A remote control system for a hexapod robot

Abstract

This invention provides a remote control system for a six-legged robot, including a remote server, a six-legged robot terminal, a mobile control terminal, and a data transmission link. The remote server has an independent external IP address and has ports 8004, 8005, 8006, and 7000 open. Port 8004 is the basic service port used for interface loading and communication handshake of the mobile control terminal; port 8005 is the control command forwarding port; and port 8006 is the video data stream return port. The remote server deploys frps server software, which establishes a TCP connection with the six-legged robot terminal by listening on port 7000. This invention utilizes the port mapping technology of the frps tool to achieve remote control of the six-legged robot over the external network without complex network configuration, lowering the deployment threshold for users.

Description

Technical Field

[0001] This invention relates to the field of remote control technology for hexapod robots, and more specifically to a remote control system for hexapod robots. Background Technology

[0002] With the development of biomimetic robot technology, hexapod robots, due to their advantages such as strong terrain adaptability and high motion stability, are widely used in teaching and debugging, environmental detection, and other scenarios. Remote control functionality is one of the core supports for hexapod robots to achieve flexible operation, but current technology still has the following shortcomings: 1. Limitations of external network control: Traditional remote control of hexapod robots is mostly based on local area networks. External network access requires complex network penetration configuration, which is cumbersome to operate, difficult for ordinary users to deploy quickly, and has poor penetration stability. 2. Poor compatibility with multiple devices: When multiple hexapod robots share the same server, port conflicts are likely to occur. There is a lack of standardized and differentiated port configuration schemes, making it impossible to achieve concurrent control of multiple devices. 3. Insufficient transmission coordination: The transmission of remote control commands and real-time video streams often results in asynchrony and excessive latency. Furthermore, the lack of a clear encoding format and transmission protocol leads to video stuttering and delayed command response, severely impacting the user experience. Therefore, how to construct a remote control system for hexapod robots that is easy to configure, accessible via external networks, compatible with multiple devices, has stable transmission, and standardized hardware parameters has become the key to improving the practical value of hexapod robots, and is also the technical problem that this invention aims to solve. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a remote control system for a six-legged robot, which solves the problems mentioned in the background section.

[0004] To achieve the above objectives, the present invention provides the following technical solution: A remote control system for a hexapod robot includes a remote server, a hexapod robot terminal, a mobile control terminal, and a data transmission link; The remote server has an independent external IP address and has ports 8004, 8005, 8006, and 7000 open. Port 8004 is the basic service port used for loading the interface and handling communication handshakes of the mobile control terminal; port 8005 is the control command forwarding port; and port 8006 is the video data stream return port. The remote server is equipped with frps server software, which listens on port 7000 to establish a TCP connection with the hexapod robot terminal. The six-legged robot terminal includes a Raspberry Pi 4B main control board, a USB camera, and multiple 270-degree servos. The six-legged robot terminal has local 5000 ports and local 8080 ports. Local 5000 ports are used for control commands, and local 8080 ports are used for video streaming. The six-legged robot terminal has built-in frpc client software. A mobile control terminal that communicates with the 8004 port of a remote server and the Raspberry Pi 4B main control board of the hexapod robot terminal. The data transmission link is used to carry the transmission of control commands and video streams between the remote server, the hexapod robot terminal, and the mobile control terminal. The hexapod robot terminal uses frpc client software to map the information of its local 5000 port to the 8005 port of the remote server and the information of its local 8080 port to the 8006 port of the remote server, so as to realize the bidirectional real-time transmission of control commands and video streams in the external network environment.

[0005] Furthermore, the hexapod robot terminal also includes a bus servo control board, with UART as the communication protocol; the Raspberry Pi 4B main control board and the bus servo control board are connected via GPIO pins in the manner of "TX→RX, RX→TX, 5V→5V, GND→GND".

