set; performing protocol conversion and encrypted transmission on the state information set to form an encrypted data stream; receiving and decrypting the encrypted data stream to obtain a decrypted data stream and estimating the state of each industrial robot according to the decrypted data stream to obtain a state estimation result; receiving a control instruction sent by a remote control center and generating an industrial robot cooperation instruction according to the state estimation result and the control instruction; performing encrypted transmission on the industrial robot cooperation instruction to obtain an industrial robot cooperation encrypted instruction; and receive and decrypt the industrial robot cooperation encrypted instruction to obtain an industrial robot cooperation decrypted instruction, and control the industrial robots in the industrial robot cluster to operate cooperatively according to the industrial robot cooperation decrypted instruction. 7.The IoT-based remote collaborative control method of an industrial robot according to claim 6, wherein, estimate the state of each industrial robot according to the decrypted data stream, specifically, input the decrypted data stream into a pre-constructed state observer to estimate the system state and total disturbance, and then obtain the state estimation result of each industrial robot. 8.The IoT-based remote collaborative control method of an industrial robot according to claim 6, wherein, generate an industrial robot cooperation instruction according to the state estimation result and the control instruction, specifically including: perform principal component analysis on the state estimation result based on the control instruction to obtain a principal component analysis result; simulate the principal component analysis result by using a pre-constructed instruction simulation model to obtain a simulation instruction; simulate a scene of the simulation instruction to obtain a simulation result; determine whether the simulation result meets a cooperative operation safety condition, if not, adjust parameters of the instruction simulation model to re-simulate the principal component analysis result, and if yes, take the simulation instruction as the industrial robot cooperation instruction. 9.The IoT-based remote collaborative control method of an industrial robot according to claim 6, wherein, perform protocol conversion and encrypted transmission on the state information set, specifically including: encrypt each state information in the state information set by using a corresponding level of encryption algorithm according to the state information type; encapsulate the encrypted state information into data in a unified format and perform secure transmission by using an adaptive communication protocol to form an encrypted data stream.

10. An industrial robot remote collaborative control device based on Internet of Things, characterized in that, a processor, a memory, and a computer program stored in the memory, the computer program being executed by the processor to implement the industrial robot remote cooperative control method based on Internet of Things according to any one of claims 6 to 9.

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