[0006] Furthermore, the 270-degree servo is provided in 18 groups. The 18 270-degree servos are divided into 6 groups and connected to the bus servo control board through the servo bus. The synchronization error between the 270-degree servos is ≤5 degrees.

[0007] Furthermore, the frpc client software supports differentiated port configurations, allowing multiple hexapod robot terminals to connect to the same remote server via derivative ports of 8005 and 8006, and each hexapod robot terminal has its own independent mobile hotspot account and password. The configuration steps include: modifying only the remotePort parameter in the frpc configuration file to the derived ports 8005 and 8006; all robots establish an frps connection with the remote server through the shared port 7000, and transmit data through a dedicated port; the mobile control terminal loads the interface through "http: / / server IP:8004", selects the corresponding robot port to connect, and realizes conflict-free concurrent control of multiple devices.

[0008] Furthermore, the visual interface of the mobile control terminal integrates functional modules, including a dual-joystick control module for sending directional control commands, a video display module for displaying 1080P high-definition video, setting buttons for parameter adjustment, a switching button for video stream refresh, and an emergency stop button.

[0009] Furthermore, the performance parameters of the data transmission link include: transmission latency ≤200ms, video stream frame rate 20-30fps, and control command response success rate ≥98%; the control commands adopt JSON encoding format, and the core fields include cmd_type, seq_id, timestamp, and joints; the video stream adopts MotionJPEG encoding format with a bitrate range of 0-100 and is transmitted via HTTP protocol.

[0010] Furthermore, the hexapod robot terminal also includes a power supply system that powers the Raspberry Pi 4B, the bus servo control board, and 18 270-degree servos.

[0011] Furthermore, the configuration method for the remote server includes the following steps: Obtain a server with an independent external IP address that meets the requirements for running the frps service and multi-port concurrent forwarding; Log in to the port management backend, open ports 8004, 8005, and 8006, and configure the port access whitelist; Install and configure the frps server software. After starting it, listen on port 7000 and establish a TCP connection with the six-legged robot terminal frpc client to form an external network penetration channel.

[0012] Furthermore, the configuration method of the hexapod robot terminal includes the following steps: Enable the mobile hotspot connected to the Raspberry Pi 4B main board and set a separate account password; Start the power supply system and obtain the local area network IP of the Raspberry Pi 4B main control board; Log in to the Raspberry Pi and modify the configuration file of the frpc client software to enable communication with the remote server; Configure video stream parameters and complete the binding and attitude calibration of 18 270-degree servos through the servo control software on the bus servo control board to ensure that the synchronization error is ≤5 degrees.

[0013] Furthermore, the configuration method of the mobile control terminal includes the following steps: Establish a local communication link by connecting to the mobile hotspot of the six-legged robot; Access the backend via a browser or dedicated app, load the visual interface, and complete the communication handshake. Send commands via the dual joysticks on the interface to simultaneously view 1080P high-definition videos; The bottom function buttons allow for parameter modification, video refresh, and emergency shutdown. Core parameters can be fine-tuned and synchronized in real time via the interface or remote login tools.

[0014] This invention provides a remote control system for a hexapod robot. Compared with existing technologies, it has the following advantages: 1. Enable convenient external network control: Through the port mapping technology of the frp tool, the six-legged robot can be remotely controlled from the external network without complex network configuration, reducing the deployment threshold for users.

[0015] 2. Multi-device compatibility and stability: Through differentiated port configuration (derived ports of 8005 and 8006), multiple six-legged robots can share the same remote server, avoiding port conflicts.

[0016] 3. Strong transmission coordination: Separate the transmission ports of control commands and video streams, clarify the video stream encoding, protocol and bitrate parameters, ensure command response latency ≤200ms and video stream frame rate maintained at 20-30fps, and improve the synchronization of control and feedback; 4. Hardware-Software Co-optimization: Clarify the compatibility parameters and connection methods of Raspberry Pi 4B, STM32F103 bus servo control board, and LX-224 servo, and pair them with a standardized power supply system to achieve precise drive of 18 joint servos (synchronization error ≤ 5 degrees), while also meeting the dual requirements of remote command and local debugging.

[0017] 5. Standardized configuration: Clearly define parameters such as core hardware models, software versions, communication protocols, and control logic to improve system deployment consistency and reduce debugging difficulty. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Attached Figure Description

[0019] Figure 1 This is a diagram of the remote control system architecture for a six-legged robot. Figure 2 This is a diagram illustrating the remote server port configuration; Figure 3 This is a diagram of the terminal hardware connection for a six-legged robot. Figure 4 This is a schematic diagram of the visual interface of the mobile control terminal; Figure 5 This is a port mapping logic diagram for multiple hexapod robots. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] To address the technical problems in the background section, a remote control system for a hexapod robot is proposed as follows: Combination Figures 1-5 As shown, the present invention provides a remote control system for a hexapod robot, comprising a remote server, a hexapod robot terminal, a mobile control terminal, and a data transmission link, wherein: The remote server has an independent external IP address and has ports 8004, 8005, 8006, and 7000 open. Port 8004 is the basic service port used for interface loading and communication handshake of the mobile control terminal; port 8005 is the control command forwarding port; and port 8006 is the video data stream return port. The remote server is equipped with frps server software, which listens on port 7000 to establish a TCP connection with the hexapod robot terminal. The 270-degree servo motor is an LX-224 model. The six-legged robot terminal includes a Raspberry Pi 4B main control board, a USB camera, and multiple 270-degree servos. The terminal has two open ports: a local 5000 port for control commands and a local 8080 port for video streaming. The terminal also includes built-in frpc client software. The Raspberry Pi 4B main control board is equipped with a 64GB or larger SD card, system image adaptation servo control software, and a USB 3.0 interface. A mobile control terminal that communicates with the 8004 port of a remote server and the Raspberry Pi 4B main control board of the hexapod robot terminal. The data transmission link is used to carry the transmission of control commands and video streams between the remote server, the hexapod robot terminal, and the mobile control terminal. The hexapod robot terminal uses frpc client software to map the information of its local 5000 port to the 8005 port of the remote server and the information of its local 8080 port to the 8006 port of the remote server, so as to realize the bidirectional real-time transmission of control commands and video streams in the external network environment.

[0022] In this embodiment, the hexapod robot terminal also includes a bus servo control board, with UART as the communication protocol; the Raspberry Pi 4B main control board and the bus servo control board are connected via GPIO pins in the manner of "TX→RX, RX→TX, 5V→5V, GND→GND".

[0023] In this embodiment, there are 18 groups of 270-degree servos. The 18 270-degree servos are divided into 6 groups and connected to the bus servo control board through the servo bus. The synchronization error between the 270-degree servos is ≤5 degrees.

[0024] In this embodiment, the frpc client software supports differentiated port configuration. Multiple hexapod robot terminals can establish connections with the same remote server through derivative ports of port 8005 and port 8006, and each hexapod robot terminal has its own mobile hotspot account and password.

[0025] In this embodiment, the visual interface of the mobile control terminal integrates functional modules, including a dual-joystick control module for sending directional control commands, a video display module for displaying 1080P high-definition video, a setting button for parameter adjustment, a switching button for video stream refresh, and an emergency stop button.

[0026] In this embodiment, the performance parameters of the data transmission link include: transmission latency ≤200ms, video stream frame rate 20-30fps, and control command response success rate ≥98%; the control commands adopt JSON encoding format, and the core fields include cmd_type, seq_id, timestamp, and joints; the video stream adopts MotionJPEG encoding format with a bitrate range of 0-100 and is transmitted via HTTP protocol.

[0027] In this embodiment, the hexapod robot terminal also includes a power supply system, which powers the Raspberry Pi 4B, the bus servo control board, and 18 270-degree servos. The power supply system uses a 5200mAh / 11.1V lithium battery (compatible with the 11.1V drive voltage of the servos), paired with a CX8571 12V to 5V step-down module to power the Raspberry Pi 4B (power consumption 25W) and the bus control board (power consumption 36W).

[0028] Specifically, the remote server, as the core data forwarding hub of the entire system, has its port configuration that directly determines the stability of external network penetration and compatibility with multiple devices. The specific configuration steps are as follows: Step 1: Obtain a server with an independent external IP address and ensure that the server hardware performance meets the requirements of frps service operation and multi-port data concurrent forwarding, so as to provide basic network support for subsequent port mapping; Step 2: Log in to the server's port management backend and open three functional ports: 8004, 8005, and 8006. Among them, 8004 is the basic service port shared by multiple robots, 8005 is the control command forwarding port, and 8006 is the video data stream return port. At the same time, configure a port access whitelist to allow only legitimate terminals to connect, thereby improving system security. Step 3: Obtain the V1 version of the frps server software package, complete the installation and environment configuration according to the official deployment guide, and ensure that the software is compatible with the server operating system; Step 4: Start the frps server software. This software will automatically listen on port 7000 to establish a TCP connection with the frpc client of the six-legged robot terminal, forming a stable external network penetration channel and building a bridge for the cross-network transmission of control commands and video streams.

[0029] Specifically, the six-legged robot terminal needs to complete network configuration, hardware adaptation, and parameter calibration. The specific steps are as follows: Step 1: Turn on the mobile hotspot module of the six-legged robot terminal (connect to the Raspberry Pi 4B via USB 2.0 interface), set up a separate account and password (example: account nova12, password 12345678), and ensure that the hotspot signal covers the local debugging area to provide network support for the close-range configuration of the mobile control terminal; Step 2: Start the power supply system of the six-legged robot terminal (5200mAh / 11.1V lithium battery + CX8571 12V to 5V step-down module) to power the Raspberry Pi 4B (power consumption 25W), STM32F103 ten-channel bus servo control board (power consumption 36W) and 18 LX-224 servos. After the mobile hotspot establishes a stable connection, obtain the local area network IP address of the Raspberry Pi 4B through the router management interface or terminal commands. Step 3: Using the MobaXterm remote login tool, enter the Raspberry Pi 4B's IP address, port 22, username wjf, and password 123456 to complete the login. After logging in, you can view the operating status of the hardware modules in real time and troubleshoot hardware connection faults. Step 4: Navigate to the preset frpc configuration folder path ( / home / wjf / frp / config), and modify the frpc configuration file: set the serverAddr parameter to the external IP address of the remote server, set the serverPort parameter to 7000 (the same as the frps server listening port), localPort to 5000 (control command port) and 8080 (video stream port), and remotePort to 8005 and 8006 ports of the remote server. After saving the configuration, start the frpc client. At this point, the hexapod robot terminal and the remote server establish stable communication through frp tunneling connection. Step 5: Enter the target program folder, modify the video stream configuration file, set the video stream address to "http: / / server IP:8006 / action=stream", configure the encoding format as Motion JPEG and the bitrate range as 0-100, and ensure that the video captured by the USB camera (connected to the Raspberry Pi 4B via USB 3.0 interface) can be stably transmitted back to the remote server; Step 6: Open the V3.0 version servo control software and press... Figure 3 The connection between the servos and the joints (18 LX-224 servos are divided into 6 groups and connected to the bus servo control board via the servo bus) is completed to bind the servos to the joints. Then, according to the preset standing angle parameters (joint 1: 174°, joint 2: 34°, joint 3: 83°, joint 4: 174°, joint 5: 34°, joint 6: 83°, joint 7: 174°, joint 8: 34°, joint 9: 166°, joint 10: 82°, joint 11: 34°, joint 12: 166°, joint 13: 82°, joint 14: 34°, joint 15: 166°, joint 16: 82°, joint 17: 34°, joint 18: 166°), attitude calibration is completed to ensure that the synchronization error of the multi-servo movement is ≤5 degrees. The calibrated servos can accurately respond to remote control commands.

[0030] Specifically, based on Figure 1 bidirectional data transmission logic and Figure 4 The interface layout design and operation flow of the mobile control terminal are as follows: Step 1: In the wireless network settings of the mobile control terminal (phone / tablet), connect to the mobile hotspot of the six-legged robot terminal (username: nova12, password: 12345678) to establish a local communication link, which will pave the way for subsequent parameter configuration and remote access. Step 2: Open the browser or dedicated control APP on the mobile control terminal, access the remote server via "http: / / server IP:8004", and load... Figure 4 The visual control interface shown completes a communication handshake after loading to ensure smooth data transmission. Step 3: As Figure 4As shown, the upper half of the visualization interface is the video display module, which receives and displays 1080P video (20-30fps) transmitted back through the video data stream channel in real time. It supports image clarity rendering, making it easier for users to observe the robot's surrounding environment. The lower half has a left joystick on the left for controlling the robot's forward / backward / turning movement, and a right joystick on the right for controlling posture adjustment / speed. The dual joysticks use logic commands that are linearly converted from two-dimensional analog quantities (X / Y axes) into motion control quantities. These commands are transmitted to the remote server via the control command stream channel and then forwarded to the hexapod robot terminal for precise control. The "Settings," "Refresh Video," and "Emergency Stop" function buttons at the bottom of the interface allow for parameter modification, video stream updates, and emergency stop operations, respectively, to handle unexpected situations. Step 4: If you need to adjust core parameters such as servo angle, video bitrate, and command response speed, you can enter the configuration interface through the "Settings" button to modify them, or log in to the Raspberry Pi 4B again through the remote login tool to fine-tune the parameters. The modified parameters will be synchronized to the corresponding module through the communication link to ensure that the parameter adjustments take effect in real time.

[0031] Specifically, such as Figure 5 As shown, this invention enables multiple robots to share the same remote server through differentiated port configuration, significantly improving the system's practicality and scalability. The specific configuration steps are as follows: For each newly added hexapod robot terminal, repeat the "Configure Hexapod Robot Terminal" steps described above. Only when modifying the frpc configuration file do you need to follow the instructions. Figure 5 The port mapping rules shown modify the remotePort parameter to derived ports 8005 and 8006 (e.g., robot 2 corresponds to 8007 and 8008, and robot 3 corresponds to 8009 and 8010). All robots establish frps control connections with the remote server through the shared 7000 port, and their respective control commands and video streams are transmitted through dedicated ports, enabling conflict-free concurrent control of multiple devices. After loading the interface through "http: / / server IP:8004", the mobile control terminal can select the port of the corresponding robot to connect, enabling separate control of multiple robots.

[0032] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0033] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hexapod robot remote control system characterized by, This includes a remote server, a six-legged robot terminal, a mobile control terminal, and a data transmission link; The remote server has an independent external IP address. The remote server has ports 8004, 8005, 8006 and 7000 open. Among them, port 8004 is the basic service port, which is used to carry the interface loading and communication handshake of the mobile control terminal; port 8005 is the control command forwarding port; and port 8006 is the video data stream return port. The remote server is equipped with frps server software, which listens on port 7000 to establish a TCP connection with the hexapod robot terminal. The six-legged robot terminal includes a Raspberry Pi 4B main control board, a USB camera, and multiple 270-degree servos. The six-legged robot terminal has local 5000 ports and local 8080 ports. Local 5000 ports are used for control commands, and local 8080 ports are used for video streaming. The six-legged robot terminal has built-in frpc client software. A mobile control terminal that communicates with the 8004 port of a remote server and the Raspberry Pi 4B main control board of the hexapod robot terminal. The data transmission link is used to carry the transmission of control commands and video streams between the remote server, the hexapod robot terminal, and the mobile control terminal. The hexapod robot terminal uses frpc client software to map the information of its local 5000 port to the 8005 port of the remote server and the information of its local 8080 port to the 8006 port of the remote server, so as to realize the bidirectional real-time transmission of control commands and video streams in the external network environment.

2. The hexapod robot remote control system of claim 1, wherein, The hexapod robot terminal also includes a bus servo control board, with UART as the communication protocol; the Raspberry Pi 4B main control board and the bus servo control board are connected via GPIO pins in the manner of "TX→RX, RX→TX, 5V→5V, GND→GND".

3. The hexapod robot remote control system of claim 2, wherein, The 270-degree servo motors are provided in 18 groups. The 18 270-degree servo motors are divided into 6 groups and connected to the bus servo control board through the servo motor bus. The synchronization error between the 270-degree servo motors is ≤5 degrees.

4. The hexapod robot remote control system of claim 3, wherein, The frpc client software supports differentiated port configuration. Multiple hexapod robot terminals can establish connections with the same remote server through derivative ports of port 8005 and port 8006, and each hexapod robot terminal has its own mobile hotspot account and password. The configuration steps include: only modifying the remotePort parameter in the frpc configuration file to the derived ports 8005 and 8006; All robots establish an frps connection with the remote server through a shared 7000 port and transmit data through a dedicated port; the mobile control terminal loads the interface through "http: / / server IP:8004", selects the corresponding robot port to connect, and realizes conflict-free concurrent control of multiple devices.

5. The hexapod robot remote control system of claim 1, wherein, The mobile control terminal's visual interface integrates functional modules, including a dual-joystick control module for sending directional control commands, a video display module for displaying 1080P high-definition video, setting buttons for parameter adjustment, a switching button for video stream refresh, and an emergency stop button.

6. The remote control system for a hexapod robot as described in claim 1, characterized in that, The performance parameters of the data transmission link include: transmission latency ≤200ms, video stream frame rate 20-30fps, and control command response success rate ≥98%. The control commands adopt JSON encoding format, and the core fields include cmd_type, seq_id, timestamp, and joints. The video stream adopts MotionJPEG encoding format with a bitrate range of 0-100 and is transmitted via HTTP protocol.

7. The remote control system for a hexapod robot as described in claim 4, characterized in that, The hexapod robot terminal also includes a power supply system that powers the Raspberry Pi 4B, the bus servo control board, and 18 270-degree servos.

8. The remote control system for a hexapod robot as described in claim 4, characterized in that, The configuration method for the remote server includes the following steps: Obtain a server with an independent external IP address that meets the requirements for running the frps service and multi-port concurrent forwarding; Log in to the port management backend, open ports 8004, 8005, and 8006, and configure the port access whitelist; Install and configure the frps server software. After starting it, listen on port 7000 and establish a TCP connection with the six-legged robot terminal frpc client to form an external network penetration channel.

9. The remote control system for a hexapod robot as described in claim 4, characterized in that, The configuration method of the hexapod robot terminal includes the following steps: Enable the mobile hotspot connected to the Raspberry Pi 4B main board and set a separate account password; Start the power supply system and obtain the local area network IP of the Raspberry Pi 4B main control board; Log in to the Raspberry Pi and modify the configuration file of the frpc client software to enable communication with the remote server; Configure video stream parameters and complete the binding and attitude calibration of 18 270-degree servos through the servo control software on the bus servo control board to ensure that the synchronization error is ≤5 degrees.

10. The remote control system for a hexapod robot as described in claim 4, characterized in that, The configuration method of the mobile control terminal includes the following steps: Establish a local communication link by connecting to the mobile hotspot of the six-legged robot; Access the backend via a browser or dedicated app, load the visual interface, and complete the communication handshake. Send commands via the dual joysticks on the interface to simultaneously view 1080P high-definition videos; The bottom function buttons allow for parameter modification, video refresh, and emergency shutdown. Core parameters can be fine-tuned and synchronized in real time via the interface or remote login tools.

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